JPH1179062A - Bicycle with electric auxiliary power unit - Google Patents

Abstract

(57) [PROBLEMS] To provide an electric assist power device capable of assisting power even when a pedal is located at a position where a pedaling force is not applied when a pedal is depressed and traveling, thereby enabling good traveling. There is a bicycle. A bicycle with an electric assist power device that assists power by determining a motor output by a motor output determining unit based on at least a stepping torque value according to an output of a torque detecting unit and controlling an output of a motor. When the pedal is located at the lowest point and the highest point during the movement of the pedal that moves on the locus having the radius of the crank during running, and the pedaling force for running the pedal is not applied,
A bicycle with an electric auxiliary power device, which controls the motor 40 to output a predetermined output to assist power, thereby enabling good running.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bicycle with an electric auxiliary power device that travels with the assistance of power from an electric auxiliary power device during manual driving.

[0002]

2. Description of the Related Art An electric auxiliary power unit including a motor and a speed reduction mechanism is provided on a bicycle, and power is supplied from the electric auxiliary power unit during traveling on an uphill or the like to enable easy driving. Bicycles with equipment are widely known. A method of assisting power during traveling is to detect the torque transmitted to the crankshaft during traveling, that is, the magnitude of a stepping torque (hereinafter also referred to as a pedaling force) generated by stepping on a pedal attached to the crank. Means, and the output of the motor is controlled to increase or decrease in accordance with the output of the torque detecting means, that is, the magnitude of the treading force, so that the power corresponding to the treading force is assisted to enable easy traveling. Things.

[0003] By the way, during running, the pedal is depressed and the crankshaft rotates through the crank,
At this time, the rotating pedal moves on a circle having a radius of the crank as a rotation locus. During traveling, there are cases where the pedal is located at the lowest point and the highest point of the pedal in the rotation locus, that is, both cranks may coincide with a perpendicular passing through the axis of the crankshaft and orthogonal to this axis. As described above, when the pedal is located at the lowest point and the highest point, the pedal contributes to traveling, that is, the pedaling force for traveling is not applied, that is, the pedaling force becomes zero. When the pedal is depressed and depressed at the lowest point and the uppermost point of the pedal when the vehicle is in an accelerating state by depressing the pedal, or when climbing, for example,
At this point, the power assistance that had been done according to the treading force was suddenly cut off, so the power assistance became discontinuous,
At this point, the running speed suddenly decelerates, resulting in a so-called jerky running state, and a situation arises in which the ride comfort is poor for the driver.

[0004]

As described above, in a conventional bicycle with an electric auxiliary power unit, when the pedal is depressed during running, the bicycle is in an accelerating state, or when the bicycle is in an uphill state, the pedal is rotated. When the pedal is located at the lowest point and the highest point during movement, the pedaling force becomes zero,
Although power assistance was originally required, at this point the power assistance that had been performed according to the treading force was suddenly cut off and the power assistance became discontinuous, resulting in a so-called jerky running state, and the driver could not ride. There is a problem that a feeling of uncomfortableness occurs.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances. According to the first aspect of the present invention, a motor output determining means determines a motor based on at least a stepping torque value corresponding to an output of a torque detecting means. In a bicycle with an electric assist power device that determines the output and controls the output of the motor to assist the power, the pedal moves at the lowest point and the highest point while the pedal moves on a locus whose radius is the crank during running. When the vehicle is located at a position, the motor outputs a predetermined output to assist the motive power.

As described above, according to the first aspect of the present invention, when the pedal is positioned at the lowest point and the highest point in the rotation locus of the pedal rotating with the running crank as a radius, a predetermined output is output to the motor. Since the output is controlled to drive and assist the power, the pedal is positioned at the lowest point and the highest point when the vehicle is in an accelerating state by depressing the pedal during traveling, or when the vehicle is climbing a hill. Since the motor outputs a predetermined output even when the pedaling force for running the pedal is not applied, it has an effect that the power can be continuously assisted. Therefore, it is possible to prevent the traveling speed from decelerating during traveling and to make a so-called jerky traveling state, thereby improving riding comfort.

According to a second aspect of the present invention, there is provided a torque detecting means for detecting a pedaling stepping torque, a torque calculating means for calculating a current stepping torque value based on an output of the torque detecting means, and a motor output. Output value storage means for storing the output value determined for determining, the first comparison means for comparing the current depression torque value and the output value stored in the output value storage means, Subtraction means for subtracting a predetermined value from a larger value of the current depression torque value and the output value compared by the comparison means, and second comparison means for comparing the subtraction value of the subtraction means with the current depression torque value And an output value for determining an output of the motor based on a larger value of the subtraction value and the current depression torque value as a result of the comparison by the second comparison means. Output determining means for determining a predetermined output when the pedal rotating with the rotation of the crank during running is located at the lowest point and the highest point. This is a bicycle with an electric auxiliary power unit that assists the vehicle.

According to a second aspect of the present invention, the present invention is characterized in that the current depressing torque value calculated by the torque calculating means based on the output value of the torque detecting means and the past depressed torque already stored in the output value storing means. The output value is compared, a predetermined value is subtracted from the larger one, the subtracted value is compared with the current depression torque value, and the motor output value is determined based on the larger value, so that the motor rotates during traveling. When the pedal is located at the lowest point and the highest point of the pedal in the rotation locus, the output determining means outputs a predetermined output to continuously assist the power. The configuration in which the predetermined output is output to the output determination means when no pedaling force is applied at the lowest point and the highest point to cause the pedal to travel is applied by using an arbitrary predetermined value. It is expected to have an effect that it is possible to simple configuration Te. Therefore, it is possible to prevent the traveling speed from decelerating during traveling and to make a so-called jerky traveling state, thereby improving riding comfort.

