JP2005022631A - Electric scooter drive control device - Google Patents

Electric scooter drive control device Download PDF

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JP2005022631A
JP2005022631A JP2003378768A JP2003378768A JP2005022631A JP 2005022631 A JP2005022631 A JP 2005022631A JP 2003378768 A JP2003378768 A JP 2003378768A JP 2003378768 A JP2003378768 A JP 2003378768A JP 2005022631 A JP2005022631 A JP 2005022631A
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driver
command
control device
acceleration
scooter
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JP2005022631A5 (en
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Takashi Manba
崇 萬羽
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Yaskawa Electric Corp
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Abstract

【課題】 運転者、積載物の重量や重心位置の違いにより操作量とスクータの加速度および旋回半径の関係が変化することなく操作することができ、乗り心地の悪さを解消することができる該電動スクータの駆動制御装置を提供する。
【解決手段】 ２軸傾斜センサ１により運転者の体の傾斜を検出し、加減速時の慣性力と重力との合力の向き、旋回時の遠心力と重力との合力の向きが運転者の体の傾斜方向と一致するように加速度指令および旋回半径指令を生成する指令生成装置２と、受け取った加速度指令および旋回半径指令どおりにスク−タが動作するように複数個のモータ７を駆動する制御装置３とを備える。
【選択図】図１PROBLEM TO BE SOLVED: To perform an operation without changing a relation between an operation amount, an acceleration of a scooter and a turning radius depending on a driver, a weight of a load and a position of a center of gravity, and the electric motor capable of eliminating a poor ride comfort. A scooter drive control device is provided.
SOLUTION: A driver's body tilt is detected by a biaxial tilt sensor 1, and the direction of the resultant force of inertial force and gravity during acceleration / deceleration and the direction of the resultant force of centrifugal force and gravity during turning are determined by the driver. A command generation device 2 that generates an acceleration command and a turning radius command so as to coincide with the body inclination direction, and a plurality of motors 7 are driven so that the scooter operates according to the received acceleration command and turning radius command. And a control device 3.
[Selection] Figure 1

Description

本発明は、電動スク−タの駆動制御装置に関する。   The present invention relates to a drive control device for an electric scooter.

従来の電動スクータの駆動制御装置は、例えば、図６に示すようなものがある。図６は従来の電動スクータの駆動制御装置を示すブロック図である。
図６において、 ３１はアクセル、３２は制御装置、３３はモータ駆動回路、３４は電源、３５はモータである。このような構成において、該電動スクータの駆動制御装置は、足下やハンドル部等に設置されたアクセル３１の操作量が制御装置３２に入力され、制御装置３２がモータ駆動回路３３をコントロールすることにより電源３４からモータ３５に供給される電力を調節するようになっている。
また、この種の電動スクータの類として、キックボードを利用して、人力、電力両用で、走行が安全かつ電力を効率よく利用することが可能な動力付きキックボードの駆動制御装置が提案されており、該装置は運転者が先に人力によりキックボードを押して始動した後、制御装置が起動し、モータに電力が供給されるものもある（例えば、特許文献１を参照）。
また、倒立振子の動作を電動スクータに適用し、運転者の傾斜を元の状態、いわゆる重力に対して釣合う鉛直方向に戻そうとする制御を行うものもある（たとえば、特許文献２を参照）。
このように、従来の電動スクータの駆動制御装置は、アクセルの操作量を検出してスク−タの出力を制御するものか、あるいは倒立振子の動作を電動スク−タに適用して直立状態を保とうとするものである。
実用新案登録第３０８００６８号公報（第３頁、図２） 特表２００３−５０２００２号公報（第４３頁、図３） A conventional drive control device for an electric scooter is, for example, as shown in FIG. FIG. 6 is a block diagram showing a conventional drive control device for an electric scooter.
In FIG. 6, 31 is an accelerator, 32 is a control device, 33 is a motor drive circuit, 34 is a power source, and 35 is a motor. In such a configuration, the drive control device for the electric scooter is configured such that the operation amount of the accelerator 31 installed on the foot or the handle portion is input to the control device 32, and the control device 32 controls the motor drive circuit 33. The power supplied from the power supply 34 to the motor 35 is adjusted.
Also, as a kind of this type of electric scooter, there has been proposed a drive control device for a powered kickboard that uses a kickboard and can be used for both human power and electric power, and can be safely used and electric power can be used efficiently. Some of the devices are started by the driver pushing the kick board by human power first, and then the control device is activated to supply power to the motor (see, for example, Patent Document 1).
In addition, there is also an apparatus in which the operation of the inverted pendulum is applied to an electric scooter so as to return the driver's inclination to the original state, that is, to return to a vertical direction balanced with so-called gravity (for example, see Patent Document 2). ).
As described above, the conventional electric scooter drive control device detects the amount of operation of the accelerator to control the output of the scooter, or applies the operation of the inverted pendulum to the electric scooter to bring the upright state. I want to keep it.
Utility Model Registration No. 3080068 (3rd page, FIG. 2) Japanese translation of PCT publication No. 2003-502002 (page 43, FIG. 3)

