JP2000062681A - Bicycle with electric motor - Google Patents

Abstract

(57) Abstract: OBJECTIVE motor - to improve the sense of operation by satisfactorily follow without delay the driving force F _M by data in pedaling force F _L,
Also, a bicycle with an electric motor capable of improving efficiency by effective use of energy is provided. [Constitution] A bicycle with an electric motor, in which a human drive system and an electric drive system are provided in parallel and the output of the electric drive system is controlled in response to a change in treading force due to human power, has a motor rotation speed corresponding to the vehicle speed. Obtain the no-load motor voltage (V _M0 )
The no-load mode - Capacitor Voltage (V _M0) above mode - corresponding to the pedal force while maintaining the data voltage (V _M) mode - controls the driving force by motor.

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] TECHNICAL FIELD The present invention relates to a drive system driven by human power.
And a drive system by an electric motor are provided in parallel.
Of driving force by human power (hereinafter referred to as pedaling force)
Rotation with an electric motor that is controlled according to changes
It is about cars. [0002] 2. Description of the Related Art Detecting pedaling force and responding to the magnitude of this driving force
To control the driving force of an electric motor
(Japanese Utility Model Laid-Open No. 56-76590,
issue). That is, when the human power increases, the driving force of the electric motor increases.
To reduce the load of human power. Here
A one-way clutch is interposed in the motor drive system,
The motor speed is the motor speed when energized or driven manually.
The motor is prevented from turning at higher speeds. [0003] The manual driving force (pedal force) is a crank pedal.
Input to the rear wheel via the freewheel clutch
Change with a cycle of half a revolution of the crankshaft.
You. When the crank pedal comes to the top or bottom dead center
This is because the pedaling force becomes almost zero. FIG. 7 shows the driving force by human power, that is, the pedaling force.
F_LShows a change with respect to time t. This pedal force F_LChange lap
The period corresponds to a half turn of the crank pedal. Already proposed
Is the pedaling force F which changes in this manner._LIs detected and the
The drive force of the motor. [0005] However, in this case, the motor is
This pedal force F_LWhenever becomes almost zero, its speed becomes almost zero.
That is, the driving force F_MSo that also becomes almost zero
Controlled and then the pedaling force F_LMotor becomes positive as
Voltage V_MAnd the motor is accelerated to increase the motor driving force F_MBut
I try to be positive. Thus, the driving force F of the motor
_MPeriodically fluctuates between a nearly zero state and the desired driving force
Will do. At this time, the motor starts moving from a state where the speed is almost zero.
Rotation speed N corresponding to speed₀Until you reach
Motor clutch F is disengaged and motor drive force F_MStop by
Do not give. Therefore, the time required for motor acceleration during this period
Only the driving force F of the motor (FIG. 7A)_MIs the pedaling force F_LCorresponding to
Will be late. The motor has a speed corresponding to the vehicle speed from zero speed.
Degree (N in FIG. 7)₀), And drive during this time
Since it cannot contribute to an increase in driving force at all,
The energy required to accelerate the motor is wasted
Become. [0008] SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances.
And the driving force F by the motor_MIs the pedaling force F_LBe late
Driving feeling is improved by following well without
And efficient use of energy can improve efficiency
To provide a motor control method for a bicycle with an electric motor.
aimed to. [0009] SUMMARY OF THE INVENTION In accordance with the present invention, it is an object of the present invention to provide a manual drive system.
And an electric drive system are installed in parallel to
With an electric motor that controls the output of the electric drive system correspondingly
Bicycle, one direction interposed in the electric drive system
A clutch, a pedaling force detecting means for detecting a pedaling force, and a vehicle speed
Vehicle speed detecting means for outputting the motor speed, and motor rotation corresponding to the vehicle speed.
No-load motor voltage (V_M0Sought this no load
Motor voltage (V_M0) Motor voltage (V_MKeep)
And a motor for controlling the driving force of the motor in accordance with the pedaling force.
Controller with an electric motor
Achieved by bicycle. [0010] [Principle] In a DC motor, the applied voltage (V
_M), Motor current (I) and rotational speed (N)
To establish. V_M= I · R + k · N Where R is the amateur equivalent resistance, k is the proportionality constant,
k · N indicates the armature back electromotive voltage. The motor torque (T_M), Series winding, shunt winding
In general, it is almost proportional to the motor current (I)
I do. Therefore, the following equation is obtained using C as a constant. T_M= CI Therefore, when (R / C) = j, the following equation is obtained. V_M= JT_M+ KN (1) In the equation (1), the first term (j · T_M) Is
The second term (kN) relates to the rotation speed.
