CN1051970C - Vehicle with electric motor - Google Patents
Vehicle with electric motor Download PDFInfo
- Publication number
- CN1051970C CN1051970C CN94119643A CN94119643A CN1051970C CN 1051970 C CN1051970 C CN 1051970C CN 94119643 A CN94119643 A CN 94119643A CN 94119643 A CN94119643 A CN 94119643A CN 1051970 C CN1051970 C CN 1051970C
- Authority
- CN
- China
- Prior art keywords
- people
- car
- propulsive effort
- power
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Classifications
-
- 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
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
An electrically powered vehicle wherein the electric power may be provided by an auxiliary electric motor with power assist being determined by a manual force applied by an operator for manually propelling the vehicle. The vehicle control includes a method for determining when the vehicle is being started from a stop and for providing a gradual application of electric power assist during such start-up. In addition, if the operator calls for an abrupt change in power assist, the actual power assist is applied only gradually to provide smoother operation. The system also has self-checking functions and the electric power assist is disabled in response to certain types of failures. However, the operator is warned in advance that the power will be shut down so as to avoid emergency situations. The self-checking provides an arrangement for checking when the speed sensor is inoperative by sensing certain output characteristics of the speed sensor and the force application. In addition, the device precludes the application of electric power assist under conditions when the battery might be depleted and when the vehicle is not actually moving. Various arrangements are provided for also checking the output of the battery and precluding power assist or controlling the power assist, depending upon the state of the battery. In addition, the vehicle may include other electrical accessories, and these are powered by an auxiliary battery. The auxiliary battery, however, may be charged from the main battery.
Description
The present invention relates to a kind of car of charged motivation, in this car, manpower driving system and power drive system are parallel, and control the size of the propulsive effort of power drive system according to the size of people's propulsive effort (back is called pedal power).
In a kind of technique known (referring to Jikkai Sho 56-76590, Tokkai Hei.2-74491), measure pedal power earlier, control the motor-driven power size of (or claiming motor auxilliary power) according to the size of pedal power again.In other words, this device increases motor-driven power according to the size of manpower with being directly proportional, thereby has alleviated the manpower burden.
The shortcoming of this well known device is, owing to be the ratio (or claiming auxilliary force rate) of controlling motor-driven power and pedal power according to the size of pedal power, motor-driven power also increases when pedal power is very big, just might be when running at high speed expanded motor propulsive effort unnecessarily, cause the too fast or waste battery of bicycle speed.
In view of above reason, the someone has designed another kind of device (referring to Tokugan Hei 4-285432), has both measured pedal power in this device, measures the speed of vehicle again, thereby can reduce motor-driven power when speed is higher, thereby reduce auxilliary force rate.But,, just can not carry out correct control if car speed sensor breaks down.
For example, loosening and when garage crosses journey and breaks when the electric connection of car speed sensor, the output of sensor will demonstrate the speed of a motor vehicle and ANOMALOUS VARIATIONS occur, can determine at this moment that to be that sensor occurs unusual.But, if since the line of car speed sensor to disconnect a class former thereby to cause the output of sensor be exactly zero from the beginning, just can't differentiate the speed of a motor vehicle and be zero still is that car speed sensor is malfunctioning.
At the problems referred to above, first purpose of the present invention provides a kind of car of charged motivation, and whether this car is can detecting sensor malfunctioning.In addition, second purpose of the present invention provides a kind of car of charged motivation, and whether this car can discriminating sensor when car speed sensor does not have signal output malfunctioning.
Therefore, in order to achieve the above object, the invention provides a kind of by the manually driven car.Car of the present invention comprises a manpower driving system, is used for people's propulsive effort is transformed into the propulsive effort that drives car; A power drive system is used for replenishing auxiliary driving force to people's propulsive effort; A control setup, be used for the auxiliary driving force according to people's propulsive effort control power drive system: a vehicle speed detector device is used to detect the speed of a motor vehicle; And people's propulsive effort detecting device, be used to detect people's propulsive effort.
Specifically, described control setup comprises a discriminator, and this discriminator is exported control signal according to being not more than the people's propulsive effort that records under the condition of a given value in institute's measuring car speed.Under the condition that has control signal output at least, it is unusual that this control setup judges which kind of has appearred in car, and it is this unusual to provide a kind of suitable control to proofread and correct.
