Output control system

Abstract

The output control system S includes an accelerator pedal 71, a motor 1 for driving a vehicle, having an output that increases as a depression amount of the accelerator pedal 71 increases, a brake mechanism 8 for increasing a resistance force acting on the accelerator pedal 71 at a position where the depression amount of the accelerator pedal 71 is a prescribed depression amount that is smaller than a maximum depression amount of the accelerator pedal 71, a depression amount acquisition unit 524 for acquiring the depression amount of the accelerator pedal 71, and a motor control unit 525 for controlling the output of the motor 1 to a prescribed output that is smaller than a maximum output of the motor 1 when the depression amount acquired by the depression amount acquisition unit 524 is the prescribed depression amount.

Description

Technical Field

[0001] This disclosure relates to an output control system for controlling the output of a motor in a vehicle. Background Technology

[0002] Techniques for controlling the output of a motor are known. Patent Document 1 discloses a technique for operating the motor at maximum power when the accelerator pedal is pressed down to its maximum value.

[0003] Existing technology

[0004] Patent documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 9-84208. Summary of the Invention

[0006] The problem solved by this invention

[0007] However, continuously operating the motor at maximum power may cause it to fail due to the heat generated within the motor. Therefore, the motor's output may be limited in order to cool the heated motor.

[0008] This disclosure has been made with these points in mind, and the purpose of this disclosure is to properly control the output of the motor.

[0009] The means to solve this problem

[0010] This disclosure provides an output control system, including: an accelerator pedal; a motor for driving a vehicle by increasing its output as the accelerator pedal is depressed; a resistance application mechanism that increases the resistance acting on the accelerator pedal at a position where the accelerator pedal is depressed to a predetermined amount less than the maximum depressurization amount of the accelerator pedal; a depressurization amount acquisition unit for acquiring the depressurization amount of the accelerator pedal; and a motor control unit that controls the output of the motor such that when the depressurization amount acquired by the depressurization amount acquisition unit is a predetermined depressurization amount, the output of the motor becomes a predetermined power less than the maximum power of the motor.

[0011] The output control system may also include an output setting unit that sets a predetermined power to the rated power of the motor, which is less than the maximum power. The motor control unit can control the output of the motor so that when the downpressure is a predetermined downpressure, the output of the motor becomes the rated power set by the output setting unit to the predetermined power.

[0012] The output control system may further include: a total weight acquisition unit that acquires total weight information indicating the total weight of the vehicle; and an output setting unit that sets a predetermined power to a smaller value as the total weight indicated by the total weight information decreases, wherein the motor control unit can control the output of the motor so that when the downpressure is a predetermined downpressure, the output of the motor becomes the predetermined power set by the output setting unit.

[0013] The output control system may further include: a total weight acquisition unit for acquiring total weight information indicating the total weight of the vehicle; a setting receiving unit for receiving a first mode setting for setting a predetermined power to a rated power of the motor that is smaller than its maximum power, or a second mode setting for setting the predetermined power to a smaller value as the total weight indicated by the total weight information decreases; and an output setting unit for setting the predetermined power to the rated power if the first mode setting is received, and setting the predetermined power to a smaller value as the total weight decreases if the second mode setting is received, wherein the motor control unit can control the output of the motor so that when the downpressure is a predetermined downpressure, the output of the motor becomes the predetermined power set by the output setting unit.

[0014] The output control system may also include an output device that outputs information indicating the abnormal state if it is determined that an abnormal state has occurred where the motor cannot output a predetermined power when the downward pressure obtained by the downward pressure acquisition unit is a predetermined downward pressure.

[0015] Effects of the present invention

[0016] According to the present invention, the output of the motor can be appropriately controlled. Attached Figure Description

[0017] Figure 1 The configuration of the output control system is illustrated schematically.

[0018] Figure 2 The relationship between the total weight and the value set for the output of motor 1 is shown.

[0019] Figure 3 The diagram illustrates the relationship between the pressure applied and the output.

[0020] Figure 4 This is a graph showing the relationship between vehicle speed and driving force when the pressure is constant.

[0021] Figure 5 This is a flowchart illustrating an example of a processing flow performed by a motor control device. Detailed Implementation

[0022] [Configuration of the output control system S]

[0023] Figure 1 The configuration of the output control system S is schematically shown. The output control system S controls the output of the motor 1 used to drive the vehicle. The output control system S is installed in a vehicle such as a truck or trailer. The output control system S includes the motor 1, input device 2, weight estimation unit 3, output device 4, motor control device 5, accelerator pedal 71, braking mechanism 8, and pressure sensor 9.

