WO2018147047A1

WO2018147047A1 - Control system, mobile body, and control method

Info

Publication number: WO2018147047A1
Application number: PCT/JP2018/001581
Authority: WO
Inventors: 広基市川; 石川　淳
Original assignee: 本田技研工業株式会社
Priority date: 2017-02-10
Filing date: 2018-01-19
Publication date: 2018-08-16
Also published as: JP6710786B2; JPWO2018147047A1; CN110234531B; CN110234531A

Abstract

This control system is provided with: a closed circuit that electrically connects in series a power supply, a first switch, and a load; a power storage unit connected in parallel to the load; and a protection unit that suppresses the occurrence of having the first switch in an overvoltage state wherein a voltage applied to the first switch exceeds the allowable voltage of the first switch. In the cases where the first switch is in the open state, the protection unit adjusts the operation state of the load, thereby suppressing the occurrence of having the first switch in the overvoltage state.

Description

Control system, mobile unit and control method

The present invention relates to a control system, a mobile unit and a control method.
Priority is claimed on Japanese Patent Application No. 2017-023374, filed Feb. 10, 2017, the content of which is incorporated herein by reference.

BACKGROUND ART In recent years, a technique for motorizing a drive system of a moving body is known (see, for example, Patent Document 1). Such a mobile unit includes a power storage unit, and it is necessary to efficiently obtain power from the power stored in the power storage unit. Patent Document 1 discloses an electric circuit in which a plurality of power storage units are connected in series. By forming a power supply in which a plurality of storage batteries are connected in series, it is possible to obtain a voltage higher than that of a single power storage location, with the sum of the voltages of the storage batteries as the power supply voltage.

As an example of the storage battery, there is a storage battery provided with a storage battery body and a protection switch (switch) for switching a connection state between the storage battery body and a terminal of the storage battery. The protection switch of the storage battery is rated based on the voltage of the storage battery body. For example, the allowable voltage in the open state of the protection switch is determined to be higher than the voltage of the storage battery body.

Japan JP 2012-34515 gazette

However, when a plurality of storage batteries incorporating such protection switches are connected in series to form a power supply, the power supply voltage of the power supply exceeds the allowable voltage of the protection switches of the respective storage batteries forming the power supply. There is a case.
An object of the present invention is to provide a control system, a moving body and a control method capable of further enhancing the reliability of a switch in a closed circuit in which a power supply, a switch and a load are connected in series. Do.

A control system according to one aspect of the present invention includes a power supply, a first switch, and a closed circuit electrically connecting a load in series; a storage unit connected in parallel to the load; A protection unit that suppresses an overvoltage state in which a voltage applied to the first switch exceeds an allowable voltage of the first switch; the protection unit is configured to open the first switch When it becomes, by adjusting the operating state of the said load, it suppresses that the said 1st switch will be in the said overvoltage state.

In the control system, the load includes a drive unit for driving the motor, and the protection unit cuts off the power supply from the drive unit to the motor when the first switch is in the open state. The first switch may be controlled to be in the over voltage state by controlling to

In the control system, the protection unit may detect an open state of the first switch based on a voltage of the power storage unit, and suppress the first switch from being in the overvoltage state.

The control system includes a second switch connected in series to the power supply, the first switch, and the load in the closed circuit, and the protection unit is configured to open the first switch. In this case, the first switch may be suppressed from being in the over voltage state by opening the second switch.

In the control system, when the first switch is in the open state, the protection unit restricts power consumption of the load, and then opens the second switch to open the first switch. May suppress the occurrence of the overvoltage state.

In the control system, the power supply may include a plurality of batteries connected in series, and the second switch may be provided in the closed circuit including the plurality of batteries.

In the control system, the allowable voltage of the first switch in the open state may be smaller than the voltage value of the power supply.

A mobile according to another aspect of the present invention includes a power supply, a first switch, and a closed circuit electrically connecting a load in series; a storage unit connected in parallel to the load; A protection unit that suppresses an overvoltage state in which a voltage applied to the first switch exceeds an allowable voltage of the first switch; and the protection unit is configured to receive the first switch In the open state, the operating state of the load is adjusted to suppress the first switch from being in the overvoltage state.