Under the condition that people's propulsive effort is arranged, when vehicle speed detector device takes place when unusual, this vehicle speed detector device can show the speed of a motor vehicle be zero or the speed of a motor vehicle extremely low.Equally, because factors such as external force, car also can stop under the condition that people's propulsive effort is arranged.So this class car has just occurred unusually.
Under above-mentioned abnormal condition, although people's propulsive effort detecting device has detected people's propulsive effort, the measured speed of a motor vehicle can not be higher than given value yet.Thereby, control signal of discriminator output, it is this unusual that control setup can be proofreaied and correct by suitable control.
A more desirable aspect of the present invention is, control setup also comprises the variation range detecting device and the variation range discriminator that are used to obtain the variation range of people's propulsive effort, be not more than under the condition of a given value in institute's measuring car speed, when the variation range of people's propulsive effort was not less than a given variation range, this discriminator was just exported a control signal.Under the condition that has control signal output at least, control setup determines vehicle speed detector device and has occurred unusually.
Unusual for inspection vehicle speed detector accurately, described car also comprises a time meter, be used for starting timing according to described control signal, when aggregate-value surpass～during given value, to anomalous discrimination signal of control setup output.Warning device according to this anomalous discrimination signal to exceptional state alarm.
In addition, people's propulsive effort detecting device also can be used for detecting people's propulsive effort every a given constant time interval.The variation range discriminator can be used for obtaining by the difference of people's propulsive effort detecting device between detected two the continuous people's propulsive effort numerical value of a constant time interval, thereby obtains the variation range of people's propulsive effort.
Rely on above-mentioned optimization characteristics,, just can determine vehicle speed detector device fault has taken place when the variation range of people's propulsive effort is not less than described given value and the speed of a motor vehicle also is not more than one given period of time ratio that described this state of given value continued when growing.Therefore, even under the situation that the output of vehicle speed detector device remains unchanged, also can determine fault.
According to a further aspect in the invention, described control setup comprises that also one is travelled, and stop control is used for determining car at described control setup and occurs stopping when unusual transmitting drive current or drive current being reduced to power drive system.
Rely on above-mentioned characteristic,, do not have extra electric current and be sent to power drive system when car stops or speed of a motor vehicle when extremely low.
Fig. 1 is a lateral plan that has the bicycle of electrical motor;
Fig. 2 is the block scheme of the power system of said apparatus;
Fig. 3 is the functional block diagram of controller;
Fig. 4 is the operational flowchart that travels, stops;
Fig. 5 is the operational flowchart of system protection and fault judgement;
Fig. 6 is the operational flowchart of cranking torque slide block control;
Fig. 7 is the operational flowchart of auxilliary power limitation function;
Fig. 8 is the auxilliary time dependent performance diagram of power;
Fig. 9 is the operational flowchart that stops to differentiate control;
Figure 10 is the operational flowchart of battery low-voltage checking function;
Figure 11 is the operational flowchart that speed sensor failure is judged;
Figure 12 is the operational flowchart of said apparatus;
Figure 13 is the functional block diagram of said apparatus.
Description of symbols:
33: electrical motor
44: bent axle
54: as the pedal power sensor of people's propulsive effort detecting device.
66: as the car speed sensor of vehicle speed detector device
80:CPU (central process unit)
106A: speed sensor failure arbitration functions
204: the variation range discriminator
206: time meter
210: the dress device of reporting to the police
S: the speed of a motor vehicle
Δ F: rangeability
Fig. 1 is the lateral plan of an embodiment.Fig. 2 is the block scheme of the power system of this embodiment; Fig. 3 is the block scheme of this embodiment.
The overall structure of car body is described with reference to Fig. 1 to Fig. 3 below.Main framework 10 among Fig. 1 comprises that a past manages the 12 cant beam pipes 14 that extend to the back lower place, the a pair of left and right sides chain-stay 16 that extends back from the lower end of cant beam pipe 14 (only illustrating one), from the lower end of cant beam pipe 14 to saddle arm 18 of upper support and a pair of about auxiliary stay 20 (only illustrating), and a pair of upper end and the left and right sides backstay 22 (only illustrating) that couples together of the rear end of chain-stay 16 with saddle arm 18 and auxiliary stay 20.
A wheel fork 24 is rotatably being supported by preceding pipe 12.Front-wheel 26 is supported on the lower end of wheel fork 24.Handlebar 28 is fixed together with the upper end of wheel fork 24.Saddle 32 is fixed on the top of saddle pillar 30, and saddle pillar inserts saddle arm 18 from the top, thereby can regulate height.