しかしながら、従来の電動スクータの駆動制御装置はアクセルの操作量を検出してスクータの出力を制御するものであるが、運転者の前後および左右方向の傾斜を検出する仕組みを持たないので、運転者は加減速時における慣性力および旋回時における遠心力に対し、体を傾斜させてバランスをとらなければ転倒してしまうという問題があった。
また、四輪車などのように転倒はしにくいが、運転者がスク−タの傾斜を操作できない場合は、加減速時の慣性力を前後方向に、旋回時の遠心力を左右方向に受けるので、乗り心地が悪いというような問題もあった。
また、倒立振子の動作を電動スク−タに適用した場合には、該装置は運転者を常に直立した状態に保つように制御を行うため、運転者は倒立振子により体の傾きを戻すような慣性力を常に受けていた。また、該制御手段は、運転者の傾斜に基づいて制御が行われるものであって、運転者の意思に基づいて行われるものではないため、かえって乗り心地を悪化させていた。
また、このような制御では運転者、積載物の重量や重心位置の違いにより操作量と出力されるスクータの加減速力との関係が変化してしまい、運転者が意図したのと異なる動作をしてしまうという問題があった。
本発明は上記課題を解決するためになされたものであり、運転者、積載物の重量や重心位置の違いにより操作量とスクータの加速度および旋回半径の関係が変化することなく操作することができ、乗り心地の悪さを解消することができる該電動スクータの駆動制御装置を提供することを目的とする。 However, the conventional drive control device for an electric scooter controls the output of the scooter by detecting the operation amount of the accelerator, but does not have a mechanism for detecting the forward / backward and left / right inclination of the driver. There is a problem that the body falls over if it is not balanced by tilting the body against the inertial force during acceleration / deceleration and the centrifugal force during turning.
In addition, when the driver cannot operate the scooter tilt, such as a four-wheeled vehicle, the inertial force during acceleration / deceleration is received in the front-rear direction and the centrifugal force during turning is received in the left-right direction. So there was also a problem that the ride was uncomfortable.
In addition, when the operation of the inverted pendulum is applied to an electric scooter, the device controls the driver so that the driver is always kept upright. Therefore, the driver returns the body inclination by the inverted pendulum. I was always subject to inertia. Further, since the control means is controlled based on the driver's inclination and not based on the driver's intention, the ride comfort is deteriorated.
In addition, in such control, the relationship between the operation amount and the acceleration / deceleration force of the output scooter changes depending on the driver, the weight of the load and the position of the center of gravity, and the driver operates differently than intended. There was a problem that.
The present invention has been made to solve the above-described problems, and can be operated without changing the relationship between the operation amount, the acceleration of the scooter, and the turning radius due to the difference in the weight of the driver and the load and the position of the center of gravity. Another object of the present invention is to provide a drive control device for the electric scooter that can eliminate the poor ride comfort.