According to still another aspect of the present invention, there is provided a control method comprising: a closed circuit electrically connecting a power supply, a first switch, and a load in series; and a storage unit connected in parallel to the load. The control method according to claim 1, wherein when the first switch is in the open state, the state of the first switch is adjusted by the voltage applied to the first switch by adjusting the operating state of the load. It includes suppressing an overvoltage state exceeding the allowable voltage of the first switch.

According to the above configuration, the control system includes the power supply, the first switch, and the closed circuit electrically connecting the load in series; the storage unit connected in parallel to the load; the state of the first switch A protection unit that suppresses an overvoltage state in which a voltage applied to the first switch exceeds an allowable voltage of the first switch; and the protection unit is configured to open the first switch. When it becomes, by adjusting the operating state of the said load, it suppresses that the said 1st switch will be in the said overvoltage state. By this, a protection part can control the overvoltage state of the 1st switch, and it can provide a control system, a mobile, and a control method that can further improve the reliability of the 1st switch.

FIG. 1 is a view showing an example of a saddle-ride type electric vehicle to which an electric circuit of a first embodiment is applied. FIG. 2 is a block diagram showing a schematic configuration of a control system for controlling the traveling of the electric two-wheeled vehicle of the present embodiment. It is a figure for demonstrating the operation | movement when the process for avoiding the influence of the sudden event of embodiment is implemented. It is a flowchart of the process for avoiding the influence of the sudden event of embodiment.

First Embodiment
Hereinafter, embodiments of the present invention will be described with reference to the drawings. The drawings are viewed in the directions of reference numerals, and the left, right, front and back directions mean directions as viewed from the driver.

FIG. 1 is a view showing an example of a saddle-ride type electric vehicle to which the electric circuit of the embodiment is applied. FIG. 1 shows an example of a scooter-type saddle-ride type electric vehicle (hereinafter referred to as an “electric motorcycle”) having a low floor. The electric motorcycle 1 shown in FIG. 1 is an example of a mobile body. A body frame F of the electric motorcycle 1 supports the front fork 11 so as to be steerable. A front wheel WF is pivotally supported at the lower end of the front fork 11. A steering handle 16 is connected to an upper portion of the front fork 11.

At the rear of the vehicle body frame F, the front end of the swing arm 17 is swingably supported.
An electric motor 135 (electric motor) is provided at the rear end of the swing arm 17. The rear wheel WR is rotationally driven by the power output from the electric motor 135.

A pair of left and right seat frames 15 are provided to be connected to the rear of the vehicle body frame F. The seat frame 15 supports a passenger seat 21. Further, a vehicle body cover 22 made of synthetic resin is attached to the vehicle body frame F so as to cover the vehicle body frame F.

FIG. 1 shows an arrangement example of some of the electrical components. For example, a battery storage portion 120C made of synthetic resin is provided between the pair of left and right seat frames 15 at a lower portion of the passenger seat 21. The battery 120 is removably stored in the battery storage portion 120C.

In the electric motorcycle 1, the electric motor 135 provided on the swing arm 17 is driven by the PDU (Power Driver Unit) 130 by the power supplied from the battery 120 through the electric circuit 110, and the electric motor 135 is driven. It travels by transmitting the rotational power of the time to the rear wheel WR. For example, the battery 120 of the embodiment is divided into a plurality of battery units such as the

batteries

121 and 122. The traveling of the electric motorcycle 1 is controlled by, for example, an ECU (Electric Control Unit) 140 or the like disposed at an appropriate position such as the inside of the vehicle body cover 22. The charger 150 converts power supplied from the outside, and charges the battery 120 via the electric circuit 110. Charger 150 may be removable from electric motorcycle 1.

FIG. 2 is a block diagram showing a schematic configuration of a control system for controlling the traveling of the electric motorcycle 1 of the present embodiment.

The control system 10 includes an electric circuit 110 (closed circuit), a battery 120, a PDU 130 (load), an ECU 140 (protection unit), and a charger 150.
The electric circuit 110 electrically connects the battery 120 (power supply and first switch), the contactor 115 (first contactor), and the PDU 130 in series.

The PDU 130 includes an inverter 131, a capacitor 133 (power storage unit), and a voltage detection unit 134. The inverter 131 converts the direct current power supplied from the battery 120 into, for example, three-phase alternating current power based on the control of the ECU 140. The capacitor 133 reduces voltage fluctuation due to mechanical load fluctuation of the electric motor 135 and smoothes the voltage. The voltage detection unit 134 detects the voltage on the power supply side of the PDU 130. The electric motor 135 is, for example, a three-phase alternating current motor.