Further, since the output value determined for determining the output of the motor in a state where the pedaling force for running on the pedal is not applied is made by changing the predetermined value, the setting is made. In addition to being easy, since the predetermined value is set in advance, it has an effect of preventing abnormal power assist without being affected by noise or the like.

According to a third aspect of the present invention, in the second aspect, a plurality of output value storage areas for sequentially storing the output values determined by the output determination means are provided in the output value storage means, and a moving average is provided. A bicycle with an electric assistive power unit, comprising a value calculating means, a predetermined value to be subtracted by the subtracting means, and a moving average value obtained by the moving average value calculating means based on a predetermined number of output values stored in the storage means. It was done.

According to the third aspect of the present invention, in the second aspect of the present invention, a predetermined value to be subtracted by the subtraction means is calculated based on a moving average value based on a predetermined number of output values stored in the output value storage means. Since the moving average value obtained by the calculation means is used, the output value stored and compared in the storage means is not due to the original pedal depression torque, but is affected by noise. Even if the output value is received, the output value to be compared is a moving average value calculated based on a predetermined number, and thus has the effect of reducing the influence of noise.

According to a fourth aspect of the present invention, in the second aspect of the invention, a vehicle speed detecting means is provided, and the predetermined value to be subtracted by the subtracting means is increased according to the magnitude of the vehicle speed. It is a bicycle with a power unit.

According to the fourth aspect of the present invention, the vehicle speed detecting means is provided and the predetermined value to be subtracted by the subtracting means is increased in accordance with the magnitude of the vehicle speed. In addition to the effect of the invention according to claim 2, when the predetermined value is constant, the assisting power increases as the vehicle speed increases, but the predetermined value is increased as the vehicle speed increases. Therefore, when the pedal is located at the lowest point and the highest point during traveling by the pedaling force of the pedal and the pedaling force becomes zero, that is, when the pedaling force for driving the pedal is not applied, the assisting power is substantially constant regardless of the vehicle speed. It has the effect of being able to.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the present invention will be described with reference to FIGS. As shown in FIG. 1, a bicycle A with an electric auxiliary power device (hereinafter simply referred to as a bicycle) A includes a vehicle body B and an auxiliary power device (hereinafter simply referred to as a power device) C attached to the vehicle body B. The vehicle body B includes a standing pipe 2 and a lower pipe 3 having one end fixed to a hanger lug 1, a head pipe 4 fixed to the other end of the lower pipe 3, and one end fixed to the other end. A frame 6 comprising an upper pipe 5 fixed to a lower portion of the standing pipe 2; a chain stay 7 having one end fixed to the hanger lug 1; a front fork 8 attached to the head pipe 4; , A front wheel 10 attached to the lower end of the front fork 8, one end is fixed to the upper part of the standing pipe 2 and the other end is not shown as the other end of the chain stay 7. Backhawk 1 fixed via rear pawl
1, a rear wheel 12 attached to the other end of the chain stay 7, a saddle 13 attached above the standing pipe 2, a load receiving stand 14 provided above the rear wheel 12, and the like.

The hanger lug 1 is provided with a crankshaft 80 described later so as to be rotatable.
A left crank 81 and a right crank 82 provided with pedals 81a and 82a, respectively, are attached to both ends. A storage battery case 14a containing a storage battery 14b is attached to the upper part of the receiving table 14. The storage battery 14b is supplied with electric power via a lead 16 to a motor 40 and the like described later. A chain 18 is mounted on a sprocket 17 for transmitting the rotational force during traveling and a sprocket (not shown) of the rear wheel 12.

Next, the structure of the power unit C will be described with reference to FIGS. As shown in FIG.
Is a case 2 composed of a case body 23 and a lid case 25.
0, the motor 4 attached to the case 20
A hollow shaft 70 which is mounted on the case 20 via a bearing and through which a rotational force is transmitted from the speed reducing mechanism 50; Is provided. In the case 20, a microcomputer described later, RO
A control device 200 including an M, a RAM, and the like are housed.

The case 20 includes a speed reduction mechanism 5.
0 and the control device 200 are stored. The reduction mechanism 50 includes a gear 51 attached to a tip end of an output shaft 41 of the motor 40, a large-diameter gear 52 meshing with the gear 51, a small-diameter gear 53 provided integrally with the gear 52, A gear 54 composed of a large-diameter gear 54b and a bevel gear 54c meshing with the gear 53, a bevel gear 55 meshing with the bevel gear 54c, and a shaft 55a mounted on the same shaft as the shaft on which the bevel gear 55 is mounted. The gear 55b includes a drive gear 56 that meshes with the gear 55b.

The gear 55b is mounted on the shaft 55a via a one-way clutch 55f.
The one-way clutch 55f rotates the gear 55b so as to transmit the torque of the motor 40 to the drive gear 56 so that the bicycle normally travels, that is, travels in the forward direction, but idles in the opposite direction. It works like that. In other words, the one-way clutch 55f functions so as to idle when the cranks 81, 82 to which the pedals 81a, 82a are attached rotate in the traveling direction during manual driving described below.

A shaft hole 56a is formed in the center of the driving gear 56, and the shaft hole 56a has
2c are formed on the side surface of the drive gear 56 on the side of the lid case 25 and concentrically arranged on the outer periphery of the shaft hole 56a as shown in FIGS. 2 and 3 (three in the embodiment, FIG. 2). And only one projection 57 is formed in FIG. 3), and the projection 57 extends upward in the direction of the arrow shown in FIG. 4, that is, in the direction in which the driving gear 56 rotates during traveling as shown in FIG. The inclined surface 57a which gradually rises toward is formed. On the side surface of the drive gear 56 on the side of the lid case 25, as shown in FIG. 3, a plurality (three in this embodiment) concentrically disposed with the shaft hole 56a between the adjacent protrusions 57. (Only one is shown in FIG. 3)
An L-shaped regulating member 58 for regulating one end side of a compression spring 60 described later is formed.