上記問題を解決するため、本発明は、次のように構成したのである。
請求項１に記載の発明は、運転者を乗せる車体と、前記車体の前端に設けられて手で傾斜させるハンドルと、前記車体に設けた車輪を回転させるモータと、前記モータの電源と、前記モータを駆動させるモータ駆動回路と、前記モータ駆動回路を操作して前記モータの回転角加速度を制御する制御装置と、前記車体の走行速度を検出する速度センサとを備えた電動スク−タの駆動制御装置において、前記車体と前記ハンドルを連結すると共に、前記車体に対して前記ハンドルを運転者の体が傾く方向と一致するよう前後方向と左右方向と自由に回動可能に設けられた連結部と、前記連結部に設けられ、該運転者の前後および左右方向の体の傾きを検出する２軸傾斜センサと、前記２軸傾斜センサおよび速度センサからの情報に基づいて運転者にかかる重力と前後方向加減速時慣性力と旋回時遠心力の合力の向きが運転者の体の傾斜方向と一致するように加速度指令値と旋回半径指令を生成する指令生成装置とを備え、前記指令生成装置から受け取った加速度指令および旋回半径指令どおりにスク−タが動作するように前記制御装置により前記モータを制御するようにしたことを特徴としている。
また、請求項２に記載の発明は、請求項１記載の電動スク−タ駆動制御装置において、前記指令生成装置は、加速度指令をａ、重力加速度をｇ、２軸傾斜センサにより検出した運転者の前後方向傾斜角度をθとして、スク−タへの加速度指令をａ＝ｇ×ｔａｎθにより決定し、旋回半径指令をｒ、２軸傾斜センサにより検出した運転者の左右方向傾斜角度をφ、速度センサにより検出したスク−タ走行速度をｖとして、旋回半径指令をｒ＝ｖ２／（ｇ×ｔａｎφ）により決定することを特徴としている。
また、請求項３に記載の発明は、請求項１または２に記載の電動スク−タ駆動制御装置において、前記２軸傾斜センサは、前記連結部に設けられた前記車体と前記ハンドルとの前後および左右方向の傾斜角をそれぞれ検出する２つの角度センサにより構成されることを特徴としている。 In order to solve the above problem, the present invention is configured as follows.
The invention according to claim 1 is a vehicle body on which a driver is placed, a handle that is provided at a front end of the vehicle body and is inclined by hand, a motor that rotates a wheel provided on the vehicle body, a power source of the motor, Driving an electric scooter comprising a motor drive circuit for driving a motor, a control device for operating the motor drive circuit to control the rotational angular acceleration of the motor, and a speed sensor for detecting the travel speed of the vehicle body In the control device, the connecting portion that connects the vehicle body and the handle and is provided so as to be freely rotatable in the front-rear direction and the left-right direction so as to coincide with the direction in which the driver's body tilts with respect to the vehicle body. And a biaxial tilt sensor that is provided in the connecting portion and detects the body tilt in the front-rear and left-right directions of the driver, and the driver based on information from the biaxial tilt sensor and the speed sensor. A command generator for generating an acceleration command value and a turning radius command so that the direction of the resultant force of the gravity, the inertial force at the time of acceleration / deceleration in the longitudinal direction and the centrifugal force at the time of turning coincides with the inclination direction of the driver's body; The motor is controlled by the controller so that the scooter operates in accordance with the acceleration command and the turning radius command received from the command generation device.
According to a second aspect of the present invention, there is provided the electric scooter drive control device according to the first aspect, wherein the command generating device detects an acceleration command a, a gravitational acceleration g, and a driver that detects a biaxial tilt sensor. The acceleration command to the scooter is determined by a = g × tan θ, the turning radius command is r, and the driver's horizontal tilt angle detected by the biaxial tilt sensor is φ, speed The scooter travel speed detected by the sensor is set to v, and the turning radius command is determined by r = v 2 / (g × tan φ).
According to a third aspect of the present invention, there is provided the electric scooter drive control device according to the first or second aspect, wherein the biaxial tilt sensor is provided between the vehicle body and the handle provided at the connecting portion. And two angle sensors that respectively detect the tilt angles in the left-right direction.