Underframe case 36 (back is called the BB case) is formed a complete power unit 34 with permanent magnet type DC machine 38.Angle brace 40 and 42 is fixed to the rear lower of cant beam pipe 14 with BB case 36.Crank shaft 44 runs through the BB case 36 of power unit 34, and crank 46 is fixed on the two ends of crank shaft 44.Crank pedal 48 is fixed on the crank 46.
Power unit 34 comprises gear and sprocket wheel (not shown), and they are delivered to the rotation of crank shaft 44 on the chain 52 by a free-wheel clutch (Fig. 2) that is positioned at crank shaft one side.Between crank shaft 44 and chain 52, be provided with a planetary gear mechanism.
Pedal power is input on the planetary wheel of planetary gear mechanism, is sent on the chain 52 by a Ring gear then.Have potentiometric pedal power detecting device with one and detect the torque that is applied on the sun gear that is positioned at the center, thereby record pedal power F.Speed reduction gearing 56 and a free-wheel clutch 57 of the satellite gear type of the rotation of motor 38 by being positioned at motor one side are delivered on the chain 52.
By having the potentiometric pedal power detected pedal power F of testing agency and all being imported in the controller 68 by car speed sensor 66 detected speed of a motor vehicle S, controller 68 is exported or Motor torque TM thereby produce motor according to pedal power F and speed of a motor vehicle S control current of electric.
The formation of controller 68 as shown in Figure 3.Motor 38 and battery 62 constitute a C/LOOP with switch circuit 72.This C/LOOP is a major loop 74.Switch circuit 72 is made up of for example Metal-Oxide Semiconductor field effect transister.Free gear diode 76 is in parallel with motor 38.A diverter 78 is connected with major loop 74, is used to detect electric current.
CPU80 is according to pedal power F and a speed of a motor vehicle S representative motor of output (38) output (moment of torsion) T
MInstruction numerical value (i).In other words, CPU sends instruction numerical value, makes output (moment of torsion) T of motor 38
MThe while periodic variation along with the cyclical variation of pedal power.When reaching the speed of a motor vehicle S of appointment, can be by the output T of restriction motor
MCome restricted speed S.
Be sent to an on-off element of switch circuit 72 by gate circuit 82 according to the gate signal (g) sent of instruction numerical value (i), so that optionally each on-off element is got to the position that opens or closes.
Fig. 3 shows a main supply switch 84.When main supply switch 84 is in opening, CPU80 will open between the main relay in the major loop 74 86, make all parts of power unit 88, Auxiliary Control Device 90, gate circuit 82 and controller 68 enter opening simultaneously.
Also can connect another small-capacity cells (not shown) at power unit 88 places, the electric current that reduces gradually that is provided by working battery 62 is to this capacity battery charge.Auxiliary device 92 comprises some lamps and instrument, and power unit 88 provides energy to drive these lamps and instrument according to the instruction of Auxiliary Control Device 90.
(function of CPU)
The function of CPU is described with reference to Fig. 3 to Figure 13 below.
CPU has multiple function according to software operation.As shown in Figure 3, these functions can be divided into following four kinds haply, that is: exercise and stop controllable function 100, stop processing capacity 102, system protection function 104 and fault judgement function 106.When CPU80 carried out other program, being in due course repeated system protection function 104 and fault judgement function 106, and for example about per 10 milliseconds of execution once.Fig. 4 has shown roughly and travels and stop controllable function 100 and stop the workflow of processing capacity 102.Fig. 5 has shown the workflow of system protection function 104 and fault judgement function 106 roughly.
(travel and stop control)
Along with the unlatching of main supply switch 84, travel and stop controllable function 100 and from start to stopping, judging the various operations of execution.This process for example approximately per 10 milliseconds repeat once.Below with each function in the representation function 100.
Starting is judged and cranking torque slide block function)
Starting arbitration functions 110 is at first described.When pedal power F surpassed given value F Football 0 Li (for example 30Kg), function 110 determined the tendency of the starting of demonstration, changes over to by the following cranking torque slide block controllable function 120 that will describe then and starts state of a control.
The effect of cranking torque slide block control 120 is, in one section specified time after the tendency of the starting shown in above-mentioned starting arbitration functions 110 determines (for example 3 seconds), if speed of a motor vehicle S is continuously zero, cranking torque slide block control 120 just will be started discrimination result and be eliminated.An example of this situation is that brake prevents starting again when applying pedal power.If motor 38 still turns round in the similar mode of travelling with routine in this case, unnecessary electric current will continue to flow in the motor 38, thereby has quickened the loss of battery 62, and has applied very big load to drive system.Therefore starting should be interrupted later at one section specified time.