[0024] Motor 1 is a motor used to drive the vehicle. Motor 1 is connected to a driveshaft (not shown). Motor 1 rotates the driveshaft, thereby rotating the axle connected to the driveshaft and the tire connected to that axle. Motor 1 is controlled by a motor control unit such that its output increases with the amount of pressure applied to the accelerator pedal 71. It should be noted that motor 1 can be directly connected to the axle without a driveshaft. Furthermore, motor 1 can be directly connected to the tire. Motor 1 can be a hub motor built into the tire.

[0025] Braking mechanism 8 is connected to accelerator pedal 71. Braking mechanism 8 is a resistance applying mechanism that applies resistance to accelerator pedal 71. Specifically, when the amount of pressure applied to accelerator pedal 71 reaches a predetermined amount less than the maximum amount of pressure applied to accelerator pedal 71, braking mechanism 8 increases the resistance acting on accelerator pedal 71. How braking mechanism 8 increases the resistance acting on accelerator pedal 71 is described below.

[0026] The braking mechanism 8 applies resistance to the accelerator pedal 71 via a spring 81 and a pin 82 connected to the spring 81. A step 73 is provided on the shaft 72 connected to the accelerator pedal 71. The step 73 is positioned at a predetermined depressurization point on the accelerator pedal 71. When the accelerator pedal 71 is depressed to the predetermined position, the pin 82 and spring 81 are pressed down by the step 73, causing the spring 81 to contract and increase its restoring force. Therefore, the resistance acting on the accelerator pedal 71 increases. In this way, the braking mechanism 8 can increase the resistance acting on the accelerator pedal 71 at the predetermined depressurization point.

[0027] It should be noted that the predetermined depressurization amount can be appropriately determined by taking into account the driver's operating feel. For example, when the maximum depressurization amount is set to 100, the specific value of the predetermined depressurization amount can be set to 80. Furthermore, the resistance application mechanism is not limited to the braking mechanism 8, and other mechanisms that can increase resistance at the position where the depressurization amount of the accelerator pedal 71 reaches the predetermined depressurization amount can be used.

[0028] By increasing the resistance acting on the accelerator pedal 71 at the predetermined depressor position, the resistance felt by the driver when pressing the accelerator pedal 71 to that position increases. Therefore, to further depress the accelerator pedal 71 from the predetermined depressor position, it is necessary to increase the depressor force, making it difficult for the driver to press the accelerator pedal 71 further from that position. As a result, the depressor force of the accelerator pedal 71 can be easily maintained at the predetermined depressor position. Furthermore, the driver can understand that he / she has pressed the accelerator pedal 71 to the predetermined depressor position.

[0029] The pressure sensor 9 detects the amount of pressure applied to the accelerator pedal 71. For example, the pressure sensor 9 detects the amount of pressure applied by detecting the position of a magnet provided to the shaft 72. It should be noted that the pressure sensor 9 is not limited to this and can be any sensor capable of detecting the amount of pressure applied.

[0030] Input device 2 receives various types of information input. For example, a driver operating a vehicle can input various types of information by operating input device 2. Input device 2 may be, for example, a touch panel, a switch, or a button, but is not limited to these.

[0031] The weight estimation unit 3 is a computational resource used to estimate weight. The weight estimation unit 3 estimates the weight of cargo loaded in the cargo hold, for example, based on the relationship between the vehicle's driving force and acceleration. Instead of the weight estimation unit 3, a weight sensor can be installed on the cargo hold where cargo will be loaded. In this case, the weight sensor detects the weight of the cargo loaded in the cargo hold.

[0032] Output device 4 is a notification device for notifying various types of information. For example, output device 4 can notify about various types of information by turning on lights corresponding to those types. Furthermore, output device 4 can be a display device that displays information as an image to notify about that information.

[0033] The motor control device 5 controls the output of the motor 1 so that the motor output becomes a predetermined power when the accelerator pedal 71 is depressed to a predetermined amount. The configuration of the motor control device 5 will be described in detail below. The motor control device 5 includes a storage unit 51 and a control unit 52.