請求項１、２に記載の発明によると、電動スクータの駆動制御装置は、運転者の前後および左右方向の体の傾きを検出する２軸傾斜センサと、該２軸傾斜センサおよび速度センサからの情報に基づいて運転者にかかる重力と前後方向加減速時慣性力と旋回時遠心力の合力の向きが運転者の体の傾斜方向と一致するように加速度指令値と旋回半径指令を生成する指令生成装置とを設けたので、電動スクータのハンドルの傾斜を検出することにより、運転者の前後および左右方向の体の傾斜角度を操作量として、スク−タ加速度指令および旋回半径指令を生成することで、加減速時慣性力と旋回時遠心力と重力との合力が運転者の体の傾斜方向となるようスク−タを容易に制御することができ、乗り心地をよくすることができる。
また、請求項３に記載の発明によると、２軸傾斜センサは、連結部に設けられた車体とハンドルとの前後および左右方向の傾斜角をそれぞれ検出する２つの角度センサより構成したので、スクータのハンドル操作に応じて、２つの角度センサにより検出される運転者の前後および左右方向の体の傾斜角度に応じて、加減速時とおよび旋回時における運転者が体を傾斜させてバランスをとる動作とスクータの運転を同時に行うことができる。 According to the first and second aspects of the invention, the drive control device for the electric scooter includes a biaxial inclination sensor that detects the inclination of the body in the front-rear and left-right directions of the driver, the biaxial inclination sensor, and the speed sensor. Command that generates acceleration command value and turning radius command so that the direction of the resultant force of gravity, inertial force during acceleration / deceleration in the longitudinal direction and centrifugal force during turning coincides with the tilt direction of the driver's body based on the information And generating a scooter acceleration command and a turning radius command by detecting the tilt of the steering wheel of the electric scooter and using the tilt angle of the body in the front-rear and left-right directions of the driver as the operation amount. Thus, the scooter can be easily controlled so that the resultant force of the acceleration / deceleration inertial force, the turning centrifugal force, and the gravity is in the tilt direction of the driver's body, and the ride comfort can be improved.
According to the invention described in claim 3, the biaxial tilt sensor is composed of two angle sensors that respectively detect the front and rear and left and right tilt angles of the vehicle body and the handle provided in the connecting portion. In response to the steering operation of the vehicle, the driver inclines and decelerates and turns during the turning according to the driver's front and rear and left and right body inclination angles detected by the two angle sensors to balance the body. Operation and scooter operation can be performed simultaneously.

以下、本発明の実施の形態について図を参照して説明する。   Hereinafter, embodiments of the present invention will be described with reference to the drawings.