Fig. 6 is above-mentioned diagram of circuit.In this embodiment, open and car is static or when only being driven by manpower, the bootwait pattern is provided with automatically when main supply switch.The bootwait pattern that can the system of determining be in step 110A.The bootwait pattern of step 110A judges whether present mode is the pattern of waiting for starting.If this pattern is to wait for the pattern of starting, works as pedal power F so and be equal to or greater than F
0When (the pedal power value that starting is differentiated) (step 110B), just determine the purpose of starting.If F 〉=F
0, then the actuating motor additional function is arranged to this pattern slow start pattern (step 110D) simultaneously.Then, program changes cranking torque slide block control module 120 over to.In control module 120, at first start time meter (step 120A).If this pattern is not the bootwait pattern, just mean that car is travelling, so program skips starting discrimination module 110 and cranking torque slide block control module 120, enter following slow start step 130.
Whether then differentiate speed of a motor vehicle S is zero (step 120B).If S=0, whether the time counting value (t) of differentiating time meter again reaches given value t
0(for example 3 seconds kinds) (step 120C).If S is not zero, just can determine car and begin to travel, then do not change the value (step 120D) of F0, and finish the starting arbitration functions.
In above-mentioned cranking torque slide block control, if keep motionless (preventing starting such as occurring again lock being checked when foregoing situation one is applying pedal power) at car under the condition that applies a constant pedal power, the electric current of motor can repeat a period of time t that flows every one constant period
*This will cause harmful effect to battery and other parts.At this problem, in this embodiment, start the given value F that all will be used to differentiate starting when differentiating at every turn
*Increase a constant alpha.Below description is made given value F
*The control process that increases.
If the time, t reached t
0, just with parameter F
0Be increased to F
0+ α (step 120E), and the motor additional function stopped.Program turns back to bootwait pattern (step 110A).If time t does not reach t
0, program turns back to step 120B, goes to judge whether speed of a motor vehicle S is zero.If F 〉=F
0+ α and still apply pedal power just can determine once more and will start (step 110B), and actuating motor additional function (step 110D).This operation repeated (n) inferior after, if F≤F
0+ n α (110B) with regard to no longer carrying out the motor additional function.(slow start)
If promptly provide the auxiliary quantity calculated (below be called estimate auxilliary power) in the moment of motor auxiliary starter, the rush current that just has as the large impact ripple flows into motor.Therefore, designed a slow start function 130, so that actual auxilliary power instruction numerical value (back is called actual auxilliary power) is increased reposefully.That is to say, will be scheduled to 10% of auxilliary power every one period set time (as 0.015 second) and be added on the actual auxilliary power that when reaching predetermined auxilliary power, program enters driving mode, changes ride control 140 over to.(ride control)
Fig. 7 is the workflow diagram of auxilliary power limitation function 140A, and Fig. 8 is the time dependent example of power-assist power.Owing in this embodiment, be to control current of electric by pulse width modulation, when representing current of electric with duty factor D%, make the variable quantity of estimating duty factor D (be equivalent to estimate auxilliary power, following duty factor is equivalent to auxilliary power size) be no more than given value (for example 10%) by control.
With reference to Fig. 7, with current duty factor D
NWith the expectation duty factor D before the time τ
N-1Store (step 140B), if duty factor D is increasing (step 140C), then with duty factor D
N-1Result after increase by 10% also will increase is as D1 (step 140D).If D
N＜D
1, then show D
NRecruitment be not more than 10% (step 140E).So supposition D
2=D
N(step 140F), and with D
2Control motor output (step 140G) as estimating duty factor.Suppose D then
2Be duty factor D last time
N-1Program turns back to step 140B.
If D in step 140D
NBe equal to or greater than D
1, show that then the recruitment of estimating duty factor is equal to or greater than 10%.Make D then
2=D
1(step 140I), and with D
2Carry out control as estimating duty factor.
If estimate that duty factor is reducing (step 140C), then will last time estimate duty factor D
N-1Reduce 10%, and the result after will reducing is as D
1(step 140J).If D
N＞D
1(step 140K) just shows that decrease is less than 10%.Therefore with D
NAs estimating duty factor D
2(step 140L).If D
N≤ D
1, show that decrease is not less than 10%, just D
1As estimating duty factor D
2(step 140M).
