JPH0365311B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a reversing device for a vehicle such as a motorcycle that uses a motor.

[Conventional technology]

Normally, for vehicles such as motorcycles, it is sufficient to consider only the forward function, and a reverse mechanism is not required. However, large motorcycles are difficult to move manually, and it is especially labor-intensive to push them backwards. Therefore, as shown in Japanese Patent Application Laid-Open No. 60-252079, large motorcycles
Some vehicles are equipped with a mechanism for moving backwards using a motor mounted on the vehicle body.

In other words, the motor is used as a power source to move the motorcycle backwards.

[Problem to be solved by the invention]

However, conventionally, when reversing, the torque of the motor is not controlled.
There was a problem that the reverse speed changed depending on whether the vehicle was flat or flat.

In view of the above circumstances, it is an object of the present invention to provide a reversing device for a vehicle such as a motorcycle that can eliminate fluctuations in reversing speed due to changes in load or changes in road surface conditions.

[Means to solve the problem]

In order to achieve the above object, the present invention provides a driving means for rotating a motor by applying a voltage to a motor for backward driving, a speed detecting means for detecting the driving speed of the motor, and a detection result of the speed detecting means. a comparison means for comparing the detected speed with a preset target value; and a control signal is applied to the motor to control the motor so that the detected speed matches the target value based on the comparison result of the comparison means. It is characterized by comprising a driving means for.

[Effect] With the above configuration, the vehicle speed is made to match the target value.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a circuit diagram showing a motor drive circuit for a reversing device in a motorcycle or the like according to an embodiment of the present invention. In this figure, NS is a neutral switch, which makes contacts NS1 and NS2 conductive when the gear is in the neutral position.
Further, CS is a clutch switch, which brings contacts CS1 and CS2 into conduction when the clutch is disengaged. Further, ts is a starter switch, which is operated by the driver to bring contacts ts1 and ts2 into conduction. On the other hand, SS is a seat switch, and when the driver is seated on the seat, contacts SS1 and SS2 are
becomes conductive. Also, RS is a reverse switch operated by the driver, and contacts RS1 and RS
2 becomes conductive.

Next, 1 is a battery mounted on the motorcycle, its (-) terminal is grounded, and its (+) terminal is the terminal MS1 of the magnetic switch MS.
It is connected to the. This magnetic switch MS
has four terminals MS1 to MS4 and a movable contact S1,
S2 and the coils DC1 and DC that drive these contacts
2, the movable contact S1 makes the terminals MS2 and MS3 conductive when the coil DC1 is not energized, and makes the terminals MS1 and MS2 non-conductive, but when the coil DC1 is energized, the movable contact S1
MS2 and MS2 are made non-conductive and the terminal MS
1 and MS2 are brought into continuity. Also, movable contact S2
is the terminal when coil DC2 is not energized.
Make MS3 and MS4 conductive and connect terminal MS1
and MS4 are made non-conducting, while coil DC2
When energized, the terminals MS3 and MS4 are brought into a non-conducting state, and the terminals MS1 and MS4 are brought into a conductive state. Here, the terminal S2 is connected to one end 10a of the switching unit 10 shown in FIG. 2 via a motor 2 (described below as an example in which a starter motor is used as this motor), The other end 10b of 10 is connected to a terminal S4 of a magnetic switch MS. or,
Terminal S3 of the magnetic switch MS is grounded. The switching unit 10 has the other end 10b
When the potential at one end 10a is higher than that at the other end 10a, the gate terminal 10a becomes conductive, and when the potential at one end 10a is higher than the other end 10b, it becomes conductive or non-conductive depending on the potential at the gate terminal 10c. I feel relaxed. That is, when the potential at one end 10a is higher than the potential at the other end 10b, the switching unit 10 becomes conductive when the gate terminal 10b is grounded, and becomes non-conductive when the gate terminal 10c is floated.

Further, to explain the energizing circuit of the starter motor 2, when the coil DC2 is energized and the coil DC1 is de-energized in the magnet switch MS, the terminals MS1 and MS4 and the terminals MS2 and MS3 are respectively conducted. As a result, the potential at the other end 10b of the switching unit 10 becomes higher than the potential at the end 10a, and therefore,
From battery 1, terminal MS1 → terminal MS4 → other end 10b → one end 10a → starter motor 2 → terminal MS2
→ Current flows through the path of terminal MS3, and starter motor 2
rotates forward.