図１は本発明の実施例を示す電動スクータの駆動制御装置のブロック図、図２は本発明の実施例を示す電動スクータ本体の側面図、図３は本発明の実施例を示す電動スク−タ本体の正面図である。
図１乃至図３において、１は２軸傾斜センサ、２は指令生成装置、３は制御装置、４は速度センサ、５は電源、６はモータ駆動回路、７はモータ、８は連結部、９はハンドル、１０Ａは前車輪、１０Ｂは後車輪、１１は車体、１２は前後方向角度センサ、１３は左右方向角度センサである。なお、図２および図３において、２軸傾斜センサ１は前後方向角度センサ１２および左右方向角度センサ１３から構成されており、可変抵抗器またはロータリエンコーダなどを使用している。また、図２および図３において、電源５はバッテリを使用し、モータ７は速度センサ付きのものを使用したものとなっている。
図１および図２において、本電動スク−タは基本的に立って乗車するものであって、運転者を乗せる車体１１の前端には、運転者の手でスク−タの加速度および旋回半径を制御するためのハンドル９が設けられている。該スク−タの車体１１の底面には車体１１を支えると共に駆動トルクを持たず自由に回転する前車輪１０Ａと、２つの後車輪１０Ｂが設けられている。さらに車体１１には後車輪１０Ｂを回転させるモータ７、電源５、モータ７を駆動させるモータ駆動回路６、指令生成装置２および制御装置３が設けられている。 1 is a block diagram of an electric scooter drive control device showing an embodiment of the present invention, FIG. 2 is a side view of an electric scooter body showing an embodiment of the present invention, and FIG. 3 is an electric scooter showing an embodiment of the present invention. FIG.
1 to 3, 1 is a biaxial tilt sensor, 2 is a command generation device, 3 is a control device, 4 is a speed sensor, 5 is a power supply, 6 is a motor drive circuit, 7 is a motor, 8 is a connecting portion, 9 Is a handle, 10A is a front wheel, 10B is a rear wheel, 11 is a vehicle body, 12 is a longitudinal angle sensor, and 13 is a lateral angle sensor. 2 and 3, the biaxial tilt sensor 1 includes a front-rear direction angle sensor 12 and a left-right direction angle sensor 13, and uses a variable resistor or a rotary encoder. 2 and 3, the power source 5 uses a battery and the motor 7 uses a speed sensor.
1 and 2, the electric scooter is basically ridden in a standing manner, and the acceleration and turning radius of the scooter are set by the driver's hand at the front end of the vehicle body 11 on which the driver is placed. A handle 9 for control is provided. On the bottom surface of the vehicle body 11 of the scooter, there are provided a front wheel 10A that supports the vehicle body 11 and has no driving torque and freely rotates, and two rear wheels 10B. Further, the vehicle body 11 is provided with a motor 7 that rotates the rear wheel 10B, a power source 5, a motor drive circuit 6 that drives the motor 7, a command generation device 2, and a control device 3.

本発明が従来技術と異なる点は、以下のとおりである。
すなわち、本発明は、車体１１とハンドル９を連結すると共に、車体１１に対してハンドル９を運転者の体が傾いている方向となる前後方向と左右方向の双方向に回動可能に連結部８が設けられると共に、連結部８に設けられた車体１１とハンドル９との前後方向の傾斜角を検出する前後方向角度センサ１２および左右方向の傾斜角を検出する左右方向角度センサ１３よりなる２軸傾斜センサ１を備え、２軸傾斜センサ１と速度センサ４からの情報に基づいて、運転者にかかる重力と前後方向加減速時慣性力と旋回時遠心力の合力の向きが運転者の体の傾斜方向と一致するように加速度指令と旋回半径指令を生成する指令生成装置２を備え、た点である。 The present invention is different from the prior art as follows.
That is, the present invention connects the vehicle body 11 and the handle 9, and also connects the handle 9 with respect to the vehicle body 11 so that the driver body can be rotated in both the front-rear direction and the left-right direction. 8 includes a front-rear direction angle sensor 12 for detecting a front-rear direction inclination angle between the vehicle body 11 and the handle 9 provided in the connecting portion 8 and a left-right direction angle sensor 13 for detecting a left-right inclination angle. Based on information from the biaxial tilt sensor 1 and the speed sensor 4, the direction of the resultant force of the driver, gravity, inertia force during acceleration / deceleration, and centrifugal force during turning is determined based on information from the biaxial tilt sensor 1 and the speed sensor 4. The command generation device 2 for generating the acceleration command and the turning radius command so as to coincide with the inclination direction of the vehicle is provided.