Said process is shown in solid line A among Fig. 8.Dotted line B has shown the situation of change of duty factor D when not having to carry out auxilliary power limits control program 140A.By control program 140A, make the increase and decrease of current of electric be able to steady realization.Therefore, improved sensation by bike, and reduced impact drive system.This ride control has also limited the auxilliary force rate of motor when high-speed.In order to accomplish this point, can define on the figure of the auxilliary force rate relevant with pedal power F at a width of cloth with speed of a motor vehicle S, will assist force rate and be set as a smaller value.
(stopping to judge control)
In the present embodiment, under the condition that does not adopt brake switch, utilize pedal power F and speed of a motor vehicle S to differentiate the purpose that stops.
At first, when the speed of a motor vehicle is zero (step 150A), if pedal power then starts time meter (step 150C) less than a given value F1 (for example 12kg power or the approximately moment of torsion of 2kg-m) (step 150B).If time meter, then continues timing (step 150D) in timing.When the aggregate-value t of time meter reaches a given value t
0When (for example 1 second) (step 150E), program enters and stops processing capacity, and motor is exported vanishing (step 102).
When F is not less than F
1(step 150B) and F are not less than F
2(F
2Greater than F
1, 30kg for example) and when (step 150G), if the rangeability Δ F of pedal power F is not more than a given value Δ F.(for example 12kg) (step 150H) then starts another time meter (step 150I).If time meter, then continues timing (step 150J) in timing.As aggregate-value t
1Continued a given value t
10When (for example 2 seconds), just determine the purpose (step 150J) that stops.When speed of a motor vehicle S is not zero (step 150A), time meter is resetted, can not run into above-mentioned situation (step 150L) in other words, program turns back to step 10.At this moment, this pattern remains unchanged.
When differentiating as mentioned above when the purpose that stops to be arranged, program changes over to and stops processing capacity (step 102), reduces the output of motor gradually, and is preparing starting next time, perhaps by program being set to the bootwait pattern, waits for the input of next pedal power F.If all do not having the signal of pedal power F and speed of a motor vehicle S one class to import from the outside than one section specified time in the also long time, program then changes energy saver mode over to.For example, with gate circuit 82, main relay 86, power unit 88 outages, the remainder of CPU80 quits work, and only stays the function that judges whether outside input and works on.(system protection)
Below with descriptive system defencive function 104.As shown in Figure 5, this function comprises battery over voltage measuring ability 160, battery low pressure measuring ability 170 and low-power mode discrimination function 180.
When changing battery, have higher voltage batteries and replace original battery, come protection system by battery over voltage measuring ability 160 with one.That is, when main supply switch 84 (Fig. 3) is opened, detect cell pressure earlier and whether be higher than a given value.If be higher than given value, stop control, driving mode is restricted in the energy saver mode.Like this, guaranteed in process of charging, can not start.In order to increase safety factor, even cell pressure returns to normal level in these cases, can not travel, unless main supply switch 84 is disconnected.
Cross when low when cell pressure, protect battery, make the inexcessive power consumption of battery by battery low pressure measuring ability 170.Even cell pressure is low excessively in the process of moving, when when control is stopped to cut off discharge current, cell pressure also can recover and rise.Therefore, control can be carried out again again.But if discharge too much, battery can damage.Therefore, being preferably in is not having to detect voltage under the situation of load after opening main supply switch 84 immediately, and if voltage be lower than predefined value, just send alerting signal.
Figure 10 has also shown battery low pressure measuring ability 170.That is, with cell pressure V
BWith two threshold value V
Th1And V
Th2(V
Th1＜V
Th2) (step 170A, 170B) compares.If V
BBe not more than V
Th1, then light-emitting diode is bright, and starting calculagraph (step 170C).When the count value of time meter reaches the time value t that adds up
20When (for example 5 seconds) (step 170D), then finish all control (step 192).
If V
BBetween V
Th1And V
Th2Between (step 170A, 170B), then with the mode of LED flash report to the police (step 170F).If V
BBe not less than V
Th2, show that cell pressure is normal, therefore carry out other control program (step 170G).