A shaft hole 56a formed in the drive gear 56 is provided with a hollow for transmitting the power of the motor 40, that is, the torque (hereinafter, also referred to as a rotational force) to the sprocket 17 through the speed reduction mechanism 50. The hollow shaft 70 is rotatably provided on the hanger lug 1, has a through hole 71 therein, and engages with a concave and convex strip 56 c formed in the shaft hole 56 a at one end. When the projections and depressions 72 are formed and fitted into the shaft hole 56a, the two projections and depressions 56c and 72 are prevented from rotating in the circumferential direction by the engagement of the projections and depressions, and the hollow shaft 70 rotates integrally with the drive gear 56. ing. A mounting member 17a to which the sprocket 17 is mounted is mounted on the other end side of the hollow shaft 70.
The hollow shaft 70 is attached to the case main body 23 by press-fitting the vicinity where the ball bearing 77 is formed into the inner ring of the ball bearing 77 and press-fitting the outer ring of the ball bearing 77 to the bearing mounting portion 23b provided on the case main body 23. I have.

A crankshaft 80 is rotatably provided through the through hole 71 of the hollow shaft 70, and mounting portions 83 and 84 are formed at both ends of the crankshaft 80, respectively.

A one-way clutch 85 is attached to the crankshaft 80 at a position close to the drive gear 56 attached to the hollow shaft 70, and is connected to the crankshaft 80 via the one-way clutch 85. Has a drive plate 90 attached. The one-way clutch 85
Are the pedals 81a, 82 when the crankshaft 80 is running manually.
In the case where the drive plate 90 is rotated in the traveling direction by the left and right cranks 81 and 82 to which the a is attached, the drive plate 90 is rotated. It works like that.

Further, the lid case 25 of the drive plate 90
A disk-shaped flange portion 91 formed at a predetermined distance away from the drive gear 56 so as to form a space between the drive gear 56 and the side surface of the drive gear 56 is formed on the side of the drive gear 56. As shown in FIG. 3, a compression portion 92 is formed which abuts against the other end of the compression spring 60 to compress. The compression spring 60 is disposed between the L-shaped regulating member 58 and the compression section 92.

The magnitude of the urging force of the compression spring 60 is adjusted so as to be compressed in accordance with the rotational force applied to the drive plate 90 via the crankshaft 80 and the one-way clutch 85 during manual driving. Is set. That is, in the case of manual running, the driving gear 56 is set so as to move relative to the driving gear 56 in accordance with the rotational force of the driving plate 90 which rotates together with the one-way clutch 85 with the rotation of the crankshaft 80. It is.

The flange portion 91 of the driving plate 90 has
As shown in FIGS. 2 and 4, three through holes 93 (only one is shown in FIGS. 2 and 4) are formed at portions corresponding to the protrusions 57 formed on the side surface of the drive gear 56.

An offset plate 95 made of an annular plate is provided so as to be able to approach and separate from the flange portion 91, and the offset plate 95 is provided with the through holes 9 respectively.
A slide shaft 96 is provided at a position corresponding to 3 and integrally fixed so as to penetrate an end on one end side into the through hole 93. A spherical projection 96a is formed at the other end of the slide shaft 96. The spherical projection 96a is formed on the inclined surface 57a of the projection 57 formed on the drive gear 56.
The coil spring 97 is biased so as to be pressed against the deflection plate 95. That is, the eccentric plate 95 allows the slide shaft 96 fixed to the eccentric plate 95 to pass through the through hole 93 of the flange portion 91 and is urged by the coil spring 97 so that the spherical projection 96a is formed on the inclined surface 57a. In a state where the drive gear 56 and the drive plate 90 are pressed against each other, the drive gear 56 and the drive plate 90 are disposed so as to be movable in the axial direction of the crankshaft 80. When the pedaling force of the pedals 81a and 82a is applied to the crankshaft 80 via the left and right cranks 81 and 82, the rotational force is applied to the drive plate 90 via a one-way clutch 85 attached to the crankshaft 80. The transmitted drive plate 90 rotates, and when the vehicle is in an accelerated state such as traveling on an uphill during traveling, the pedals 81a and 82a are depressed more strongly than before.
Relative movement according to the treading force between a drive plate 90 attached via a one-way clutch 85 to a crankshaft 80 rotated by a treading force of 1a, 82a and a driving gear 56 rotating integrally with the hollow shaft 70. Will occur. That is, to accelerate the bicycle A, the pedals 81a and 82a are strongly depressed to increase the stepping force, so that the drive plate 90
The compression spring 60 provided between the drive gear 56 and the drive gear 56 is compressed, and the drive plate 90 rotates ahead of the drive gear 56 by an amount corresponding to the pedaling force. Spherical projection 96a of the slide shaft 96
Moves upward along the inclined surface 57a of the projection 57 provided on the drive gear 56, and along with this movement, the coil spring 97 is compressed, and the deflection plate 95 moves in a direction away from the drive gear 56, that is, the deflection plate 95 moves. Will be ranked.

The deflection plate 95 is connected to the drive gear 56.
When the deflection plate 95 is displaced in a direction away from the
The operating rod 140 of the torque sensor 100 as a torque detecting means described later operates in accordance with the amount of deviation of the torque sensor 100, and the torque sensor 100 outputs an electric output according to the pedaling force. (Analog / digital value) The analog value is converted into a digital value by the converter, that is, A / D converted and sent to the control device 200.

A start switch 15 is provided on the lid case 25 of the power unit C as shown in FIG.
The start switch 15 is provided with a key insertion hole 15a, and a key (not shown) is inserted into the key insertion hole 15a to perform a closing / opening operation.
Power is supplied to and stopped from the motor 40 and the like. When the start switch 15 is closed, the vehicle can travel easily with the assistance of the rotational force from the power unit C. When the start switch 15 is opened, the vehicle travels manually using only human power.