次に、本実施例の動作について説明する。
図４および図５はそれぞれ本実施例による電動スク−タの本体に運転者が乗車する場合の動作を説明するための側面図と正面図である。運転者は車体１１に立位で乗車する。運転者は自身の胴体と頭部を結ぶ線上に傾斜した体の傾斜方向と平行になるようにハンドル９を保持するものとする。これによりハンドルの傾斜方向は運転者の体の傾斜方向とみなすことができる。前後方向角度センサ１２と左右方向角度センサ１３は、車体１１に垂直な方向からのハンドルの前後および左右方向の角度をそれぞれ検出する。本実施例では、前後方向角度センサ１２と左右方向角度センサ１３が２軸傾斜センサ１の役割を果たす。検出された前後左右の傾斜角と、速度センサ付きのモータ７より得られた速度フィードバック値を元に、指令生成装置２が運転者にかかる重力と加減速時の慣性力の合力の向き、ならびに旋回時時の遠心力と重力との合力の向きがそれぞれ運転者の体の傾斜方向と等しくなるような加速度指令ａと旋回半径指令ｒとを生成する。
指令生成装置２が生成する加速度指令ａは、重力加速度をｇ、２軸傾斜センサにより検出した運転者の前後方向傾斜角度をθとして、ａ＝ｇ×ｔａｎθまたはその近似式であるａ＝ｇ×θにより決定する。また、旋回半径指令ｒは、２軸傾斜センサ１により検出した運転者の左右方向傾斜角度をφ、速度センサにより検出したスク−タの走行速度をｖとして、ｒ＝ｖ２／（ｇ×ｔａｎφ）またはその近似式であるｒ＝ｖ２／（ｇ×φ）により決定する。
制御装置３は、指令生成装置２が生成した加減速指令ａと旋回半径指令ｒをモータへの回転角加速度指令に換算し、モータ駆動回路６を介して２つの後車輪１０Ｂを駆動する。加減速指令と旋回半径指令が与えられたとき２つの後車輪１０Ｂへの回転角加速度指令は、左旋回のとき（１）式および（２）式により与えられ、右旋回のとき（３）式および（４）式により与えられる。 Next, the operation of this embodiment will be described.
FIGS. 4 and 5 are a side view and a front view, respectively, for explaining the operation when the driver gets on the main body of the electric scooter according to the present embodiment. The driver gets on the vehicle body 11 in a standing position. It is assumed that the driver holds the handle 9 so as to be parallel to the direction of inclination of the body inclined on the line connecting his / her body and head. Thereby, the inclination direction of the steering wheel can be regarded as the inclination direction of the driver's body. The front-rear direction angle sensor 12 and the left-right direction angle sensor 13 respectively detect the front-rear and left-right angles of the handle from the direction perpendicular to the vehicle body 11. In this embodiment, the front-rear direction angle sensor 12 and the left-right direction angle sensor 13 serve as the biaxial tilt sensor 1. Based on the detected forward / backward and left / right tilt angles and the speed feedback value obtained from the motor 7 with the speed sensor, the direction of the resultant force of the gravity applied to the driver by the command generator 2 and the inertial force during acceleration / deceleration, and An acceleration command a and a turning radius command r are generated so that the direction of the resultant force of the centrifugal force and the gravity during turning is equal to the inclination direction of the driver's body.
The acceleration command a generated by the command generation device 2 is a = g × tan θ or an approximate expression a = g × tan ×, where g is the gravitational acceleration, and θ is the forward / backward tilt angle of the driver detected by the biaxial tilt sensor. Determined by θ. The turning radius command r is r = v 2 / (g × tan φ, where φ is the driver's left-right direction tilt angle detected by the biaxial tilt sensor 1, and v is the scooter travel speed detected by the speed sensor. ) Or its approximate expression r = v 2 / (g × φ).
The control device 3 converts the acceleration / deceleration command a and the turning radius command r generated by the command generation device 2 into a rotational angular acceleration command to the motor, and drives the two rear wheels 10B via the motor drive circuit 6. When an acceleration / deceleration command and a turning radius command are given, rotational angular acceleration commands to the two rear wheels 10B are given by equations (1) and (2) when turning left, and when turning right (3) And given by equation (4).