On the other hand, the coil DC1 is excited and DC2
is in the de-energized state, terminals MS1 and MS
2 and terminals MS3 and MS4 are respectively electrically connected.
As a result, one end 1 of the switching unit 10
When the potential at the terminal 0a becomes higher than the potential at the other end 10b and the gate terminal 10c of the switching unit 10 is grounded, from the battery 1, terminal MS1 → terminal MS2 → starter motor 2 → one end 10a → the other End 10b → terminal MS4 → terminal MS3
A current flows through the path, and the starting motor 2 is reversed.
In this case, since the gate terminal 10c is intermittently grounded, the switching unit 10 is continuously turned on and off, and the starting motor 2 is subjected to chopper control. That is, when the starter motor 2 rotates in the normal direction, a steady current is supplied to it, while when it rotates in the reverse direction, it is chopper controlled by a pulse current.

When the starting motor 2 rotates normally, the output shaft 20 rotates clockwise (in the direction of arrow A in the figure), as shown in FIG. As a result, the starter pinion 22 provided with the one-way clutch 21 rotates, the driven gear 23 meshing with the starter pinion 22 rotates, and the crankshaft (not shown) of the engine rotates.

On the other hand, when the starting motor 2 rotates in reverse, the output shaft 20 rotates counterclockwise (in the direction of arrow B in the figure). As a result, the back pinion 24 rotates, the driven gear 25 meshing with the back pinion 24 rotates, and the drive shaft 26 rotates. As the drive shaft 26 rotates, wheels (not shown) rotate, and the vehicle body travels backwards. Note that the driven gear 25 is provided with a one-way clutch 27. Moreover, this driven gear 25 is adapted to move in the direction of arrow c and mesh with the back pinion 24 only during back travel.

In this way, the starter motor 2 functions as an engine starter when rotating in the forward direction, and when rotating in the reverse direction,
It functions as a power source for backward travel.

Now, in FIG. 1, the (+) terminal of the battery 1 is connected via a neutral indicator 3 to a contact NS1 of a neutral switch NS. In this case, the other contact NS2 of the neutral switch NS is grounded, so that when the gear is in the neutral position, the neutral indicator 3 and the neutral switch NS
A current flows through the neutral indicator 3, and the neutral indicator 3 lights up.

Further, the (+) terminal of the battery 1 is connected to a contact ts1 of a starter switch ts via a fuse 4 and to a normally closed contact BL2 of a relay BL via a coil FLC of a relay FL.

This relay FL is the magnetic switch MS
The drive coil DC1 is excited to drive the movable contact S1, and the normally closed contact BL2 is the drive coil DC1.
It is connected to contact ts2 of starter switch ts via DC. Also, one end of the coil BLC is grounded, and the other end is connected to the contact FL1 of the relay FL. Also, contact BL1 of this relay BL
is the contact GL1 of the relay GL via the seat switch SS and reverse switch RS connected in series.
It is further connected to the contact NS1 of the neutral switch NS via the coil GLC of this relay GL.

On the other hand, the relay FL is a magnetic switch.
Excite the drive coil DC2 of the MS to make the movable contact S2
The normally closed contact FL1 is connected to the contact CS1 of the clutch switch CS via the drive coil DC2, and is further connected to the contact NS1 of the neutral switch NS via the diode 5.
It is connected to the. The other normally closed contact FL2 of this relay FL is connected to the contact ts1 of the starter switch ts.

Further, the relay GL is connected to the driven gear 2 described above.
This is used to switch the contact point GL2.
is grounded via the solenoid 6. This solenoid 6 is energized to move the driven gear 25 in the direction of arrow C and mesh with the back pinion 24.

Note that the contact CS2 of the clutch switch CS is grounded.

Next, FIG. 2 is a block diagram showing the configuration of essential parts of the motor drive circuit. In this figure, the control unit 11 turns on and off the switching unit 10 based on the detection result of the speed sensor 12 during the reverse drive, and controls the rotation of the starter motor 2 using a chopper to maintain the reverse drive speed constant.