Next, the structure of the torque sensor 100 will be described with reference to FIGS. As shown in FIG. 5, the torque sensor 100 includes a case main body 101 including a lower case 110 and an upper case 120 attached to the lower case 110, a strain gauge 130 as a sensor disposed in the case main body 101, It comprises an operating rod 140 that receives the pedal force of the detected torque, that is, the acting force of the torque of the crankshaft 80, and a coil spring 150 that transmits the acting force received by the operating rod 140 to the strain gauge 130.

The upper case 120 has a bottom wall 1.
21 is formed with a cylindrical portion 125 protruding inward and outward, respectively. The cylindrical portion 125 is formed with a guide hole 126 at a portion from the outer end portion to a substantially intermediate portion, and is formed from the intermediate portion to the inner side. Guide hole 1 at the end
A hole 127 larger in diameter than 26 is formed.

Then, the sensor, that is, the strain gauge 1
Reference numeral 30 denotes four thin-film resistors R1 formed on a surface of a strain body 131 made of, for example, aluminum through an insulating film.
To R4 (not shown in FIG. 5) by sticking or so-called semiconductor technology, and these four resistors R1 to R4 are connected by conductors to form a bridge W as shown in FIG. It is configured.
The connection point between the resistors R1 and R3 and the connection point between the resistors R4 and R2 of the bridge W are connected to the lead wire 132a.
And 132b are connected to a power supply, and the connection point between the resistors R1 and R4 and the connection point between the resistors R2 and R3 are output ends. A corresponding electrical output is output, and the electrical output is sent to the control device 200 via the A / D converter 110 through the leads 133a and 133b.

The free end 131a of the flexure element 131 fixed to the lower case 110 and the upper case 120 with the fixed end sandwiched therebetween is located below the inner end of the cylindrical portion 125 and has a guide hole 126. A pin 134 having an axis coinciding with the axis of the guide hole 126 is attached to the distal end portion.

The operating rod 140 is connected to the guide hole 1.
A shaft 141 which is guided by 26 and slidably fits in the axial direction, and a large diameter formed at one end of the shaft 141 and rotatably fitted with a steel ball 142a to reduce friction. The coil spring 150 is disposed between the operating rod 140 and the pin 134 in a state where the coil spring 150 is compressed by a predetermined amount.

The operation of the torque sensor 100 is based on the same principle as that of a conventionally known torque sensor using a strain gauge. That is, Pedal 81a, 8
The pedaling force of 2a is transmitted to the crankshaft 80, and a bending force corresponding to the amount of deflection of the deflection plate 95 that changes according to the magnitude of the torque of the crankshaft 80 is applied to the flexure element 131, and the resistance The bridge W outputs an electrical output corresponding to a change in the resistance value of the bodies R1 to R4. In this embodiment, the maximum bending force is applied to the strain body 131 when the deflection plate 95 is not deflected.

A speed sensor 1 for detecting the speed of the bicycle A is provided inside the case 20 as shown in FIG.
60, a well-known magnetic sensor is used as the speed sensor 160, and a detection unit (not shown) of the speed sensor 160 is disposed close to the teeth of the drive gear 56, and the drive gear 56 rotates. By doing so, each time each tooth of the drive gear 56 approaches the detection unit, the vehicle speed is detected based on the number of pulses per unit time of the generated pulse signal, and the output is sent to the control device 200.

Next, transmission of the driving force of the motor 40 to the rear wheel 12 will be described.

The pedals 81a and 82 are set so that the bicycle A is accelerated as in the case of running on an uphill or the like in manual driving.
a, as described above, the pedals 81a, 82a
The driving force increases to exceed a predetermined value, and the driving plate 90 rotates ahead of the driving gear 56 to cause relative movement of the driving plate 56 and the driving gear 56 by an amount corresponding to the pressing force. Is a protrusion 5 provided on the drive gear 56.
7 is moved upward, and the deflection plate 95 is shifted in a direction away from the driving gear 56 by a deflection amount corresponding to the magnitude of the pedaling force. As a result, the maximum bending force applied to the flexure element 131 via the operating rod 140 and the coil spring 150 decreases, and the flexure element 131 is restored. With this restoration, the resistance values of the resistors R1 to R4 of the bridge W are restored. Is changed, and an electrical output corresponding to the change is sent to the control device 200.

Then, the control device 200 drives the motor 40 as described later, and the rotational force of the motor 40 is transmitted from the gear 42 provided on the output shaft 41 to the drive gear 56 via the speed reduction mechanism 50. This drive gear 5
6 to the rear shaft 12 via the sprocket 17 and the chain 18 attached to the hollow shaft 70. That is, Pedal 8
By stepping on 1a and 82a, the torque of the motor 40, that is, the power, is added or assisted to the manual torque transmitted to the crankshaft 80, and the bicycle runs. Next, the control for assisting the power according to the stepping force of the bicycle A configured as described above will be described based on the control block diagram shown in FIG. 7 and the flowchart shown in FIG.

In the figure, reference numeral 200 denotes the control device described above. The control device 200 controls the pedal 81 at predetermined time intervals based on the output from the torque sensor 100.
a and 82a, a torque calculating means 201 for calculating the current stepping torque, a current torque value storage buffer (hereinafter simply referred to as a buffer) BW1 connected to the torque calculating means 201, an output value storage means 202, and an output value storage means 202 A first comparison means 203 connected to the buffer BW1, a comparison result storage buffer (hereinafter simply referred to as a buffer) BW2 connected to the first comparison means 203, and a predetermined memory N for storing a predetermined predetermined value N. Value storage means (hereinafter simply referred to as storage means) 204;
Subtraction means 205 connected to the storage means 204 and the buffer BW2, and a subtraction value storage buffer (hereinafter simply referred to as a buffer) B connected to the subtraction means 205
W3, the buffer BW3 and the first comparing means BW
1 and a second comparing means 206 connected to the second comparing means 206 and the output storing means 2
02, an output determining means 207 for determining an output value for determining an output value of the motor 40, and a motor driving force determining means 20 connected to the output determining means 207.
8, a motor driving circuit 209 connected to the motor driving force determining means 208, a control means (not shown), and the like.

