Motor driving apparatus

Patent metadata

Field	Value
Publication number	US-10099558-B2
Application number	US-201615002512-A
Country	US
Kind code	B2
Filing date	Jan 21, 2016
Priority date	Feb 3, 2015
Publication date	Oct 16, 2018
Grant date	Oct 16, 2018

Abstract

A motor driving apparatus includes a driving unit configured to drive a motor according to a torque inputted by a rotation input from a human being; and a controller configured to control driving of the driving unit according to a relationship between an accumulated value of first amounts that correspond to the rotation input from the human being and an accumulated value of second amounts that correspond to rotation of a rotating object driven by the motor. The controller may be further configured to cause the driving unit to suppress driving of the motor when an accumulated difference that is calculated by subtracting the accumulated value of the second amounts from the accumulated value of the first amounts is equal to or less than a predetermined threshold.

First claim

What is claimed is:

1. A motor driving apparatus, comprising:
a driving unit configured to drive a motor according to a torque inputted by a rotation input from a human being; and
a controller configured to control driving of the driving unit according to a relationship between an accumulated value of first amounts that correspond to the rotation input from the human being and an accumulated value of second amounts that correspond to rotation of a rotating object driven by the motor.

2. The motor driving apparatus as set forth in claim 1 , wherein the controller is further configured to suppress the driving of the driving unit when an accumulated difference that is calculated by subtracting the accumulated value of the second amounts from the accumulated value of the first amounts is equal to or less than a predetermined threshold.

3. The motor driving apparatus as set forth in claim 2 , wherein the controller is further configured to suppress accumulation of at least one of the first amounts and the second amounts so that the accumulated difference is within a range from a predetermined lower limit to a predetermined upper limit.

4. The motor driving apparatus as set forth in claim 3 , wherein the controller is further configured to perform a setting so that the accumulated difference becomes a predetermined value that is equal to or less than the predetermined threshold and is equal to or greater than the predetermined lower limit, if it is detected that a rotation speed of the rotating object or a speed of a mobile object that moves by the rotating object is zero.

5. The motor driving apparatus as set forth in claim 4 , wherein the controller is further configured to suppress accumulation of the second amounts until accumulation of the first amounts is newly performed after it was detected that the rotation speed of the rotating object or the speed of the mobile object that moved by the rotating object was zero.

6. The motor driving apparatus as set forth in claim 3 , wherein the controller is further configured to forcibly increase the accumulated value of the first amounts when it is detected that the rotation speed of the rotating object or a speed of the mobile object that moves by the rotating object is not zero after it was detected that the rotation speed of the rotating object or the speed of the mobile object that moved by the rotating object was zero.

7. The motor driving apparatus as set forth in claim 2 , wherein the rotation input from the human being drives a second rotating object through a transmission, and a ratio of a first amount to be accumulated at a time to a second amount to be accumulated at a time is set to be a constant ratio that corresponds to a fastest gear ratio of the transmission.

8. The motor driving apparatus as set forth in claim 2 , wherein accumulation of the first amounts is performed by accumulating a first fixed value for each first pulse generated according to the rotation input from the human being or each second pulse generated based on the first pulse, and accumulation of the second amounts is performed by accumulating a second fixed value for each third pulse generated according to rotation of the rotating object driven by the motor or each fourth pulse generated based on the third pulse.

9. The motor driving apparatus as set forth in claim 2 , wherein accumulation of the first amounts is performed by accumulating a rotation speed relating to the rotation input from the human being for each of fixed intervals, and accumulation of the second amounts is performed by accumulating a rotation speed of the rotating object driven by the motor for each of the fixed intervals.

10. The motor driving apparatus as set forth in claim 2 , wherein the controller comprises a single accumulating unit configured to accumulate the first amounts and the second amounts with opposite polarities each other.

11. The motor driving apparatus as set forth in claim 2 , wherein the controller is further configured to cause the driving unit not to suppress the driving of the motor if it is detected that a rotation speed of the rotating object or a speed of a mobile object that moves by the rotating object is negative.

12. The motor driving apparatus as set forth in claim 2 , wherein the controller is further configured to set zero as the first amounts if the rotation speed relating to the rotation input from the human being is negative.

13. The motor driving apparatus as set forth in claim 2 , wherein the controller is further configured to set zero as the first amounts if it is detected that a rotation speed of the rotating object or a speed of a mobile object that moves by the rotating object is zero.

14. The motor driving apparatus as set forth in claim 1 , wherein the driving unit comprises a smoothing unit configured to smooth the torque, and the controller is further configured to suppress an input of the torque to the smoothing unit or suppress an output of the smoothing unit.

15. The motor driving apparatus as set forth in claim 1 , wherein the rotating object is a front wheel, and the rotation input from the human being drives a rear wheel.

16. An electrically assisted vehicle, comprising:
a motor; and
a motor driving apparatus, comprising:
a driving unit configured to drive the motor according to a torque inputted by a rotation input from a human being; and
a controller configured to control driving of the driving unit according to a relationship between an accumulated value of first amounts that correspond to the rotation input from the human being and an accumulated value of second amounts that correspond to rotation of a rotating object driven by the motor.

Assignees

• Microspace Corp
• Taiyo Yuden Kk

Inventors

• Tanaka Masato
• Hosaka Yasuo
• Shirakawa Hirokazu
• Yanaoka Taichi

Classifications

• B62M6/45

  Control or actuating devices therefor · CPC title

• B60L2260/44

  by parameter estimation · CPC title

• B60L2240/423

  Torque · CPC title

• B60L15/28 Primary

  without contact making and breaking, e.g. using a transductor · CPC title

• B60L50/20

  using propulsion power generated by humans or animals · CPC title