To explain further, the speed sensor 12 converts the rotational speed of the wheel into a voltage signal corresponding to the rotational speed and supplies it to the control unit 11. In this case, as the rotation speed increases, the voltage signal becomes higher in potential. Control unit 1
1 comprises a reference voltage generator 13, a comparator 14, an oscillator 15, a duty converter 16, and a transistor 17, and the voltage signal output from the speed sensor 12 is supplied to the comparator 114. The comparator 14 compares this voltage signal with the reference voltage supplied from the reference voltage generator 13, and supplies the difference as a voltage signal (differential voltage) to the duty converter 16. Note that the reference voltage output from the reference voltage generator 13 is set in advance.

The duty converter 16 is driven by a constant cycle trigger signal supplied from the oscillator 15, and outputs a pulse signal each time the oscillator 15 supplies the trigger signal. In this case, the duty converter 16 widens or narrows the pulse width of the pulse signal based on the difference signal supplied from the comparator 14. That is, the duty converter 16 is
When the difference signal is 0, that is, when the voltage signal output from the speed sensor 12 and the reference voltage supplied from the reference voltage generator 13 are equal, the pulse signal is generated with a predetermined pulse width (reference pulse width). At the same time, when the difference signal becomes a positive value, that is, the above voltage signal becomes lower than the reference voltage, the pulse width of the pulse signal is expanded according to that value, while the difference signal becomes a negative value, that is, when the above voltage signal becomes lower than the reference voltage. When the voltage signal becomes higher than the reference voltage, the pulse width of the pulse signal is narrowed according to the value. This pulse signal is supplied to the base of transistor 17, and transistor 17 is turned on and off. The collector of this transistor 17 is connected to the gate terminal 10c of the switching unit 10, so that every time a pulse signal is output from the duty converter 16, the switching unit 10 is turned on for the time corresponding to the pulse width. Current is supplied to starter motor 2.

Note that the reference pulse width is determined as follows.

That is, when the switching unit 10 is turned on and off with this reference pulse width, a vehicle weighing, for example, 800 kg can run at approximately 1 km/h on a flat road. (The speed at this time is referred to as the target speed.) Also, if the average current flowing through the starter motor 2 when turned on and off with the reference pulse width is I, then the duty converter 16 will be k×I( The pulse width is widened so that a current of (k is a coefficient determined by the torque characteristics of the motor) flows. That is, the duty converter 16 is
At the start of back travel, a large current is temporarily applied to the starter motor 2 (see FIG. 3).

This causes the starting motor 2 to generate a large torque at the time of startup.

The operation of the reversing device in a vehicle such as a motorcycle having the above configuration will be explained.

(1) Starting the engine To start the engine, the driver must put the gear in neutral and turn on the neutral switch NS, or disengage the clutch and turn on the clutch switch CS.
Next, turn on the starter switch TS. As a result, current flows from the battery 1 via the contacts FL1 and FL2 of the relay FL → the exciting coil DC2 → CS (or NS), and the exciting coil DC2 is excited. On the other hand, relay FL contacts FL1, FL
A current also flows through the coil BLC of the relay BL via the coil BLC of the relay BL, which turns off the relay BL, so that no current flows through the exciting coil DC1.

As a result, the terminal of magnetic switch MS
MS1 and MS4 and MS2 and MS3 become conductive, respectively, so terminal MS1→terminal
A steady current flows from the battery 1 through the path MS4 → switching unit 10 → starter motor 2 → terminal MS2 → terminal MS3, and the starter motor 2 rotates in the normal direction.

This is transmitted to the engine via starter gear 22 and driven gear 23, and the engine is started.

(2) Backward driving When traveling backwards, the driver sits in the seat, sets the gear to neutral, turns on each of the sheath switch SS and neutral switch NS, and then turns on the reverse switch RS. By this, coil FLC of relay FL
→ Contacts BL1 and BL2 of relay BL → Sheath switch SS → Reverse switch RS → Relay
GL coil GLC → neutral switch NS
Current flows from the battery through the relay FL
is turned off and relay GL is turned on.
By turning on the relay GL, the solenoid 6 is energized, and the driven gear 25 is displaced and meshed with the back pinion 24. Next, when the driver turns on the starter switch ts, current flows through the excitation coil DC1, and the excitation coil DC1 is excited.