Although not shown, the first comparing means 203 and the second comparing means 206 have an arithmetic function and a reading function. The calculation function and the reading function may be provided in another calculation means.

A motor 40 and a storage battery 14b are connected to the motor drive circuit 209. The motor drive circuit 209 outputs a current supplied from the storage battery 14b based on an output from the driving force determination means 208. This is to control the output of the motor 40, that is, the torque. The output value storage means 202 has n storage areas 202 (1) to 202 for storing the output values calculated by the output determination means 207 while sequentially updating the output values.
(N) is provided. Further, a speed sensor 160 is connected to the motor driving force determining means 208, and the motor driving force determining means 208 performs motor driving based on an output value from the output determining means 207 and an output value of the speed sensor 160. It determines the force and outputs it to the motor drive circuit 209. As described above, the motor drive circuit 209 controls the current from the battery 14b based on the output from the motor drive force determining means 208 to drive the motor.

It should be noted that the motor drive circuit 209 may be determined based only on the output from the output determining means 207.

Next, the control based on the control block diagram configured as described above will be described with reference to the flowchart shown in FIG. First, in running or driving the bicycle A, the start switch 15 provided on the power unit C is closed by a key (not shown) to turn on the power. Then
The driver depresses the pedals 81a and 82a to drive or run. When the pedals 81a and 82a are depressed, the pedaling force is detected as an initial pedaling force by the torque sensor 100, and is output as a voltage value corresponding to the pedaling force, that is, the pedaling torque.
The torque value is converted into a digital value by the D converter 110 and sent to the control device 200. Based on the digital value, the torque calculating means 201 executes step 1 (hereinafter referred to as S1. Also, steps 2 and 3 described below)・ ・
Are respectively described as S2, S3,...), And the current depression torque value TF is calculated, and the result is stored in the buffer BW1 in S2.

Next, at step S3, the current depression torque value TF
From the buffer BW1 and output value storage means 2
02, the past output value T stored in the predetermined storage area, ie, the predetermined storage area (the n-th storage area (n) 202 (n) in this embodiment).
M (n) (the output value for determining the output value of the motor 40 determined based on the output of the torque sensor 100 a predetermined number of times before the current depression torque value) is read out to the first comparing means 203, respectively. Then, which of the two is larger is compared. In this case, since the pedaling force value detected by the torque sensor 100 is the first, the past output is not stored in the output value storage means 202. In this case, the output value is output as zero. It has become.

As a result of the comparison in S3, when the current depression torque value TF is larger than the past output value TM (n), the process proceeds to S4, where the current depression torque value TF is stored in the buffer BW2. Proceeding to S6, in this S6, the current depression torque value TF by the subtraction means 205 (since this value is the stored content of BW2,
6 is indicated as BW2) from the predetermined value N stored in the storage means 204, and the result of the subtraction, that is, the subtraction value S is stored in the buffer BW3.

If the past output value TM (n) is larger than the current depression torque value TF as a result of the comparison in S3, the process proceeds to S5, and the past output value TM (n) is similarly stored in the buffer BW2. Then, the program proceeds to S6, where the past output value TM (n) is similarly calculated by the subtraction means 205 from the past output value TM (n) (this value is indicated as BW2 in S6 because this value is the stored content of BW2). The predetermined value N stored in 204 is subtracted, and the result of the subtraction, that is, the subtracted value S is stored in the buffer BW3.

Next, the process proceeds to S7, in which the content of the buffer BW3, that is, the subtraction value S obtained by subtracting the predetermined value N from the current depression torque value TF (this value is BW
3 is indicated as BW3 in S7) or a predetermined value N from the past output value TM (n).
Is subtracted from the current depression torque value TF stored in the buffer BW1 by the second comparison means 206. If the result is that the current stepping torque value is larger, the process proceeds to S8, where the output determining means 207 determines the output value PN of the motor 40 based on the current stepping torque value TF. The output value PN is stored in the first output value storage area 202 (1) of the output value storage means 202 as the past output value TM.

As a result of the comparison in S7, the subtraction value S
If the value is larger, the output value PN of the motor 40 is determined by the output determining means 207 based on the subtraction value S. Then, the process proceeds to S10, where the output value PN is set as the past output value TM at S10. Storage means 20
2 is stored in the first output value storage area 202 (1).

That is, in S7 to S10, the content of the buffer BW3, that is, the subtraction value S obtained by subtracting the predetermined value N from the current depression torque value TF, or the subtraction value S obtained by subtracting the predetermined value N from the past output value TM. And the present depression torque value TF stored in the buffer BW1 is compared by the second comparing means 206, and an output value PN for determining the output of the motor 40 is determined based on the larger one, This output value PN is stored in the output value storage means 202 as a past output value.

In step S11, the motor driving force determining means 208 determines the driving force of the motor 40 based on the output value PN determined by the output determining means 207 and the output value of the speed sensor 160 as shown in FIG. The result is output to the motor drive circuit 209, and the motor drive circuit 209 drives the motor 40 by controlling the current of the battery 14b based on the determination result from the motor drive force determination means 208. When the motor 40 is driven, the power is assisted through the speed reduction mechanism 50, that is, the pedal 81.
The above-mentioned power is added to the pedaling forces a and 82a so that the vehicle can travel comfortably.