[0034] The storage unit 51 includes storage media such as read-only memory (ROM), random access memory (RAM), and hard disk. The storage unit 51 stores programs executed by the control unit 52. Furthermore, the storage unit 51 stores the rated power of the motor 1. The rated power is less than the maximum power of the motor 1 and is determined by the design and performance of the motor 1. Moreover, the rated power represents the value of the motor's output power when the motor 1 can continue to output power without being limited by heat generation within the motor 1.

[0035] The control unit 52 is a computing resource that includes a processor such as a central processing unit (CPU). The control unit 52 executes programs stored in the storage unit 51 to function as a setting receiving unit 521, a total weight acquisition unit 522, an output setting unit 523, a pressure acquisition unit 524, and a motor control unit 525.

[0036] The setting receiving unit 521 receives a mode setting command for setting a predetermined power of the motor 1. For example, the setting receiving unit 521 receives a mode setting command input to the input device 2. Specifically, the setting receiving unit 521 receives a setting command for a first mode that sets the predetermined power to the rated power of the motor 1, or a setting command for a second mode that sets the predetermined power to a smaller value as the total weight of the vehicle decreases.

[0037] The total weight acquisition unit 522 acquires total weight information indicating the total weight of the vehicle. Specifically, the total weight acquisition unit 522 acquires the total weight of the vehicle as the value obtained by adding the weight estimated by the weight estimation unit 3 to the pre-stored weight of the vehicle. Furthermore, the total weight acquisition unit 522 can acquire total weight information indicating the total weight of the vehicle input to the input device 2. It should be noted that the total weight of the vehicle in its unloaded state (without cargo) is the minimum total weight. Furthermore, the total weight of the vehicle when cargo is loaded to the maximum load capacity of the vehicle is the maximum total weight.

[0038] The output setting unit 523 sets a predetermined power when the accelerator pedal 71 is pressed at a predetermined amount. In the following text, the predetermined power when the pressing amount is a predetermined amount is referred to as the "setting power". For example, the output setting unit 523 refers to the storage unit 51 to set the setting power to the rated power of the motor 1.

[0039] When the setting receiving unit 521 receives a setting command, the output setting unit 523 sets the setting power according to the received setting command. For example, if the setting receiving unit 521 receives a setting command for the first mode, the output setting unit 523 sets the setting power to the rated power.

[0040] If the setting receiving unit 521 receives a setting command for the second mode, the output setting unit 523 sets the setting power to a smaller value as the total weight decreases. Conversely, the output setting unit 523 can set the setting power to a larger value as the total weight increases. Specifically, the output setting unit 523 refers to relationship information indicating the relationship between the total weight and the value set for the output of motor 1, and sets the setting power to a value corresponding to the total weight. This relationship information is pre-stored in the storage unit 51.

[0041] Figure 2 The relationship between the total weight and the set value of the output of motor 1 is shown. Figure 2 The horizontal axis represents the total weight. The vertical axis represents the output setting of motor 1. For example... Figure 2 As shown, the smaller the total weight, the smaller the value relative to the total weight setting.

[0042] When the total weight of the vehicle is greater than the minimum total weight Wmin and less than the maximum total weight Wmax, the output setting unit 523 sets the setting power to the rated power R. When the total weight of the vehicle is the minimum total weight Wmin, the output setting unit 523 sets the setting power to a value N1 that is less than the rated power. Furthermore, when the total weight of the vehicle is the maximum total weight Wmax, the output setting unit 523 sets the setting power to a value N2 that is greater than the rated power R.

[0043] The pressure acquisition unit 524 acquires the pressure of the accelerator pedal 71. Specifically, the pressure acquisition unit 524 acquires the pressure detected by the pressure sensor 9.

[0044] The motor control unit 525 controls the output of the motor 1 so that the output increases as the accelerator pedal 71 is depressed. For example, the motor control unit 525 controls the output of the motor 1 so that when the depressed amount is a predetermined amount, the motor output becomes a set power. Since the braking mechanism 8 makes it more difficult for the driver to depress the accelerator pedal 71 from the position where the depressed amount reaches the predetermined amount, the motor control unit 525 can prevent the motor 1 from outputting maximum power and can make the motor 1 operate at a set power less than the maximum power. As a result, the motor control unit 525 can prevent the motor 1 from overheating, thereby preventing the output of the motor 1 from being limited.