The battery 120 includes, for example,

batteries

121 and 122.

Batteries

121 and 122 are an example of a plurality of power storage units. The battery 120 generates a predetermined voltage (for example, a nominal voltage of 48 V) by connecting a plurality of single batteries such as a lithium ion battery, a nickel hydrogen battery, and a lead battery in series.

The electric power from the

batteries

121 and 122 is supplied to the PDU 130 for driving the electric motor 135 through the electric circuit 110, for example, converted from direct current to three-phase alternating current by the inverter 131 of the PDU 130 and supplied to the electric motor 135 Ru.

For example, the output voltage of the

batteries

121 and 122 is stepped down to a low voltage (for example, 12 V) by a DC-DC converter (not shown) and supplied to control system components such as the ECU 140. For example, the output voltage of the battery 121 may be allowed to fluctuate normally from an upper limit voltage that is 125% of the nominal voltage of the battery 121 to a lower limit voltage that is 90% of the nominal voltage of the battery 121. For example, the output voltage of the battery 122 may be allowed to fluctuate normally from an upper limit voltage that is 125% of the nominal voltage of the battery 122 to a lower limit voltage that is 90% of the nominal voltage of the battery 122.

In addition, a part of the low-voltage electric power stepped down by the DC-DC converter is supplied to a control battery 125 (not shown) or a general electric component such as a lamp (not shown).

The

batteries

121, 122 can be charged, for example, by a charger 150 connected to an AC 100V power supply.

The battery 121 according to the embodiment includes a battery body 1211, a battery managing unit (BMU) 1212, a switch 1213, a high potential side terminal 121P (first electrode terminal), and a low potential side terminal 121N (second electrode terminal). Equipped with Similarly, the battery 122 includes a battery body 1221, a BMU 1222, and a switch 1223. In the following description, BMU 1212 and BMU 1222 may be collectively referred to simply as BMU. The charge / discharge status of the

batteries

121 and 122, the storage amount, the temperature, and the like are monitored by the BMU of each battery. The information on the monitored

batteries

121 and 122 is shared with the ECU 140. The BMU restricts charging / discharging of the battery body 1211 or the like by controlling the switch 1213 or the like according to a control command from the ECU 140 described later or the monitoring result described above. Details of the switch 1213 will be described later. The BMU 1212 communicates with the ECU 140 via a connector (not shown). BMU 1212 receives supply of control power via its connector.
The battery 122 is also similar to the battery 121. The

switches

1213 and 1223 may be semiconductor elements such as FETs.

Information of an output request from the throttle (accelerator) sensor 180 is input to the ECU 140. The ECU 140 controls the contactor 115, the battery 120, the PDU 130 and the like based on the input information of the output request. For example, the ECU 140 can regulate charge and discharge of the battery 120 by controlling the battery 120. The ECU 140 switches the supply of power to the battery 120 and the discharge from the battery 120 by controlling the contactor 115. The ECU 140 controls the drive of the electric motor 135 by controlling the power supplied to the electric motor 135 by the PDU 130. In the block diagram shown in FIG. 2, the charger 150 is also included in the control system 10 for controlling the traveling of the electric motorcycle 1, but the charger 150 is configured to be detachable from the electric motorcycle 1. It is also good. In this case, the charger 150 may be provided outside the electric motorcycle 1. In addition, the method of charge by the charger 150 may select a general method.

The contactor 115 (second switch) is provided between the low potential side terminal 121 N of the battery 121 and the high potential side terminal 122 P of the battery 122. The contactor 115 connects and disconnects the low potential side terminal 121N of the battery 121 and the high potential side terminal 122P of the battery 122. The contactor 115 connects the batteries 120 in series in the conductive state. The contactor 115 releases the series connection of the battery 120 in the disconnected state. The period in which the contactor 115 is in the disconnected state includes at least the period in which the charger 150 supplies power to the battery 120.

Note that the allowable voltage of the contactor 115 when the contactor 115 is in the open state is set sufficiently higher than the voltage of the battery 120, and at least higher than the upper limit value (maximum voltage value) of the fluctuation range of the voltage of the battery 120. It shall be large.