On the other hand, since relay FL is turned off, no current flows through exciting coil DC2.

As a result, terminal 1 of magnetic switch MS
MS2 and terminals MS3 and MS4 each become conductive, and one end 10 of the switching unit 10
a has a high potential with respect to the other end 10b. The gate terminal 10c of the switching unit 10 is intermittently grounded, so that a pulse current is supplied to the starter motor 2, causing the starter motor 2 to rotate in reverse. This is transmitted to the drive shaft 26 via the back pinion 24 and driven gear 25, the wheels rotate, and the motorcycle runs backwards.

This speed during backward running is detected by a speed sensor 12, converted into a voltage signal, and supplied to a comparator 14. The comparator 14 compares this voltage signal with the reference potential supplied from the reference voltage generator 13, and the difference between them is supplied to the duty converter 16 as a difference signal. The duty converter 16 generates and outputs a pulse signal every time the trigger signal is supplied from the oscillator 15. In this case, if the difference signal has a positive value, that is, the voltage signal is lower than the reference potential, the pulse width of the pulse signal is widened, while if the difference signal has a negative value, that is, the voltage signal is higher than the reference potential. If so, the pulse width will be narrowed. This pulse width is equal to the energization time to the starter motor 2, and therefore, the wider the pulse width, the larger the average current flowing through the starter motor 2, and the narrower the pulse width, the smaller the average current flowing through the starter motor 2. In other words, if the running speed becomes slower than the target speed, the pulse width becomes wider, the average current flowing through the starter motor 2 becomes larger, the torque of the starter motor 2 increases, and the rotational speed increases. This increases the running speed. On the other hand, if the running speed becomes faster than the target speed, the pulse width becomes narrower, the average current flowing through the starter motor 2 becomes smaller, the torque of the starter motor 2 decreases, and the rotational speed decreases. This slows down the running speed.

In this way, when traveling in reverse, if the traveling speed becomes slower than the target speed, the rotational speed of starter motor 2 increases, and if the traveling speed becomes faster than the target speed, the rotational speed of starter motor 2 decreases. Even if the situation changes, the traveling speed remains constant.

In this embodiment, the reference pulse width is set constant, but if it is made to be changeable by setting, the target running speed during backward running can be made variable.

〔Effect of the invention〕

As explained above, according to the present invention, there is provided a driving means for applying a voltage to a motor that drives backward to rotate the motor, a speed detecting means for detecting the driving speed of the motor, and a detecting means for detecting the speed detecting means. a comparison means for comparing the result with a preset target value; and a control signal is applied to the motor to control the motor so that the detected speed matches the target value based on the comparison result of the comparison means. Since it is equipped with a driving means for driving, depending on the traveling speed,
The current supplied to the motor is controlled, and the rotational speed of the motor is maintained at a constant target value even if the load fluctuates.

Therefore, even when going over a step or the like when reversing, the vehicle can be retracted at a constant speed, providing a favorable operating feel.

[Brief explanation of drawings]

FIG. 1 is a circuit diagram showing the configuration of a motor drive circuit for a reversing device in a motorcycle or the like according to an embodiment of the present invention, FIG. 2 is a block diagram showing the configuration of the main parts of the drive circuit, and FIG. FIG. 4 is a graph showing the change in average current when the motor starts rotating in reverse, and FIG. 4 is a perspective view showing the drive mechanism. 2... Serial motor (motor), 10... Switching unit, MS... Magnetic switch, 12...
Speed sensor (speed detection means), 14... Comparator (comparison means).

Claims (1)

[Claims] 1. A drive means that applies a voltage to a motor that drives backward to rotate the motor, a speed detection means that detects the driving speed of the motor, and a comparison of the detection result of the speed detection means with a preset target value. and applying a control signal to the motor;
A reversing device for a vehicle such as a motorcycle, characterized in that the reversing device for a vehicle such as a two-wheeled motor vehicle is characterized by comprising: a drive means for controlling the motor so as to make the detected speed coincide with the target value based on a comparison result of the comparison means.