[0045] If the output setting unit 523 sets the set power to the rated power, the motor control unit 525 controls the output of the motor 1 so that when the downpressure is a predetermined downpressure, the motor output becomes the rated power. Because the braking mechanism 8 can easily maintain the downpressure at the predetermined downpressure, the motor control unit 525 can keep the motor 1's output at the rated power. Since operating the motor 1 at rated power prevents heat generation within the motor 1, the output of the motor 1 can be prevented from being limited by a heated motor 1. Thus, the motor control unit 525 can appropriately control the output of the motor 1 so that when the motor needs to operate at maximum power, the motor 1 can operate at maximum power.

[0046] If the power setting is set to a value corresponding to the total weight, the motor control unit 525 controls the output of the motor 1 so that the output of the motor 1 becomes the value set according to the total weight. For example, the motor control unit 525 increases the output for the same downward pressure as the total weight increases. Figure 3 The diagram illustrates the relationship between the pressure applied and the output. Figure 3 The horizontal axis represents the amount of pressure applied to the accelerator pedal 71. The vertical axis represents the output of the motor 1.

[0047] If the total weight of the vehicle is weight T, the motor control unit 525 controls the output of motor 1 so that the motor outputs rated power R when the current pressure is a predetermined current pressure HR. If the total weight of the vehicle is the minimum total weight Wmin, the motor control unit 525 controls the output of motor 1 so that the motor output becomes value N1 when the current pressure is a predetermined current pressure HR. If the total weight of the vehicle is the maximum total weight Wmax, the motor control unit 525 controls the output of motor 1 so that the motor output becomes value N2 when the current pressure is a predetermined current pressure HR. In any of these cases, the motor control unit 525 controls the output of motor 1 so that the motor outputs maximum power M when the current pressure is a maximum current pressure HM.

[0048] As described above, the motor control unit 525 can control the motor 1 so that when the vehicle is not loaded with cargo and the total weight of the vehicle is small, the output of the motor 1 will not increase unnecessarily. Furthermore, the motor control unit 525 can control the output of the motor 1 so that when the vehicle is loaded with cargo and the total weight of the vehicle is large, the motor 1 generates the output required to drive the vehicle. In this way, the motor control unit 525 can appropriately control the output of the motor 1 according to the total weight of the vehicle.

[0049] Figure 4 This is a graph showing the relationship between vehicle speed and driving force when the pressure is constant. Figure 4 The horizontal axis represents the vehicle's speed. The vertical axis represents the vehicle's driving force. For example... Figure 4 As shown, when the pressure is constant, that is, when the output of motor 1 is constant, the driving force of the vehicle decreases as the vehicle speed increases.

[0050] When the downforce is constant at a predetermined downforce HR and the total weight of the vehicle is weight T, the relationship between vehicle speed and driving force is represented by a solid line. When the downforce is constant at a predetermined downforce HR and the total weight of the vehicle is the minimum total weight Wmin, the relationship between vehicle speed and driving force is represented by a dashed line. When the downforce is constant at a predetermined downforce HR and the total weight of the vehicle is the maximum total weight Wmax, the relationship between vehicle speed and driving force is represented by a dashed line. The greater the total weight of the vehicle, the greater the driving force at the predetermined downforce HR. Therefore, the output control system S can drive the vehicle with an appropriate driving force corresponding to the total weight of the vehicle.

[0051] Furthermore, when the accelerator pedal 71 is pressed down to the maximum accelerator pedal HM, the relationship between vehicle speed and driving force is represented by a dashed line. Regardless of the total weight of the vehicle, when the accelerator pedal 71 is pressed down to the maximum accelerator pedal HM, the output control system S can drive the vehicle with a driving force greater than the driving force at the predetermined accelerator pedal HR.

[0052] It should be noted that, depending on the state of motor 1 or the battery supplying power to motor 1, motor 1 cannot output the set power when the downpressure is at a predetermined downpressure level HR. Therefore, the output control system S notifies the driver that motor 1 cannot output the set power when the downpressure is at the predetermined downpressure level HR. For example, the motor control device 5 determines whether an abnormal state has occurred where motor 1 cannot output the set power when the downpressure is at the predetermined downpressure level. Specifically, if the temperature of motor 1 or battery is equal to or higher than a predetermined temperature, the motor control device 5 determines that motor 1 or battery is in an abnormal state. Furthermore, if the remaining battery capacity is equal to or less than a predetermined value, the motor control device 5 can determine that battery is in an abnormal state.