[Example of connection configuration of drive system of electric circuit]
The battery 120 of the drive system of the electric circuit 110, the contactor 115, and the PDU 130 are electrically connected in series by the electric circuit 110. As described above, the battery 120 includes the battery 121 and the battery 122, and the battery 121 and the battery 122 can be connected in series. The battery 121 incorporates a battery body 1211 and a switch 1213. The battery 122 incorporates a battery body 1221 and a switch 1223.

The set of the battery body 1211 and the battery body 1221 is an example of a power supply. The switch 1213 or the switch 1223 is an example of a first switch. The PDU 130 is an example of a load. The electrical circuit 110 electrically connects the battery 120, the contactor 115, and the PDU 130 in series. That is, the electric circuit 110 electrically connects the battery body 1211 and the battery body 1221, the switch 1213 or the switch 1223, the contactor 115, and the PDU 130 in series. A capacitor 133 and a voltage detection unit 134 are connected in parallel to the power supply line of the PDU 130.

[Function of electric circuit]
The ECU 140 acquires the state of the battery 120 from the BMU of the battery 120. The ECU 140 acquires the voltage on the power supply side of the PDU 130 from the voltage detection unit 134 of the PDU 130. The ECU 140 detects the user's operation from the throttle sensor 180 or the like. For example, the ECU 140 controls the contactor 115 and the PDU 130 based on the collected information.

For example, the ECU 140 performs processing for charging the battery 120 with the power of the charger 150 using the external charger 150 or the like. Further, the ECU 140 detects a user's operation and carries out a process of charging the capacitor 133 in advance by supplying power to the PDU 130 in order to drive the electric motorcycle 1 according to the user's request. Further, the ECU 140 carries out processing for driving the electric motorcycle 1 by driving the PDU 130 in accordance with the user's operation. These processes may be performed according to a general procedure.

The ECU 140 of the embodiment further executes “processing for an unexpected event that occurred while the electric motorcycle 1 is operated”.
The sudden event in this embodiment refers to the operation performed to protect the configuration in a state where the electric motor 135 is driven by the drive unit 130, the operation performed to maintain the safe state, and the like. It is an event that has resulted in a result different from the result of the processing requested by the user, as a result of execution by each functional unit.

A more specific example will be described.
For example, the switch 1213 or the switch 1223 of the battery 120 is not controlled to the cutoff state by the process of the ECU 140 during the above control, but is controlled by the process of the BMU in the battery 120 or the like. That is, an event in which the switch 1213 or the switch 1223 is shut off during the above control is included in the sudden event.

[Influence of sudden events]
When power is supplied to the PDU 130, if the above-mentioned catastrophic event occurs and either the switch 1213 or the switch 1223 is cut off, the power supply from the battery 120 to the PDU 130 is stopped.

On the other hand, the ECU 140 continues to supply the PDU 130 with a control signal for driving the electric motor 135 while the state where the occurrence of the sudden event can not be detected continues. Since power is not supplied from the battery 120, the PDU 130 consumes the power stored in the capacitor to continue driving the electric motor 135. However, when the storage amount of the capacitor is exhausted, the electric motor 135 can not be driven. (First effect).

In the embodiment, the allowable voltage of switch 1213 or switch 1223 of battery 120 is smaller than the power supply voltage of battery 120. When the above catastrophic event occurs, the voltage applied to the switch 1213 may exceed the allowable voltage of the switch 1213 or the voltage applied to the switch 1223 may exceed the allowable voltage of the switch 1223 (see FIG. Second effect). The second influence may lead to a situation where the electric motorcycle 1 can not travel. The second effect needs to be avoided so that this situation does not occur.

[Avoiding the effects of sudden events]
The electric circuit 10 according to the embodiment avoids the above-mentioned influence by performing the following processing. The details will be described below.

FIG. 3 is a diagram for explaining an operation when the process for avoiding the influence of the sudden event according to the embodiment is performed. This figure shows the change in the voltage Vin (V) of the capacitor 133 after the occurrence of a sudden event.

FIG. 4 is a flowchart of a process for avoiding the influence of an unexpected event according to the embodiment.
First, at time t1, a sudden event occurs in which the switch 1213 or the switch 1223 of the battery 120 is shut off (SA0). Thereby, the voltage of the capacitor 133 starts to decrease, but the driving of the electric motor 135 continues (SA1).

Next, it is determined whether the voltage of the capacitor 133 is lower than a predetermined threshold TH (SA2). If the voltage of capacitor 133 has not dropped below threshold value TH, ECU 140 returns the process to SA1.