Related section. In the conventional device, the pedaling force F_L Becomes 0
The motor drive force F_MTo 0 and the motor rotation speed
Try to set N to 0. That is, in equation (1), T_M
= 0 and N = 0. Therefore, the motor applied voltage V_MAlso 0
It was controlled to become. On the other hand, in the present invention, the vehicle speed is not substantially zero.
Sometimes pedaling force F_LWhen the motor rotation speed N becomes zero,
No-load rotation speed N corresponding to speed₀To keep
Was. That is, the motor torque T_M= 0 times
Rolling speed N = N₀It was made to become. This no-load speed
N₀Is the one-way clutch of the electric drive system
It almost matches the rotation speed at which it starts to change. Therefore, from equation (1) V_M= J · 0 + k · N₀= KN₀ This voltage V_M To the no-load motor voltage V_M0When
And the motor voltage V_MIs V_M0When it becomes less than motor voltage
V_MThis V_M0By maintaining the pedal force F_LIs small
The motor speed N is the no-load speed N₀To
Will be kept. Therefore, the pedaling force F_LIncreases and V_M≧ V_M0When it became
The motor is N₀From the driving force F_MShould be generated,
The time delay required for motor acceleration is eliminated,
The energy consumed quickly (E_a) Is also unnecessary. When the motor is rotated at a rotational speed N₀To maintain innocence
Load motor voltage V_M0Is extremely small during the period
Energy consumption E₀Is the energy required for acceleration
-E_aMuch smaller than. That is, E₀≪E_aIs
Efficiency is improved. The vehicle speed S is a freewheel of a manual drive system.
In the rotating part upstream of the clutch (crank gear, etc.)
Stop the crank pedal rotation while driving
Then, the detected vehicle speed gradually becomes zero. At this time,
, The driving of the motor is stopped. That is, the voltage of the motor
Power will be cut off, and the battery will consume less energy.
The number of layers is reduced, and the efficiency is further improved. [0017] FIG. 1 is a side view of one embodiment of the present invention, and FIG.
Is a power system diagram, FIG. 3 is a development view of the power system, and FIG.
FIG. 5 is a side view showing a treading force detecting section, and FIG.
FIG. 6 and FIG. 6 are motor output characteristic diagrams. In FIG. 1, reference numeral 10 denotes a main frame.
The rear wheel 1 extends from the head pipe 12 obliquely rearward and downward.
4 axles. Substantially perpendicular to the main frame 10
The seat tube 16 is fixed so that
At the upper end of the tube 16 is a seat post for supporting the saddle 18.
20 is fixed. The lower part of the seat tube 16 is opened downward.
A cylindrical portion 16a is formed, in which the DC electric motor 22 is mounted.
Will be accommodated. The power unit is located at the lower end of the seat tube 16.
24 is fixed. This power unit 24 is
Bracket case (hereinafter referred to as BB case) 26,
A rear stay 28 extending rearward from the BB case 26
The rear wheel 28 is fixed to the rear end of the rear stay 28
Have been. The right rear stay 28 (Fig. 3)
The driving shaft 30 is inserted. Next, the power unit 24 will be described. Figure 1,
3, the crankshaft 32 is inserted into the BB case 26.
The crank 34 is fixed to both ends. Clan
The crank pedals 36, 36 are attached to the
You. The left end of the axle 38 of the rear wheel 14
Fixed to an end plate 28a fixed to the table 28,
The right end of this axle 38 is fixed to the right rear stay 28
It is fixed to the bevel gear case 40. Hub on axle 38
42 is rotatably held, and the hub 42 has a drive shaft 3
0 rotation is bevel gear mechanism 44 and freewheel
The information is transmitted through the link 43. The electric motor 22 is mounted on a BB case 26.
3 is fitted and fixed as shown in FIG.
The shaft 22a is perpendicular to the crankshaft 32 and at the center in the vehicle width direction.
Located near. The BB case 26 is a seat tube 1
The motor 22 is inserted from below into the cylindrical portion 16a of No. 6.
The four bolts 46 (see FIG.
3). The rotation of the motor 22 is as shown in FIG.
, One-way clutch 48, planetary gear reducer 50, small umbrella
The gear 52 is turned around the crankshaft 32 through the large bevel gear 54.
It is transmitted to a cylindrical resultant force shaft 56 held rotatably. This
Of the resultant shaft 56 is further moved forward by the bevel gear mechanism 58.