[0053] If it is determined that an abnormal state has occurred where motor 1 cannot output the set power when the accelerator pedal 71 is pressed to a predetermined amount, the output device 4 outputs a warning message indicating the abnormal state. For example, the output device 4 turns on a warning light. Alternatively, the output device 4 can display an image indicating the abnormal state as a warning message. In this way, the output control system S can notify the driver of the vehicle that an abnormal state has occurred.

[0054] [Processing flow executed by motor control device 5]

[0055] Figure 5 This is a flowchart illustrating an example of the processing flow executed by the motor control device 5. First, the setting receiving unit 521 receives a setting mode instruction input through the input device 2 (step S1). Specifically, the setting receiving unit 521 receives a setting instruction for a first mode or a setting instruction for a second mode input to the input device 2.

[0056] The output setting unit 523 determines whether the received command is a setting command for the first mode (step S2). If a setting command for the first mode has been received ("Yes" in step S2), the output setting unit 523 sets the setting power to the rated power (step S3).

[0057] If a setting instruction for the second mode has been received ("No" in step S3), the total weight acquisition unit 522 acquires total weight information indicating the total weight of the vehicle (step S4). For example, the total weight acquisition unit 522 acquires the value obtained by adding the weight of the loaded goods estimated by the weight estimation unit 3 to the pre-stored weight of the vehicle as the total weight of the vehicle.

[0058] The output setting unit 523 sets the value corresponding to the total weight as the set power (step S5). For example, the output setting unit 523 refers to a graph showing the relationship between the total weight and the value corresponding to the total weight (see...). Figure 2 Set the value corresponding to the total weight as the set power of motor 1.

[0059] [The Influence of the Output Control System S]

[0060] As described above, the braking mechanism 8 increases the resistance acting on the accelerator pedal 71 when the pressure of the accelerator pedal 71 reaches a predetermined pressure level. Then, when the pressure reaches the predetermined pressure level, the motor control device 5 controls the output of the motor 1 so that the set power is less than the maximum power of the motor 1.

[0061] In this way, when the driver presses the accelerator pedal 71 down to a predetermined level, the resistance felt by the driver from the accelerator pedal 71 can increase. Since greater downward force is required to press the accelerator pedal 71 further from the predetermined level, it becomes difficult for the driver to press the accelerator pedal 71 down from that level. As a result, the predetermined level of pressure on the accelerator pedal 71 can be easily maintained.

[0062] Because the braking mechanism 8 makes it more difficult for the driver to press the accelerator pedal 71 from a position where the pressure reaches the predetermined level, the motor control device 5 can prevent the motor 1 from outputting maximum power. Furthermore, because it is easier for the driver to maintain the pressure of the accelerator pedal 71 at the predetermined level, the motor control device 5 keeps the motor 1 at a set power output below the maximum power. In addition, operating the motor 1 at the set power prevents heat generation within the motor 1, thus preventing the output of the motor 1 from being limited. In this way, the output control system S can appropriately control the output of the motor 1 so that when the motor needs to operate at maximum power, it can operate at maximum power.

[0063] This disclosure has been described based on exemplary embodiments. The technical scope of this disclosure is not limited to the scope described in the above embodiments, and various changes and modifications can be made within the scope of this invention. For example, all or part of the device may be configured with any functionally or physically distributed or integrated units. Furthermore, new exemplary embodiments generated from any combination of exemplary embodiments are included in the exemplary embodiments. Moreover, the effects of new exemplary embodiments resulting from combinations also have the effects of the original exemplary embodiments.