As mentioned above, as voltage V
BBe not more than V
Th1The time, car can not stop immediately, because work as
V
BBe not more than V
Th1The time, be not finishing control immediately, but after one section specified time finishing control, in this section specified time, light-emitting diode is bright.For example, suppose at certain four corners starting car, before passing this crossing voltage with regard to low go down and light-emitting diode bright.Even this situation occurs, at a period of time t of time meter setting
20Within, car still can continue to travel, so that pass this crossing.
Low-power mode discrimination function 180 is used to differentiate foregoing energy saver mode.When car remains static (S=0), and when the time longer than one section specified time (for example 5 minutes) did not still have the input of speed of a motor vehicle S signal later, program changed energy saver mode over to.As previously mentioned, in this pattern, gate circuit 82, main relay 86, power unit 88 all cut off the power supply, and the remainder of CPU80 quits work, and only stay the function that judges whether outside input and work on.
The fault detection of car speed sensor 66 differentiates exactly whether car speed sensor 66 does not have signal output behind prestart.In other words, behind this programming start (step 106A),, then detect the rangeability Δ F (step 106C) of pedal power F if the output of car speed sensor (speed of a motor vehicle S) is zero (step 106B).As shown in figure 12, rangeability Δ F is every a constant time τ
1Detected pedal power F
nWith F
N+1Between difference, i.e. Δ F=F
N+1-F
nSuch as with time τ
1Be made as 0.5 second.
With difference DELTA F
2With a fixed value Δ F
0Compare (step 106D), if Δ F
n〉=Δ F
0, then start time meter (step 106E), as aggregate-value t
3Reach given value t
30The time, just determining the speed of a motor vehicle changes sensor 66 be out of order (step 106G).So the alerting signal of sending also resets time meter, again finishing control (step 192).If at cumulative hours count value t
3Reach t
30Speed of a motor vehicle S becomes non-zero (step 106B) before, perhaps Δ F＜Δ F
0(step 106D) do not have fault with regard to decidable, and time meter is resetted (step 106I), program changes other control module (step 106J) over to.
As mentioned above, even if speed of a motor vehicle S is zero, as long as rangeability Δ F greater than given value, also can judge car speed sensor 66 and be out of order.Therefore, even, also can carry out fault detection owing to broken string one class reason causes not output signal of car speed sensor 66.If after above-mentioned fault judgement 106 finishes, do not detect fault, just program changes other normal control (step 194 among Fig. 5) over to.
Figure 13 has shown the workflow of the function 106A that the fault of car speed sensor 66 is judged.That is, speed of a motor vehicle discriminating gear 200 judges whether the detected speed of a motor vehicle S of vehicle speed detector device that is made of car speed sensor 66 is zero.Numeral 202 representatives detect the device of the variation range of pedal power F.When speed of a motor vehicle S is zero, its rangeability Δ F that records is input in the variation range discriminator 204, Δ F and given value Δ F
0Compare.As Δ F＞Δ F
0The time, send time meter cranking signal T
s
Cranking signal Ts resets time meter 206, and it is picked up counting.When the time counting value that adds up reaches specified time value t
30The time, time meter 206 sends a fault distinguishing signal I.Breakdown signal I is stored in the buffer register 208, allows warning device 210 send alerting signal simultaneously, and make stop processing equipment 212 stop control.And also time meter 206 is resetted.
In this embodiment, when the fault of inspection vehicle speed sensors 66, be to adopt every a constant time T
1Difference DELTA F between detected two continuous pedal power F is as rangeability.But the present invention is not limited to this embodiment.For example, can be used in the maxim of the pedal power in the time interval of one section variation and the difference between the minimum value as rangeability.The present invention not only can be used for bicycle, also can be used for the vehicle such as wheel Wheel-chair and hand barrow one class.In this class car, with the propulsive effort of hand-power as the people.
As mentioned above, if be lower than under the condition of given value in the detected speed of a motor vehicle of vehicle speed detector device, the rangeability of people's propulsive effort is higher than given value, and the time length of this state is longer than one section specified time, just can determine vehicle speed detector device and be out of order, the present invention just starts time meter.Therefore, before and after electric power starting,, also can differentiate fault even the output valve of vehicle speed detector device remains unchanged.
In the present embodiment, be in one section regular time interval, to detect people's propulsive effort, and with the difference between the periodically detected numerical value as rangeability.