ａｌ＝（１−ｗ／２ｒ）／Ｒ×ａ ・・・・・（１）式
ａｒ＝（１＋ｗ／２ｒ）／Ｒ×ａ ・・・・・（２）式
ａｌ＝（１＋ｗ／２ｒ）／Ｒ×ａ ・・・・・（３）式
ａｒ＝（１−ｗ／２ｒ）／Ｒ×ａ ・・・・・（４）式
なお、ここで、ａは加速度指令、ｒは旋回半径指令、ａｌは左後車輪への回転角加速度指令、ａｒは右後車輪への回転角加速度指令、ｗは２つの後車輪の地面との接地点間の距離、Ｒは後車輪半径を示している。 a 1 = (1−w / 2r) / R × a (1)
a r = (1 + w / 2r) / R × a (2)
a 1 = (1 + w / 2r) / R × a (3)
a r = (1−w / 2r) / R × a (4) where a is an acceleration command, r is a turning radius command, and a 1 is a rotational angular acceleration to the left rear wheel. Command, ar is a rotational angular acceleration command to the right rear wheel, w is a distance between the ground points of the two rear wheels, and R is a rear wheel radius.

このスク−タは、運転者が体を前に傾けることで前進加速し、目標の速度に達したら運転者が体の傾斜を鉛直に戻すことにより、スク−タは一定の速度で走行する。運転者が体を右に傾けることでスク−タは右旋回し、体を左に傾けることでスク−タは左旋回し、また、体を後方に傾けることにより減速することができる。運転者の体の傾斜を入力とし、加減速時慣性力と旋回時遠心力と重力との合力の向きを運転者の体の傾きに一致させているため、運転者はスク−タの運転操作と加減速時および旋回時のバランス維持を同時に行うことができ、乗り心地もよい。   This scooter is accelerated forward by the driver tilting his / her body forward, and when the target speed is reached, the driver returns the tilt of the body to vertical so that the scooter runs at a constant speed. The scooter can turn to the right when the driver tilts the body to the right, the scooter can turn to the left by tilting the body to the left, and can be decelerated by tilting the body backward. Since the driver's body inclination is input, and the direction of the resultant force of acceleration / deceleration inertia force, turning centrifugal force and gravity matches the driver's body inclination, the driver operates the scooter. The balance can be maintained at the same time during acceleration / deceleration and turning, and the ride comfort is also good.

運転者の体の傾斜を検出してそれに応じて加減速や旋回半径を制御することによって運転者の乗り心地を向上することができ、操作方法を容易にすることができるので、移動手段あるいは荷物運搬手段としてのスク−タやスポーツ用あるいは玩具としてのスク−タの駆動制御という用途にも適用できる。   By detecting the inclination of the driver's body and controlling the acceleration / deceleration and turning radius accordingly, the ride comfort of the driver can be improved and the operation method can be facilitated. The present invention can also be applied to the use of a scooter as a transporting means and a drive control of a scooter for sports or as a toy.

本発明の実施例を示す電動スクータの駆動制御装置のブロック図The block diagram of the drive control apparatus of the electric scooter which shows the Example of this invention 本発明の実施例を示す電動スクータ本体の側面図The side view of the electric scooter main body which shows the Example of this invention 本発明の実施例を示す電動スク−タ本体の正面図The front view of the electric scooter main body which shows the Example of this invention 本実施例を示す電動スク−タの本体に運転者が乗車する場合の動作を説明するための側面図Side view for explaining the operation when the driver gets on the main body of the electric scooter showing the embodiment 本実施例を示す電動スク−タの本体に運転者が乗車する場合の動作を説明するための正面図Front view for explaining the operation when the driver gets on the main body of the electric scooter showing the embodiment 従来の電動スク−タの駆動制御装置の構成を示すブロック図The block diagram which shows the structure of the drive control apparatus of the conventional electric scooter

符号の説明Explanation of symbols

１ ２軸傾斜センサ
２ 指令生成装置
３ 制御装置
４ 速度センサ
５ 電源
６ モータ駆動回路
７ モータ
８ 連結部
９ ハンドル
１０Ａ 前車輪
１０Ｂ 後車輪
１１ 車体
１２ 前後方向角度センサ
１３ 左右方向角度センサ DESCRIPTION OF SYMBOLS 1 2 axis | shaft inclination sensor 2 Command generation apparatus 3 Control apparatus 4 Speed sensor 5 Power supply 6 Motor drive circuit 7 Motor 8 Connection part 9 Handle 10A Front wheel 10B Rear wheel 11 Car body 12 Front-rear direction angle sensor 13 Left-right direction angle sensor