This is transmitted to the drive shaft 30. The rotation from the rear wheel 14 to the motor 22 is a hub.
Disengaged by freewheel clutch 43 installed in 42
Is done. In addition, the said planetary gear type speed reducer 50 is a well-known thing.
The sun gear and the BB case
Between the ring gear fixed to the
The rotation of the meshing planetary gear is transmitted to the small bevel gear 52.
is there. On the other hand, an input is made manually from the pedal 36.
Rotation is by crankshaft 32, one-way clutch 60, planetary teeth
It is transmitted to the large bevel gear 54 via the vehicle type gearbox 62. This
Therefore, the rotation input from the crankshaft 32 is
Drive shaft from a wheel 54 via a resultant force shaft 56 and a bevel gear mechanism 58
It is conveyed to 30. The rotation of the crankshaft 32 is a motor
While the motor 22 is stopped, the operation of the motor
Does not reach. Also, while the crankshaft 32 is stopped or reverse
During the rotation, the motor 22 is actuated by the one-way clutch 60.
The rotation is not transmitted to the crankshaft 32. Here the drive shaft 30
Is located on the right side of the plane A in the vehicle longitudinal direction including the motor shaft 22a.
(See FIG. 3). The planetary gearbox 62 is shown in FIGS.
Thus, a ring gear 62a fixed to the large bevel gear 54,
Sun gear 62b fixed to pedal force detection lever 64 and this
And a planet gear 62c interposed therebetween. crank
The shaft 32 is connected to the planetary gear 62c via a one-way clutch 60.
And revolve. The pedaling force detection lever 64 is connected to the pedal 36.
Reaction force applied to the sun gear 62b during the manual driving by the
Constituting part of the pedaling force detection means 65 for detecting
It is. The treading force detecting means 65 is located on the left side of the plane A.
Place. That is, the lever 6 of the pedaling force detecting means 65
4 are two projections 64a, 64b as shown in FIGS.
And one projection 64a contacts the stopper 66 to
4 the clockwise rotation, in other words, the pedaling force of the pedal 36
Restricts rotation in the direction opposite to the direction in which it is applied. On the projection 64b
The other second lever 68 abuts and the counterclockwise movement of the lever 64
The second lever 68 is turned clockwise by the
Turn over. The second lever 68 has a return spring 70
The return habit is given more, so that the lever 64 is moved as shown in FIG.
With this, return behavior in the clockwise direction is given. And this second
The amount of rotation of the lever 68 is a potentiometer as a pedaling force sensor.
It is transmitted to the meter 72. As a result, the pedaling force of the pedal 36
The lever 64 rotates in the counterclockwise direction in FIG.
Lever 68 rotates clockwise.
It is obtained from the rotation amount of the tension meter 72. In FIG. 1, reference numeral 80 denotes a rechargeable battery such as a lead battery.
A pond 82 is a controller, and these are the main
The head pipe 12 and the seat tube 16 of the frame 10
Is housed between. In FIG. 3, 84 is a large bevel gear
The bevel gear 56 is a vehicle speed detecting means provided opposite thereto.
Well-known structure that detects the rotation of a magnet electromagnetically or optically
Can be used. The pedaling force F detected by the potentiometer 72_L
And the vehicle speed S detected by the vehicle speed detecting means 84 is controlled by a controller.
The controller 82 receives the pedaling force F.
_LAnd the motor current is controlled based on the vehicle speed S and the motor torque.
T_MGenerate. That is, the controller 82 controls the vehicle speed S.
Corresponding motor rotation speed, that is, no-load rotation speed N₀Seeking
The speed, N₀No-load motor voltage V corresponding to
_M0(= KN ₀) And the pedaling force F_L Mode corresponding to
Tatork T_MAsk for. The data used for this calculation is a memo.
Needless to say, the information is stored in advance in the file 82a (FIG. 2). Further, based on the above equation (1),
Applied voltage V_MAsk for. In this equation (1), j> 0, T_M
≧ 0, so V_M≧ V_M0It is. Next, the operation at this time will be described with reference to FIG.
You. The characteristic of equation (1) has a downward slope as shown by the solid line.
It is a straight line of-(k / j). Present pedaling force F_LDetermined by
Motor torque T_MMotor voltage V to output_M
Is the motor rotation speed N at that time.₀From equation (1) using
In other words, the operating point at that time is the point indicated by A in FIG. Here, the pedaling force F_LIs reduced.