Claims (7)
1. car by people's drive force comprises:
A manpower driving system is used for people's propulsive effort is transformed into the propulsive effort that drives this car;
A power drive system is used for replenishing auxiliary driving force to people's propulsive effort;
A control setup is used for controlling auxiliary driving force according to people's propulsive effort;
A vehicle speed detector device is used to detect the speed of a motor vehicle;
People's propulsive effort detecting device is used to detect people's propulsive effort; It is characterized in that:
Described control setup comprises a discriminator, and this discriminator is not more than in institute's measuring car speed under the condition of given value according to measured control signal of people's propulsive effort output;
Whether described control setup is differentiated this car under the condition that has control signal output at least have abnormal condition to occur, and this car is carried out suitable control so that proofread and correct abnormal condition.
2. the car by people's drive force according to claim 1 is characterized in that:
Described discriminator comprises:
A variation range detecting device is used to detect the variation range of people's propulsive effort; And
A variation range discriminator, if be not more than under the condition of given value in institute's measuring car speed, the variation range of people's propulsive effort is not less than given variation range, this device is just exported a control signal;
Whether described control setup is differentiated described vehicle speed detector device and has been occurred unusually under the condition that has control signal output at least.
3. the car by people's drive force according to claim 2 is characterized in that:
Described control setup also comprises:
A time meter is used for when aggregate-value surpasses given value, just exporting an anomalous discrimination signal according to described control signal starting timing; And
A warning device is used for reporting to the police according to the anomalous discrimination signal.
4. according to claim 2 or 3 described cars, it is characterized in that by people's drive force:
Described people's propulsive effort detecting device be used for given Fixed Time Interval detect described people's propulsive effort;
Described variation range discriminator is used to calculate by people's propulsive effort detecting device with the difference between detected two the adjacent people's propulsive effort values of given Fixed Time Interval, thereby tries to achieve the variation range of described people's propulsive effort.
5. the car by people's drive force according to claim 4 is characterized in that:
Described control setup at interval calculates the auxilliary power that described power drive system is estimated according to measured people's propulsive effort with regular time, and changes auxilliary power with the big or small corresponding motor of auxiliary driving force according to the auxilliary power of this expectation;
Described car also comprises a slow start device, be used for being added to actual propulsive effort to fixed-ratio with what given Fixed Time Interval was estimated auxiliary driving force, reach the auxiliary driving force of expectation, thereby when beginning to increase auxiliary driving force, auxiliary driving force gently can be added on described people's propulsive effort.
6. the car by people's drive force according to claim 5 is characterized in that;
Described control setup provides drive current with given time gap for the described power drive system that produces described auxiliary driving force, and, come the controlling and driving electric current in the mode of the duty ratio that changes the drive current width according to the expectation duty factor that calculates;
Described car also comprises an auxilliary force limiting device, the cruising that is used for car, when the change amount of actual duty ratio will be above a given value, described auxilliary force limiting device was used for deducting estimating that of duty ratio is added on the actual duty ratio or from actual duty ratio to fixed-ratio.
7. the car by people's drive force according to claim 1 is characterized in that:
Described control setup comprises that also one is travelled and stop control, travel and stop control is used for judging car at described control setup and occurs stopping drive current being provided or reducing drive current to described power drive system when unusual, thereby can not provide unnecessary electric current to power drive system.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP294140/1993 | 1993-10-29 | ||
| JP29414093 | 1993-10-29 | ||
| JP294140/93 | 1993-10-29 | ||
| JP27434694A JP3480997B2 (en) | 1993-10-29 | 1994-10-14 | Vehicle with electric motor |
| JP274346/94 | 1994-10-14 | ||