[0064] Symbol Explanation

[0065] S Output Control System

[0066] 1. Motor

[0067] 2 Input device

[0068] 3. Weight Estimation Department

[0069] 4 Output devices

[0070] 5. Motor control device

[0071] 51 Storage Department

[0072] 52 Control Department

[0073] 521 Setting up the receiving unit

[0074] 522 Total Weight Acquisition Department

[0075] 523 Output Setting Section

[0076] 524 Downward Pressure Acquisition Section

[0077] 525 Motor Control Unit

[0078] 71 Accelerator Pedal

[0079] 72 axes

[0080] 8. Braking mechanism

[0081] 9. Pressure sensor

Claims

1. Output control system, including: Accelerator pedal; A motor is used to drive the vehicle by increasing its output as the amount of pressure applied to the accelerator pedal increases; The resistance application mechanism increases the resistance acting on the accelerator pedal at a predetermined position where the pressure of the accelerator pedal reaches a position less than the maximum pressure of the accelerator pedal. The pressure amount acquisition unit acquires the pressure amount of the accelerator pedal; The motor control unit controls the output of the motor such that when the downward pressure obtained by the downward pressure acquisition unit is the predetermined downward pressure, the output of the motor becomes a predetermined power less than the maximum power of the motor. If the output device determines that an abnormal state has occurred where the predetermined power cannot be output when the downvoltage acquired by the downvoltage acquisition unit is the predetermined downvoltage, then the output device outputs information indicating the abnormal state. When the remaining capacity of the battery supplying power to the motor is less than or equal to a predetermined value, the output device outputs information indicating the abnormal state.

2. The output control system according to claim 1 further includes an output setting unit, wherein the output setting unit sets the predetermined power to a rated power of the motor that is less than the maximum power. in, The motor control unit controls the output of the motor such that when the downward pressure is the predetermined downward pressure, the output of the motor becomes the rated power set by the output setting unit to the predetermined power.

3. The output control system according to claim 1 further includes: The total weight acquisition unit acquires total weight information indicating the total weight of the vehicle. as well as The output setting unit sets the predetermined power to a smaller value as the total weight indicated by the total weight information decreases. The motor control unit controls the output of the motor such that when the downward pressure is the predetermined downward pressure, the output of the motor becomes the predetermined power set by the output setting unit.

4. The output control system according to claim 1 further includes: The total weight acquisition unit acquires total weight information indicating the total weight of the vehicle. The receiving unit is configured to receive either a first mode setting for setting the predetermined power to a rated power of the motor that is smaller than the maximum power, or a second mode setting for setting the predetermined power to a smaller value as the total weight indicated by the total weight information decreases. as well as The output setting unit, if it receives the setting of the first mode, sets the predetermined power to the rated power; and if it receives the setting of the second mode, it sets the predetermined power to a smaller value as the total weight decreases. The motor control unit controls the output of the motor such that when the downward pressure is the predetermined downward pressure, the output of the motor becomes the predetermined power set by the output setting unit.

5. The output control system according to any one of claims 1 to 4, comprising: A shaft is connected to the accelerator pedal and a step is provided at the position where the pressure reaches the predetermined pressure. The resistance application mechanism includes a pin and a spring connected to the pin and applying force to press the pin against the shaft in a direction perpendicular to the direction in which the accelerator pedal is pressed down. When the accelerator pedal is pressed down to a position where the pressure reaches the predetermined pressure, the resistance application mechanism increases the resistance acting on the accelerator pedal at the position where the pressure reaches the predetermined pressure by using the increase in the elasticity of the spring caused by the compression of the spring due to the pressing of the pin and the spring by the step.

6. The output control system according to claim 1, comprising: The total weight acquisition unit acquires total weight information indicating the total weight of the vehicle. as well as The output setting unit sets the value of the motor's output corresponding to the predetermined downward pressure to be less than the rated power when the total weight is the minimum total weight, and sets the value of the motor's output corresponding to the predetermined downward pressure to be greater than the rated power when the total weight is the maximum total weight, wherein the rated power is less than the motor's maximum power. The motor control unit: If the total weight is the minimum total weight, and if the downward pressure is the predetermined downward pressure, then control the output of the motor so that the amount of the motor's output becomes less than the value of the rated power; If the total weight is the maximum total weight, and if the downward pressure is the predetermined downward pressure, then the output of the motor is controlled such that the amount of the motor's output becomes greater than the value of the rated power; If the total weight is the minimum total weight, and if the downward pressure is the maximum downward pressure, then control the output of the motor so that the output of the motor becomes the maximum power; and If the total weight is the maximum total weight, and if the downward pressure is the maximum downward pressure, then the output of the motor is controlled such that the output of the motor becomes the maximum power.

7. The output control system according to claim 6, wherein, The motor control unit ensures that the rate of increase of the motor's output during the period from the predetermined downward pressure to the maximum downward pressure when the total weight is the minimum total weight is greater than the rate of increase of the motor's output during the period from the predetermined downward pressure to the maximum downward pressure when the total weight is the maximum total weight.

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