Claims (3)

運転者を乗せる車体と、
前記車体の前端に設けられて手で傾斜させるハンドルと、
前記車体に設けた車輪を回転させるモータと、
前記モータの電源と、
前記モータを駆動させるモータ駆動回路と、
前記モータ駆動回路を操作して前記モータの回転角加速度を制御する制御装置と、
前記車体の走行速度を検出する速度センサとを備えた電動スク−タの駆動制御装置において、
前記車体と前記ハンドルを連結すると共に、前記車体に対して前記ハンドルを運転者の体が傾く方向と一致するよう前後方向と左右方向と自由に回動可能に設けられた連結部と、
前記連結部に設けられ、該運転者の前後および左右方向の体の傾きを検出する２軸傾斜センサと、
前記２軸傾斜センサおよび速度センサからの情報に基づいて運転者にかかる重力と前後方向加減速時慣性力と旋回時遠心力の合力の向きが運転者の体の傾斜方向と一致するように加速度指令値と旋回半径指令を生成する指令生成装置とを備え、
前記指令生成装置から受け取った加速度指令および旋回半径指令どおりにスク−タが動作するように前記制御装置により前記モータを制御するようにしたことを特徴とする電動スク−タの駆動制御装置。 A vehicle body that carries the driver,
A handle provided at the front end of the vehicle body and tilted by hand;
A motor for rotating wheels provided on the vehicle body;
A power source of the motor;
A motor drive circuit for driving the motor;
A control device for operating the motor drive circuit to control the rotational angular acceleration of the motor;
In the drive control device of the electric scooter provided with a speed sensor for detecting the traveling speed of the vehicle body,
A connecting portion that connects the vehicle body and the handle, and is provided so as to be freely rotatable in the front-rear direction and the left-right direction so as to coincide with the direction in which the driver's body tilts with respect to the vehicle body;
A biaxial tilt sensor that is provided in the connecting portion and detects the tilt of the driver in the front-rear and left-right directions;
Based on information from the two-axis tilt sensor and the speed sensor, acceleration is performed so that the direction of the resultant force of gravity applied to the driver, inertia force during acceleration / deceleration in the longitudinal direction, and centrifugal force during turning coincides with the tilt direction of the driver's body A command generation device for generating a command value and a turning radius command,
An electric scooter drive control device, wherein the motor is controlled by the control device so that the scooter operates in accordance with an acceleration command and a turning radius command received from the command generation device. 前記指令生成装置は、加速度指令をａ、重力加速度をｇ、２軸傾斜センサにより検出した運転者の前後方向傾斜角度をθとして、スク−タへの加速度指令をａ＝ｇ×ｔａｎθにより決定し、旋回半径指令をｒ、２軸傾斜センサにより検出した運転者の左右方向傾斜角度をφ、速度センサにより検出したスク−タ走行速度をｖとして、旋回半径指令をｒ＝ｖ２／（ｇ×ｔａｎφ）により決定することを特徴とする請求項１記載の電動スク−タの駆動制御装置。 The command generation device determines an acceleration command to the scooter by a = g × tan θ, where a is an acceleration command, g is a gravitational acceleration, and θ is a tilt angle of the driver's longitudinal direction detected by a biaxial tilt sensor. The turning radius command is r, and the horizontal inclination angle of the driver detected by the biaxial tilt sensor is φ, the scooter traveling speed detected by the speed sensor is v, and the turning radius command is r = v 2 / (g × 2. The drive control device for an electric scooter according to claim 1, wherein the drive control device is determined by tan φ). 前記２軸傾斜センサは、前記連結部に設けられた前記車体と前記ハンドルとの前後および左右方向の傾斜角をそれぞれ検出する２つの角度センサにより構成されることを特徴とする請求項１または２に記載の電動スク−タの駆動制御装置。 3. The two-axis tilt sensor includes two angle sensors that respectively detect front and rear and left and right tilt angles of the vehicle body and the handle provided in the connecting portion. The drive control device of the electric scooter described in 1.
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