During traveling, the pedal 81
The output values continuously output from the torque sensor 100 are detected at predetermined time intervals by continuously depressing steps 82a and 82a, and based on this detection result, the above steps S1 to S10 are repeated to execute the motor operation. 40 is to be controlled. Therefore, the output value storage means 2
02, the output values from the output determining means 207 are sequentially stored in the storage areas 202 (1) to 202 (n) and are sequentially updated.

Here, the pedals 81a and 81a when each step of the control block and the flow chart is executed are executed.
The relationship between the stepping torque according to 2a, that is, the current stepping torque value TF, and the output value PN determined by the past output value TM of the output value storage means 202 will be described with reference to FIG. Here, for simplicity of description, the output value TM stored in the output value storage means 202 is described as the one in which the current depression torque value TF output in the past is sequentially stored as it is.

In FIG. 9, the solid line Y indicates the pedals 81a, 82
3 shows the transition of the current depression torque value TF calculated by the torque calculation means 201 in accordance with the depression of a. In the transition in the process from the descending process to the ascending process of the current depressing torque TF, the current depressing torque value TF at times t1 to t8 is TF1 to TF8, and the predetermined number of the output value storage means 202 is two. The output value stored in the storage area 202 (2), that is, the current depressing torque value TF two steps before as described above is used as the past output value, and the predetermined value N is set to n.
Output values PN determined as (constant values) are indicated by PN1 to PN7.

Now, the current depressing torque value TF at t3 is TF3, and the past output value TM is TF1 because the past output value TM is two before. Therefore, the result compared by the first comparing means 203 is that the larger one at t3 becomes the past output value TM (TF1), and the subtracting means 205 subtracts the predetermined value n from the past output value TM (TF1). Is S1.

Next, when the stepping torque value TF3 and the subtraction value are compared with S1 by the second comparing means 206, the subtraction value S1 is larger than the subtraction value S1. Output value PN
Becomes PN1 obtained by translating S1 to the position of t3.

Similarly, the current depression torque value TF at t4 is TF4, and the past output value TM is TF4.
2. Therefore, the result compared by the first comparing means 203 is larger at t4 than the past output value TM.
(TF2), and a subtraction value S2 obtained by subtracting a predetermined value n from the past output value TM (TF2) by the subtraction means 205.
It is. Next, when the second comparison means 206 compares the depression torque value TF3 with the subtraction value S2, the subtraction value S2 is larger than the depressed torque value TF3, so the output determined by the output determination means 207 based on the subtraction value S2. The value PN is obtained in the same manner and becomes PN2.

Similarly, at time t5, the output value PN3
As shown by the one-dot chain line X in FIG. 9, the output value PN becomes larger than the current depression torque value TF in the descending process.

Next, looking at times t6 to t8 in the transition from the descending process to the ascending process, first, the current depression torque value at t6 is TF
6 at this time, and the past output value TM two before is TF4
It is. Since the past output value TM (TF4) and the current depression torque value TF6 have the same magnitude, a predetermined value n is subtracted from the past output value TM (TF4) to obtain a subtraction value S4. S4 is compared with the current depression torque value TF6 by the second comparing means 206. At this time, since the current depression torque value TF6 is large, the output value PN4 is determined based on the current depression torque value TF6.
Is determined.

Next, the current depressing torque value at t7 is TF7, and at this time, the past output value
Is TF5. Then, the past output value TM (TF
Comparing 5) with the current depression torque value TF7, since the current depression torque value TF7 is larger, the predetermined value n is subtracted from the current depression torque value TF7 by the subtraction means 205, and the subtraction value is S7. This subtraction value S7 is compared with the current depression torque value TF7 by the second comparison means. In this case, the current depression torque value T
Since F7 is larger, the output value PN5 is determined based on the current depression torque value TF7. Similarly, the output value PN6 at t8 is obtained.

As can be seen from FIG. 9, in the transition from the descending process to the ascending process, the magnitude of the output value PN is equal to the value of the current depression torque value TF.

That is, in the transition from the descending process to the ascending process, the magnitude of the output value PN is equal to the value of the current depression torque value TF, and the transition from the ascending process to the ascending process through the descending process is repeated. Is that the output value PN is larger than the current depression torque value TF.

The lowest points are the pedals 81a, 82
a is coincident with the vertical line passing through the axis of the crankshaft 80, that is, one of the pedals 81a and 82a is located at the lowest point and the other is located at the uppermost point. There is no contribution, that is, no pedaling force for running, and therefore only the pedals 81a, 82
In the configuration in which the motor 40 is controlled by the current depressing torque value TF corresponding to the depressing force of a to assist the power, when one of the pedals 81a and 82a is positioned at the lowest point and the other is positioned at the highest point. Although the power is not assisted, the output value PN is output even at the position where the pedaling force is not applied from the output determination means 206 as described above, and the drive control of the motor 40 is carried out at the uppermost point and the lowermost point. Is also provided with power assistance.

Therefore, during traveling, that is, the pedal 81a,
When running while accelerating by depressing 82a, or when running while climbing a hill, the pedal 81
a, 82a are in the process of being depressed and rotating,
One of the pedals 81a and 82a is located at the lowest point and the other is located at the uppermost point, and the pedals 81a and 82a receive predetermined power even when the pedaling force for running is not applied, that is, when the pedaling force becomes zero. As a result, no jerky situation occurs and the ride comfort is not impaired.

Then, the torque sensor 1 during running
The curve Y indicating the transition of the current depression torque value TF calculated by the torque calculation means 201 based on the output of the output 00 and the output determination means 207 through the steps S1 to S10 of the flowchart shown in FIG. FIG. 10 shows the relationship between the curve X indicating the transition of the output value PN and the relationship obtained by calculation. As shown in FIG. 10, at a portion where the current stepping torque value TF calculated by the torque calculating means 201 based on the output of the torque sensor 100 gradually falls from the highest point H and rises again through the lowest point U, the output is The curve X of the value PN is located above the curve Y of the current depression torque value TF, which is different from the case where the output value of the motor 40 is determined based only on the value of the current depression torque value TF alone. Also means that a large output value is determined.