Next, when the voltage of the capacitor 133 falls below the threshold value TH, the ECU 140 controls the PDU 130 to stop the supply of current to the electric motor 135 (SA3). That is, at time t3, all FETs as semiconductor switches included in the PDU 130 are turned off. As a result, the current flowing in the direction of supplying power to the electric motor 135 on the electric circuit 110 is interrupted at two places.

Next, after a predetermined time has elapsed from time t3, the ECU 140 turns off the contactor 115 (SA4). As a result, at time t5, the electric circuit 110 is cut off at at least two places, and the voltage applied to the switch 1213 or the switch 1223 disappears, thereby avoiding the occurrence of the second influence.

Supplement the explanation of the above process.
When the voltage of the capacitor 133 is consumed by the load (electric motor 135), the voltage of the battery 120 is maintained as it is, and only the voltage of the capacitor 133 is lowered. Therefore, a potential difference between the voltage of the battery 120 and the voltage of the capacitor 133 is applied to the switch (the switch 1213 or the switch 1223) cut off due to the sudden event. If this voltage exceeds the allowable voltage of the switch, the switch may be destroyed.

On the other hand, another embodiment may be considered in which another switch (switch) is disposed in the closed circuit of the electric circuit 10 in addition to the above switch and this switch is rapidly disconnected when a sudden event occurs (implementation Example 1). In the case where the method of the first embodiment is realized by a mechanical switch (switch), it is expected that the time taken to disconnect the circuit will take about 100 milliseconds.

In place of the mechanical switch (switch) of the first embodiment described above, a countermeasure realized by an electric switch can be considered (second embodiment). In this case, there is no time delay depending on mechanical elements, and the time required to disconnect the circuit can be shortened, which is preferable from the viewpoint of shortening the response time. By using the electrical switch, for example, even when the charge of the capacitor 133 is consumed in about 10 milliseconds, a process for suppressing the consumption can be performed in the process.

However, in the case where a mechanical switch as a main switch is provided in the electric circuit 110, it is necessary to further provide an electric switch. Therefore, in the present embodiment, control of the PDU 130 is combined in order to ensure responsiveness without further adding an electrical switch.

The PDU 130 includes an inverter 131 for driving the electric motor 135, that is, a semiconductor switch. The PDU 130 utilizes this semiconductor switch to interrupt the current of the electrical circuit 110 if a predetermined condition is satisfied.

According to an embodiment, the control system includes a closed circuit that electrically connects the body of the battery 120, a switch (first switch) in the battery 120, and the PDU 130 in series, and a capacitor connected in parallel to the PDU 130. 133, and an ECU 140 (protector) that suppresses the state of the first switch described above from becoming an overvoltage state in which the voltage applied to the first switch exceeds the allowable voltage of the first switch. The EUC 140 adjusts the operating state of the PDU 130 when the first switch is in the open state, thereby restricting the power consumption, thereby suppressing the overvoltage state of the first switch, thereby causing the first switch to fail. The reliability of the switch can be further improved.

The overvoltage state of the first switch is a state in which the voltage applied to the first switch exceeds the allowable voltage of the first switch. The allowable voltage of the first switch is the allowable maximum inter-terminal voltage in the open state. The open state of the first switch includes the state after transition from the conductive state in which the electric circuit 10 is energized to the open state.

Note that the above overvoltage state is included in a state in which the voltage of the capacitor 133 is reduced to a desired voltage (power supply voltage) or less. More specifically, the above-mentioned overvoltage state is included in the state where the voltage of the capacitor 133 has dropped below the single voltage of the battery 121 or the battery 122.

Further, the load of the above-described capacitor 133 includes the electric motor 135 and the PDU 130 (drive unit) that drives the electric motor 135. The ECU 140 may suppress the first switch from becoming an overvoltage state by controlling to shut off the power supply from the PDU 130 to the electric motor 135 when the first switch is in the open state.

Further, the ECU 140 may suppress the first switch from becoming an overvoltage state by detecting the open state of the first switch based on the voltage of the capacitor 133.

The control system 10 further includes a contactor 115 (second switch) connected in series to the body of the battery 120, the switch (first switch) in the battery 120, and the PDU 130 in the electric circuit 110. The ECU 140 may suppress the overvoltage of the first switch by opening the contactor 115 when the first switch is opened.

