# US 9,428,172 B2 · Motor drive control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,428,172 B2 - Document ID: US9428172B2 - Status: Granted - Kind: B2 - Application number: 13/887,123 - Filed: 2013-05-03 - Published: 2013-11-28 - Granted: 2016-08-30 - Earliest claimed: 2012-05-28 - Assignees: Microspace Corporation; Taiyo Yuden Co., Ltd. - Applicants: Microspace Corporation; Taiyo Yuden Co., Ltd. - Inventors: Masato Tanaka; Kazuo Asanuma; Yasuo Hosaka; Kuniaki Kawagoe - Web page: https://patentgrep.com/patent/US9428172B2 ## CPC - B60L 7/14: for vehicles propelled by AC motors - B60L 15/2009: {for braking} - B60L 50/20: using propulsion power generated by humans or animals - B60L 50/40: using propulsion power supplied by capacitors - B60W 10/02: including control of driveline clutches - B60W 10/08: including control of electric propulsion units, e.g. motors or generators - B62M 6/45: Control or actuating devices therefor - B60L 2200/12: Bikes - B60L 2220/44: Wheel Hub motors, i.e. integrated in the wheel hub - B60L 2240/12: Speed - B60L 2240/421: Speed - B60L 2240/423: Torque - B60L 2240/525: Temperature of converter or components thereof - B60L 2250/24: by lever actuation - B60L 2250/26: by pedal actuation - B60L 2270/145: Structure borne vibrations - Y02T 10/64: Electric machine technologies in electromobility - Y02T 10/70: Energy storage systems for electromobility, e.g. batteries - Y02T 10/72: Electric energy management in electromobility - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B62M: RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR {SINGLE-TRACK} CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES (arrangements or mounting of transmissions in vehicles in general B60K; transmission elements per se F16) - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract An appropriate motor control in accordance with a pedal operation of a driver is to be achieved. A motor drive control device according to the present invention is a motor drive control device for an electric power-assisted vehicle that has one-way clutches respectively provided for a motor drive system and for a pedal drive system. The motor drive control device according to the present invention includes: a first calculating part that calculates a pedal rotation conversion speed that is converted from a pedal rotation; and a second calculating part that calculates a second target torque for a motor based on the pedal rotation conversion speed, during a period in which a first target torque derived from a pedal torque is not detected. ## Claims ### Claim 1 A motor drive control device for an electric power-assisted vehicle provided with a motor drive system and a pedal drive system each of which is provided with a one-way clutch, the device comprising: a first calculating part that calculates a pedal rotation conversion speed that is converted from a pedal rotation; a second calculating part that, during a period in which a first target torque is not detected, calculates a second target torque for a motor based on the pedal rotation conversion speed, the first target torque being calculated based on a pedal torque; a first processing part that generates a first value by converting a rotational speed of the motor to a duty cycle; a second processing part that generates a second value by converting the second target torque to a duty cycle; and a driver that controls switching of a switch provided in a complementary switching amplifier, based on an average duty cycle derived from a sum of the first value and the second value, the driver driving a motor that is connected to the complementary switching amplifier, wherein the second calculating part calculates the second target torque in accordance with the first target torque during a period in which the first target torque is detected. ### Claim 2 (depends on 1) The motor drive control device according to claim 1, wherein the second calculating part calculates the second target torque for the motor, based on a difference between speed of the motor and a target motor speed that is a smaller of the pedal rotation conversion speed and a vehicle speed. ### Claim 3 (depends on 2) The motor drive control device according to claim 2, wherein, when a difference between the target motor speed and a rotational speed the motor, which is a value obtained by subtracting the rotational speed of the motor from the target motor speed, is a negative value or when a pedal is stopped, the second calculating part stops a drive of the motor. ### Claim 4 (depends on 2) The motor drive control device according to claim 2, wherein, when an absolute value of a difference between the target motor speed and a rotational speed of the motor is smaller than a prescribed value, the second calculating part multiplies the difference between the target motor speed and the rotational speed of the motor by a gain that is smaller than that of when an absolute value of a difference between the target motor speed and the rotation speed of the motor is equal to or greater than the prescribed value. ### Claim 5 (depends on 2) The motor drive control device according to claim 2, wherein, when an absolute value of a difference between the target motor speed and a rotational speed of the motor is smaller than a prescribed value, the second calculating part outputs, as the second target torque, a smaller of a first value and a predetermined second value, the first value being derived from the difference between the target motor speed and the rotational speed of the motor. ### Claim 6 (depends on 1) The motor drive control device according to claim 1, wherein the second calculating part outputs the second target torque right after the first target torque is detected, the second target torque outputted by the second calculating part being gradually changed from a first value calculated based on the pedal rotation conversion speed to a second value calculated based on the pedal torque. ### Claim 7 (depends on 1) The motor drive control device according to claim 1, wherein the electric power-assisted vehicle does not have a variable transmission, or drives wheels via a variable transmission that is shared by a pedal and the motor, and wherein, when an absolute value of a difference between the pedal rotation conversion speed and a rotational speed of the motor is smaller than a prescribed value, the difference between the pedal rotation conversion speed and the rotational speed of the motor is multiplied by a gain that is smaller than that of when an absolute value of a difference between the pedal rotation conversion speed and a rotational speed of the motor is equal to or greater than the prescribed value. ### Claim 8 (depends on 1) The motor drive control device according to claim 1, wherein the pedal rotation conversion speed is derived from a pedal rotation based on a fastest gear ratio. ### Claim 9 (depends on 1) The motor drive control device according to claim 1, further comprising: a coefficient calibrating part that conducts, during a period in which the first target torque is not detected, a process of calibrating a coefficient that is used when converting a rotational speed of the motor to a duty cycle by calculating the second target torque such that a motor speed becomes a prescribed speed at a prescribed timing. ### Claim 10 A motor drive control device for an electric power-assisted vehicle provided with a motor drive system and a pedal drive system each of which is provided with a one-way clutch, the device comprising: a first calculating part that calculates a pedal rotation conversion speed that is converted from a pedal rotation; and a second calculating part that, during a period in which a first target torque is not detected, calculates a second target torque for a motor based on the pedal rotation conversion speed, the first target torque being calculated based on a pedal torque, wherein the second calculating part calculates the second target torque in accordance with the first target torque during a period in which the first target torque is detected, wherein the second calculating part outputs the second target torque right after the first target torque is detected, the second target torque outputted by the second calculating part being gradually changed from a first value calculated based on the pedal rotation conversion speed to a second value calculated based on the pedal torque, and wherein the second calculating part increases the first value calculated based on the pedal rotation conversion speed to the second value calculated based on the pedal torque at a prescribed slew rate, when the first value is smaller than the second value. ### Claim 11 A motor drive control device for an electric power-assisted vehicle provided with a motor drive system and a pedal drive system each of which is provided with a one-way clutch, the device comprising: a first calculating part that calculates a pedal rotation conversion speed that is converted from a pedal rotation; and a second calculating part that, during a period in which a first target torque is not detected, calculates a second target torque for a motor based on the pedal rotation conversion speed, the first target torque being calculated based on a pedal torque, wherein the second calculating part calculates the second target torque for the motor, based on a difference between speed of the motor and a target motor speed that is a smaller of the pedal rotation conversion speed and a vehicle speed, and wherein, when a difference between the target motor speed and a rotational speed of the motor, which is a value obtained by subtracting the rotational speed of the motor from the target motor speed, is a negative value, the second calculating part multiplies the difference between the target motor speed and the rotational speed of the motor by a gain that is less than 1 and that is smaller than that of when the difference between the target motor speed and the rotational speed of the motor is a positive value.