That is, the lowest point U is determined by the pedals 81a, 8
2a is located at a position coinciding with a vertical line passing through the axis of the crankshaft 80, and no pedaling force is applied. As described above, even at this lowest point U, the output to the motor 40 is indicated by the curve X. The motor 40 is controlled so as to output a predetermined output even when the pedaling force is not applied to the pedals 81a and 82a, so that the assistance of the power is suddenly cut off. A good running can be maintained without any occurrence.

In FIG. 10, when it is desired to reduce the difference between the curve X of the output value PN and the curve Y of the current depression torque value TF in the y-axis direction, that is, to reduce the output value PN, the value of the predetermined value N Is set to be large.

As described above, the predetermined value N
Is subtracted from the larger one of the current depression torque value TF and the past output value TM, the subtracted value S is compared with the current depression torque value TF, and the output of the motor 40 is determined based on the larger one. By determining the output value for determining the value, the motor 40 is made to output even when the pedaling force is not applied to the pedals 81a, 82a, that is, one of the pedals 81a, 82a is at the lowest point during traveling. The other is located at the highest point and the pedal 81
a, 82a when no pedaling force is applied to the motor 40
Since the vehicle is controlled to output a predetermined output to drive and assist the power, even when no pedaling force is applied to the pedal during traveling, it is possible to assist the power and to provide continuous power assistance, Therefore, it is possible to prevent the traveling speed from decelerating during traveling and to make a so-called jerky traveling state, thereby improving riding comfort.

In the above-described embodiment, the configuration in which the motor 40 is output when the pedals 81a and 82a are not depressed while the pedals 81a and 82a are depressed while the pedals 81a and 82a are being depressed is determined by using a predetermined number N. The value N is subtracted from the larger one of the current depression torque value TF and the past output value TM, and the subtracted value S is compared with the current depression torque value TF. The output value for determining the output is determined.
For example, it is determined that the stepping torque value TF is in the process of falling, and the rate of decrease is determined. The point at which the pedaling force becomes extremely small is determined. It is also possible to adopt a configuration in which a predetermined output value is determined by judging that the state is not added. However, in the case of the configuration as in the above embodiment, since the predetermined value N is simply used, the circuit configuration can be simplified as compared with the latter configuration, and the predetermined value N is set in advance. The advantage is that the value is not affected by external noise.
In the above embodiment, the output value storage means 20
2, a plurality of output value storage areas for storing a plurality of past output values are provided, but this may be one.

In the above-described embodiment, the past output value TM to be compared by the first comparison means 203 is an output value arbitrarily determined from a plurality of output value storage areas of the output value storage means 202, ie, Although one output value stored in a predetermined output value storage area is used, in this case, if the past output value TM is an abnormal value affected by external noise for some reason, the output The output value PN determined by the determining means 207 becomes an abnormal value affected by noise, and a situation occurs in which normal power assist is not performed.

A configuration for solving this problem will be described with reference to a control block diagram of FIG. FIG. 11 (note that
As shown in FIG. 11, the same components as those in FIG. 7 are denoted by the same reference numerals), and the moving average value calculating means 210 is connected to the output value storing means 202 and the moving average value calculating means 210 Average value storage buffer BW4
And the moving average value storage buffer BW4 is connected to the first comparing means 203. The moving average value calculating means 210 outputs the latest one of the plurality of output value storage areas of the output value storing means 202. A moving average is calculated based on a predetermined number of output values TM including the output value TM, the calculation result is stored in the moving average value storage buffer BW4, and the predetermined number stored in the moving average value storage buffer BW4 is calculated. The moving average value of the output value and the current depression torque value TF are compared by the first comparison means 203. In other words, even if there is an abnormal value affected by external noise in the output values stored in the output value storage means 202, the influence of the abnormal value can be reduced by moving average.

The control in this case is the same as the control in the above embodiment except that the past output value TM replaces the moving average value.

In the above embodiment, the predetermined value N
However, when the predetermined value N is constant, as the vehicle speed increases, the curve Y of the current depression torque value TF in FIG. 10 is compressed in the x-axis direction, and the curve X of the output value PN is The difference between the curve Y and the curve Y is larger (the difference between the curve Y and the curve X is larger). That is, as the vehicle speed increases, the output value PN increases, and a large power is assisted.

In order to solve this problem, the configuration shown in FIG. 12 (in FIG. 12, the same components as those in FIG. 7 are denoted by the same reference numerals) may be used. That is, FIG.
As shown in the figure, the output from the speed sensor 160 is input to the storage means 204, and the magnitude of the predetermined value N is changed in accordance with the output, that is, the magnitude of the speed. That is, the value of the predetermined value N is increased as the vehicle speed increases. Should be increased. By increasing the predetermined value N as the vehicle speed increases, the opening between the output value PN, that is, the curve X, and the current depression torque value TF, that is, the curve Y, can be made substantially constant, and therefore, the vehicle speed increases. Even if it is, the power to be assisted can be maintained substantially constant.

As a method of changing the predetermined value N in accordance with the output of the speed sensor 160, for example, a plurality of setting areas are provided in the storage means 204, and a plurality of predetermined values having different values are set in each of these setting areas. In addition to the setting, a detection unit for detecting the magnitude of the output of the speed sensor 160 may be provided, and a predetermined value corresponding to the vehicle speed may be read from the storage unit 204 based on the result of the detection unit. .

[0075]

According to the first aspect of the present invention, when the pedal is located at the lowest point and the highest point in the rotation locus of the pedal rotating with the running crank as a radius, Since the motor is controlled to output a predetermined output to drive and assist the power, when the vehicle is in an accelerating state by depressing the pedal during traveling, or in an uphill state, the pedal is at the lowest point and the highest point. Even when no pedaling force is applied to the pedal at the point where the pedal runs, the motor can output a predetermined output, so that the power can be continuously assisted, and the running speed is reduced during running. It is possible to prevent a so-called jerky running state from occurring and to improve the ride comfort.