| JP274346/1994 | 1994-10-14 |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN99110338A Division CN1103712C (en) | 1993-10-29 | 1999-07-07 | Car with motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1108195A CN1108195A (en) | 1995-09-13 |
| CN1051970C true CN1051970C (en) | 2000-05-03 |
Family
ID=26550997
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN94119643A Expired - Lifetime CN1051970C (en) | 1993-10-29 | 1994-10-29 | Vehicle with electric motor |
| CN99110338A Expired - Lifetime CN1103712C (en) | 1993-10-29 | 1999-07-07 | Car with motor |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN99110338A Expired - Lifetime CN1103712C (en) | 1993-10-29 | 1999-07-07 | Car with motor |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP3480997B2 (en) |
| CN (2) | CN1051970C (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3691132B2 (en) * | 1995-10-31 | 2005-08-31 | 三洋電機株式会社 | Assisted vehicle |
| JPH1016857A (en) * | 1996-07-05 | 1998-01-20 | Yamaha Motor Co Ltd | Motor-assisted vehicle |
| JP3306309B2 (en) * | 1996-08-28 | 2002-07-24 | 三洋電機株式会社 | Assist electric vehicle |
| KR20140038050A (en) * | 2012-09-19 | 2014-03-28 | 주식회사 만도 | Eletric bicycle and control method thereof |
| JP6228442B2 (en) | 2012-12-14 | 2017-11-08 | ヤマハ発動機株式会社 | Drive unit and battery-assisted bicycle |
| JP6557930B2 (en) * | 2015-04-07 | 2019-08-14 | ヤマハ発動機株式会社 | Electric vehicle |
| CN115352564B (en) * | 2022-09-02 | 2024-04-19 | 深圳市慧星辰科技有限公司 | Control device and method for intelligent balance scooter |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03277101A (en) * | 1990-03-26 | 1991-12-09 | Toyota Motor Corp | Motor controller for electric car |
| EP0517224A2 (en) * | 1991-06-04 | 1992-12-09 | Yamaha Hatsudoki Kabushiki Kaisha | Muscle-operated vehicle |
| JPH06107266A (en) * | 1992-09-30 | 1994-04-19 | Yamaha Motor Co Ltd | Bicycle with electric motor |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9120451D0 (en) * | 1991-09-25 | 1991-11-06 | Frazer Nash Technology Ltd | Electric car |
| US5370200A (en) * | 1992-05-11 | 1994-12-06 | Yamaha Hatsudoki Kabushiki Kaisha | Bicycle with electric motor |
-
1994
- 1994-10-14 JP JP27434694A patent/JP3480997B2/en not_active Expired - Lifetime
- 1994-10-29 CN CN94119643A patent/CN1051970C/en not_active Expired - Lifetime
-
1999
- 1999-07-07 CN CN99110338A patent/CN1103712C/en not_active Expired - Lifetime
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03277101A (en) * | 1990-03-26 | 1991-12-09 | Toyota Motor Corp | Motor controller for electric car |
| EP0517224A2 (en) * | 1991-06-04 | 1992-12-09 | Yamaha Hatsudoki Kabushiki Kaisha | Muscle-operated vehicle |
| JPH06107266A (en) * | 1992-09-30 | 1994-04-19 | Yamaha Motor Co Ltd | Bicycle with electric motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1108195A (en) | 1995-09-13 |
| JP3480997B2 (en) | 2003-12-22 |
| CN1103712C (en) | 2003-03-26 |
| JPH07172376A (en) | 1995-07-11 |
| CN1247143A (en) | 2000-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1060727C (en) | Vehicle with electric motor | |
| CN1106315C (en) | Force aid rickshaw | |
| CN1216298C (en) | Device for measuring battery charging capacity of battery truck and alarm device for capacity inadequate | |
| CN1039684C (en) | Travelling control apparatus for electric automobiles | |
| US5664636A (en) | Vehicle with electric motor | |
| CN1192965C (en) | Elevator control device | |
| CN1200868C (en) | Device and method for controlling elevator running in power supply fault occurring | |
| EP0635423B1 (en) | Muscle-operated vehicle | |
| CN1530284A (en) | Speed changing controller of bicycle | |
| CN1833945A (en) | Bicycle electric power unit | |
| CN1051970C (en) | Vehicle with electric motor | |
| KR101641560B1 (en) | Apparatus for controlling regenerative-brake of electric bycicle | |
| CN102616144A (en) | Method and device for controlling safe operation of electric automobile | |
| TWI733136B (en) | Motor control device, method and electric auxiliary vehicle | |
| EP0650887B1 (en) | Electrically assisted pedal operated vehicle | |
| EP0697333B1 (en) | Electrically assisted bicycle | |
| CN109229222A (en) | It is a kind of can adjust automatically turn to climb building method and device | |
| CN102069728B (en) | Power-assisted control method of electric bicycle | |
| EP0879757B1 (en) | Electrically assisted pedal operated vehicle | |
| CN1799183A (en) | Voltage conversion device and electric car | |
| CN113320636B (en) | Control device for human-powered vehicle | |
| JPH10167162A (en) | Electric bicycle | |
| CN107394838A (en) | A kind of method and device of small-sized Ni-Cr battery management of charging and discharging | |
| CN1077925A (en) | The control system of intelligent electric sedan | |
| JPH10174204A (en) | Battery residual capacity display device for electric vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |
Expiration termination date: 20141029 Granted publication date: 20000503 |