Further, even if the ECU 140 limits the power consumption of the PDU 130 when the first switch is in the open state, the contactor 115 is kept in the open state, thereby suppressing the overvoltage state of the first switch. Good.

Also, the battery 120 includes a plurality of battery bodies connected in series as a power source.
The contactor 115 may be provided in the electric circuit 110 including a plurality of battery bodies, and may suppress the first switch from becoming an overvoltage state by opening the electric circuit 110 under the control of the ECU 140.

Also, the allowable voltage of the first switch in the open state may be smaller than the voltage value of the power supply.

The ECU 140 according to the embodiment includes a computer system. The ECU 140 records a program for realizing the above process in a computer readable recording medium, and causes the computer system to read and execute the program recorded in the recording medium, thereby executing the various processes described above. You may go. Note that the “computer system” referred to here may include an OS and hardware such as peripheral devices. In addition, “computer readable recording medium” refers to flexible disks, magneto-optical disks, ROMs, writable nonvolatile memories such as flash memories, portable media such as CD-ROMs, hard disks incorporated in computer systems, etc. Storage devices.

Furthermore, the “computer-readable recording medium” is a volatile memory (for example, DRAM (Dynamic Memory) inside a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line). As Random Access Memory), it is assumed that the program which holds the program for a fixed time is included. The program may be transmitted from a computer system in which the program is stored in a storage device or the like to another computer system via a transmission medium or by transmission waves in the transmission medium. Here, the “transmission medium” for transmitting the program is a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. Further, the program may be for realizing a part of the functions described above. Furthermore, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

Although the embodiments of the present invention have been described above with reference to the drawings, the present invention is not limited to these embodiments in any way, and various modifications and substitutions may be made without departing from the scope of the present invention. it can.

1: Electric motorcycle (mobile unit)
10: Control system 110: Electric circuit (closed circuit)
115 ・・・ Contactor (2nd switch)
120, 121, 122 ... battery 120C ... battery storage unit 130 ... PDU (load)
133 ・・・ Condenser (electric storage unit)
135 ··· Electric motor 140 · · · · · ECU (protection unit)
150 ···

Chargers

121, 121 ··· Battery body (power supply)
1212 1222 ... BMU
1213, 1223 ... switch (first switch).

Claims

A closed circuit electrically connecting the power supply, the first switch, and the load in series;
A storage unit connected in parallel to the load;
A protection unit configured to prevent the state of the first switch from becoming an overvoltage state in which a voltage applied to the first switch exceeds an allowable voltage of the first switch;
Equipped with
When the first switch is in the open state, the protection unit suppresses the first switch from being in the overvoltage state by adjusting the operating state of the load.
Control system.
The load includes a drive unit for driving a motor.
The protective unit controls the power supply to the motor from the drive unit to shut off when the first switch is in the open state, whereby the first switch is in the overvoltage state. Suppress
The control system according to claim 1.
The protection unit detects an open state of the first switch based on a voltage of the storage unit, and suppresses the first switch from being in the overvoltage state.
A control system according to claim 1 or claim 2.
And a second switch connected in series to the power supply, the first switch, and the load in the closed circuit,
The protective unit suppresses the first switch from being in the overvoltage state by opening the second switch when the first switch is in the open state.
A control system according to claim 1 or claim 2.
The protection unit limits the power consumption of the load when the first switch is in the open state, and then puts the second switch in the open state, whereby the first switch is in the overvoltage state. Suppress becoming
The control system according to claim 4.
The power supply includes a plurality of batteries connected in series;
The second switch is provided in the closed circuit including the plurality of batteries.
The control system according to claim 4 or 5.
The allowable voltage of the first switch in the open state is smaller than the voltage value of the power supply,
The control system according to any one of claims 1 to 6.
A closed circuit electrically connecting the power supply, the first switch, and the load in series;
A storage unit connected in parallel to the load;
A protection unit configured to prevent the state of the first switch from becoming an overvoltage state in which a voltage applied to the first switch exceeds an allowable voltage of the first switch;
Equipped with
The movable body suppresses the overvoltage state of the first switch by adjusting the operating state of the load when the first switch is in the open state.
A control method of a control system, comprising: a closed circuit electrically connecting a power supply, a first switch, and a load in series; and a storage unit connected in parallel to the load,
By adjusting the operating state of the load when the first switch is in the open state, the state of the first switch is determined by the voltage applied to the first switch being the allowable voltage of the first switch. A control method including suppressing over voltage condition.