Further, according to the present invention, the present invention provides the present invention, wherein the present stepping torque value calculated by the torque calculating means based on the output value of the torque detecting means and the past output value already stored in the output value storing means. By subtracting a predetermined value from the larger value, comparing the subtracted value with the current depressing torque value, and determining the motor output value based on the larger value, the pedal that rotates during traveling rotates the pedal. When located at the lowest point and the highest point of the pedal in the trajectory,
Since the output determining means outputs a predetermined output to continuously assist the power, the pedal is located at the lowest point and the highest point during traveling, and the pedaling force for traveling by the pedal is applied. When there is not, the configuration for outputting the predetermined output to the output determining means can be made a simple configuration by using an arbitrary predetermined value.Therefore, the traveling speed is reduced during traveling and the so-called jerky traveling state is obtained. This has the effect that the ride comfort can be prevented and the riding comfort can be improved.

Further, since the output value determined for determining the output of the motor when the pedaling force for running the pedal is not applied is made by changing the predetermined value, the setting is made. In addition to being easy, the predetermined value is set in advance, so that the predetermined value is not affected by noise or the like, and has an effect that abnormal power assist can be prevented.

According to a third aspect of the present invention, in the second aspect of the present invention, a predetermined value to be subtracted by the subtraction means is calculated based on a predetermined number of output values stored in the output value storage means. From the moving average value obtained by means,
In addition to the effect of the invention according to claim 2, even if the output value stored and compared in the storage means is not the original pedal depression torque but a value affected by noise, the comparison is made. Since the output value is a moving average value of a predetermined number, it has an effect that the influence of noise can be reduced.

Further, in the invention according to claim 4, the vehicle speed detecting means is provided and the predetermined value to be subtracted by the subtracting means is increased in accordance with the magnitude of the vehicle speed. In addition to the effects of the invention described in Item 2, in the case where the predetermined value is constant, the assisting power increases when the vehicle speed increases, but the predetermined value is increased in accordance with the increase in the vehicle speed. By
When the pedal is located at the lowest point and the uppermost point during traveling by the pedaling force and the pedaling force becomes zero, that is, when the pedaling force for driving the pedal is not applied, the assisting power should be substantially constant regardless of the vehicle speed. It has the effect of being able to do.

[Brief description of the drawings]

FIG. 1 is an overall view of an embodiment of a bicycle with an electric auxiliary power device according to the present invention.

FIG. 2 is a sectional view showing a configuration of the auxiliary power unit according to the embodiment.

FIG. 3 is a side view showing the auxiliary power unit of the embodiment.

FIG. 4 is a partial view showing the relationship between the pedaling force of the embodiment # 1 and the operation of torque detecting means.

FIG. 5 is a cross-sectional view of the torque detecting means (torque sensor) of the embodiment.

FIG. 6 is a circuit diagram of a torque detecting means (torque sensor) of the embodiment.

FIG. 7 is a control block diagram of the embodiment.

FIG. 8 is a flowchart of control according to the embodiment.

FIG. 9 is an explanatory diagram for obtaining an output value based on a current depression torque value and a predetermined value in the control.

FIG. 10 is a diagram showing a relationship between a current depression torque value and a transition of an output value based on the control.

FIG. 11 is a control block diagram showing another control embodiment in the above embodiment.

FIG. 12 is a control block diagram showing still another control embodiment in the above embodiment.

[Explanation of symbols]

 A Bicycle with electric auxiliary power unit C Auxiliary power unit 14b Storage battery 40 Motor 80 Crankshaft 81a, 82a Pedal 100 Torque sensor (torque detecting means) 160 Speed sensor (vehicle speed detecting means) 200 Controller 201 Torque calculating means 202 Output value storage Means 203 First comparing means 204 Predetermined value storing means 205 Subtracting means 206 Second comparing means 207 Output determining means 210 Moving average value calculating means

Claims (4)

[Claims] 1. A bicycle with an electric assist power device that assists power by determining a motor output by a motor output determining means based on at least a stepping torque value corresponding to an output of a torque detecting means and controlling the motor output. When the pedal is located at the lowest point and the highest point during the movement of the pedal that moves on the locus having the radius of the crank therein, the motor outputs a predetermined output to assist power. A bicycle with an electric auxiliary power unit. 2. A torque detecting means for detecting a pedal depression torque, a torque calculating means for calculating a current depression torque value based on an output of the torque detection means, and a torque determination means for determining an output of the motor. Output value storing means for storing an output value; first comparing means for comparing a current depressing torque value with an output value stored in the output value storing means; and a current depressing step performed by the first comparing means. Subtraction means for subtracting a predetermined value from the larger of the torque value and the output value; second comparison means for comparing the subtraction value by the subtraction means with the current depression torque value; and second comparison means. Output determination means for determining an output value for determining the output of the motor based on a larger value of the subtraction value and the current depression torque value as a result of the comparison. When the pedal that rotates with the rotation of the crank during running is positioned at the lowest point and the highest point, the output determining means outputs a predetermined output to drive a motor to assist power. A bicycle with an electric auxiliary power unit. 3. The invention according to claim 2, wherein the output value storage means includes a plurality of output value storage areas for sequentially storing the output values determined by the output determination means, and a moving average value calculation means. A bicycle with an electric auxiliary power unit, wherein a predetermined value to be subtracted by the subtraction means is a moving average value obtained by the moving average value calculation means based on a predetermined number of output values stored in the storage means. 4. An electric power assisting device according to claim 2, further comprising vehicle speed detecting means, wherein a predetermined value to be subtracted by said subtracting means is increased in accordance with the magnitude of the vehicle speed. bicycle.