If the vehicle speed S during actual driving does not change due to inertia,
Conceivably, the crankshaft 32 has a one-way clutch 60 and
The freewheel clutch 43 rotates at an unbreakable speed,
The vehicle speed detecting means 84 detects the actual vehicle speed at that time.
Shall be. At this time, the vehicle speed detecting means 84 determines the actual vehicle speed.
Since S is detected, the controller 82 rotates the motor.
Speed is N₀Leave V_MOnly decrease. Sand
The operating point A at this time has a speed of N₀Descend on the straight line AB
You. And the pedaling force F_LIs almost zero_M= V_M0= KN₀
Thus, the controller 82 outputs the motor voltage V_MTo V_M0To
keep. Therefore, the operating point of the motor is kept at point B, and no-load operation is performed.
Is done. Treading force F_LIncreases again and V_M> V_M0become
Then, the operating point also moves from the point B toward the point A. At this time
Is already at speed N₀The motor is rotating at
Time delay until one-way clutch 48 is engaged due to speed
Does not occur, and the delay a described in FIG.
Become. In the present invention, the vehicle speed detecting means 84 is a large bevel tooth.
It is provided to face the vehicle 54. In other words,
Between the crankshaft 32 and the freewheel clutch 43
Provided. For this reason, during downhill driving or inertial driving,
When the rotation of the lock shaft 32 is stopped, the large bevel gear 54 gradually decreases.
Speed N output from the vehicle speed detecting means 84₀Is 0 and
Become. Therefore, at this time, the vehicle is actually running.
Nevertheless, no-load motor voltage V_M0Motor 0 as well
2 is stopped, and energy consumption is further increased.
Can be reduced. Note that the present invention uses F_M, V_M,
T_M, N, N₀And data are in a range where the effects of the present invention can be obtained.
It may be increased or decreased or changed by the box.
Include. For example, no-load motor voltage V_M0Is given by equation (1)
KN found₀It may be slightly higher or lower. Also vehicle speed
The detecting means 84 is a free-wheel clutch 4 of a manual drive system.
3 and will not detect the actual vehicle speed.
You can do it. The above embodiment employs a shaft using the drive shaft 30.
Drives the rear wheels 14 by a transmission system consisting of a vertical drive mechanism
However, according to the present invention, the sprocket is fixed to the resultant shaft 56.
The rear wheel 14 is driven by a transmission system consisting of a chain drive mechanism.
It may be driven. [0041] According to the present invention, as described above, the pedaling force (F_L)
Corresponding motor voltage (V_M) Corresponds to the vehicle speed at that time.
Motor speed (N₀), The no-load motor voltage (V_M0)
Then, the motor voltage (V_M) Is the no-load motor voltage
(V_M0) Is it controlled so as not to be less than
Treading force (F_L) Periodically decreases even if motor speed decreases
(N) is the speed corresponding to the vehicle speed (N₀) Do not drop below
No. As a result, there is almost no acceleration or deceleration of the motor,
Drive force (F_M) Pedaling force (F_L)
Can improve the driving feeling. In addition, adjustment of motor
Since the speed is lost, energy consumption is reduced and efficiency is reduced.
Is improved.

[Brief description of the drawings] FIG. 1 is a side view of one embodiment of the present invention. Fig. 2 Power system diagram FIG. 3 is a development view of the power system. FIG. 4 is a side view showing a treading force detection unit. FIG. 5 is a sectional view taken along line VV. FIG. 6 is an operating characteristic diagram of a motor. FIG. 7 is a diagram showing periodic fluctuations in pedaling force and motor driving force. [Explanation of symbols] 14 Rear wheel 22 Electric motor 30 Drive shafts forming transmission systems 32 crankshaft 43 Freewheel Clutch 48 One-way clutch for electric drive system 60 One-way clutch with human power drive 65 Torque detecting means 82 Controller 84 Vehicle speed detection means

Claims (1)

Claims: 1. A bicycle with an electric motor, wherein a human-powered drive system and an electric drive system are provided in parallel, and an output of the electric drive system is controlled in response to a change in pedaling force due to human power. A one-way clutch interposed in the drive system, a treading force detecting means for detecting a treading force, a vehicle speed detecting means for detecting a vehicle speed, and a no-load motor voltage (V _{M0) which is a} motor rotation speed corresponding to the vehicle speed. ) asking the unloaded motor - capacitor voltage (V _M0) above mode - mode in response to the depression force while maintaining the data voltage (V _M) -
A bicycle with an electric motor, comprising: a controller for controlling a driving force by the motor.