CN1899900A - Electric vehicle driving controlling device and electric vehcile driving controlling method - Google Patents

Electric vehicle driving controlling device and electric vehcile driving controlling method Download PDF

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Publication number
CN1899900A
CN1899900A CNA2005100860634A CN200510086063A CN1899900A CN 1899900 A CN1899900 A CN 1899900A CN A2005100860634 A CNA2005100860634 A CN A2005100860634A CN 200510086063 A CN200510086063 A CN 200510086063A CN 1899900 A CN1899900 A CN 1899900A
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China
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drive motor
rom drive
mentioned
torque
target torque
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CNA2005100860634A
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CN100542862C (en
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岩月健
野村昌树
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Aisin AW Co Ltd
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Aisin AW Co Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The driving control device for electric vehicle has one driving motor target torque calculating and processing mechanism for calculating the target torque of the driving motor, and one driving motor target torque limiting and processing mechanism, which judges the action of the parking mechanism as the clutch to limit the rotation of the driving shaft and suppresses the fluctuation of driving motor target torque when the parking mechanism is acting. The present invention can avoid gear impact sound of the parking mechanism.

Description

Electric vehicle drive control device and elec. vehicle drive controlling method
Technical field
The present invention relates to electric vehicle drive control device and elec. vehicle drive controlling method.
Background technology
Past, lift-launch in composite automotive as elec. vehicle, will be sent to the vehicle drive unit that electrical generator (electrical generator motor), remainder are sent to drive wheel as the part of the motor torque of the torque of driving engine, has the planetary gear unit that is equipped with sun wheel, gear ring and pinion carrier, above-mentioned pinion carrier is connected with driving engine, gear ring and CD-ROM drive motor are connected with drive wheel, sun wheel is connected with electrical generator, be sent to drive wheel from the rotation of above-mentioned gear ring and CD-ROM drive motor output, thereby produce propulsive effort.
In the above-mentioned vehicle drive unit, between CD-ROM drive motor and CD-ROM drive motor control setup, be provided with changer, this changer is subjected to the driving from the drive signal of CD-ROM drive motor control setup, acceptance is from the DC current of battery, produce U phase, V phase and W electric current mutually, and each phase current is supplied to CD-ROM drive motor.Thereby above-mentioned changer has as a plurality of, the transistor of 6 on-off elements for example, and each transistor constitutes each phase transistor modular (IGBT) of per 2 modularity.Therefore, when utilizing the pattern of stipulating that drive signal is sent to each transistor, transistor carries out switch motion, produces each phase current.
Also have, detect the rotor-position of the position of the rotor of representing CD-ROM drive motor, calculate CD-ROM drive motor rotative speed based on this rotor-position as the rotative speed of CD-ROM drive motor, based on this CD-ROM drive motor rotative speed to for example controlling as the motor torque of the torque of CD-ROM drive motor etc.
But, in the composite automotive of said structure, can select D Drive, backward gear, neutral gear and Parking shelves by the operation gear shifting handle, when selecting the Parking shelves, pin drive wheel, keep the halted state (for example with reference to patent documentation 1) of composite automotive.
Like this, above-mentioned gear ring and the integrated formation of Parking gear, when navigating mate operation gear shifting handle was selected the Parking shelves, halting mechanism moved, and the claw bar that has that can be provided with combines with above-mentioned Parking gear with freely swinging, pins the Parking gear, thereby pins drive wheel.
Patent documentation 1: the spy opens flat 5-278483 communique.
But, in the composite automotive in above-mentioned past, when halting mechanism moves, if thereby for example start the engine or the fluctuation of shutting engine down generation motor torque, having between claw bar and the Parking gear in the halting mechanism can produce unusual gear strike note.
That is, in the above-mentioned composite automotive, during start the engine,, therefore drive electrical generator, improve electrical generator rotative speed as the rotative speed of electrical generator owing to engine rotary speed as the rotative speed of driving engine is had be fit to the numerical value that starts.At this moment, because the antagonistic force that produces when being subjected to rotary engine, thereby must utilize CD-ROM drive motor to produce and motor torque as the corresponding regulation of generator torque of the torque of electrical generator, but when CD-ROM drive motor is driven, if detect in the position transduser output of above-mentioned rotor-position and sneak into noise, then can not accurately produce motor torque, thereby have between claw bar and the Parking gear because of gear backlash generation gear strike note.
On the other hand, in the above-mentioned composite automotive, during shutting engine down,, therefore reduce the electrical generator rotative speed, be negative value owing to must make engine rotary speed have the numerical value that is fit to stop.At this moment, must reduce motor torque along with the reducing of generator torque.Also can produce the said gear strike note this moment.
Summary of the invention
The objective of the invention is to solve the problem of the composite automotive in above-mentioned past, when being provided at the action of Parking gear mechanism, can prevent under the situation of fluctuation appears in motor torque, to produce the electric vehicle drive control device and the elec. vehicle drive controlling method of gear strike note.
Therefore, in the electric vehicle drive control device of the present invention, have the target torque that calculates the expression CD-ROM drive motor the CD-ROM drive motor target torque CD-ROM drive motor target torque computing mechanism and be judged as axle drive shaft can not be rotated and free in conjunction with the halting mechanism that breaks away from configuration whether move, when this halting mechanism action, suppress the CD-ROM drive motor target torque restriction processing mechanism of the fluctuation of above-mentioned CD-ROM drive motor target torque.
In other the electric vehicle drive control device of the present invention, and then above-mentioned CD-ROM drive motor target torque restriction processing mechanism limits the rate of change of above-mentioned CD-ROM drive motor target torque.
In other other electric vehicle drive control device of the present invention, and then above-mentioned CD-ROM drive motor target torque restriction processing mechanism limits the rate of change of above-mentioned CD-ROM drive motor target torque, the numerical value when it is not moved less than halting mechanism.
In other other electric vehicle drive control device of the present invention, and then, have differential slewing arrangement, this differential slewing arrangement has 1-the 3rd difference element, and the 1st difference element is connected with electrical generator, the 2nd difference element is connected with CD-ROM drive motor, the 3rd difference element is connected with driving engine.
Above-mentioned CD-ROM drive motor target torque restriction processing mechanism control electrical generator rotative speed, thereby make engine rotary speed equal the engine target rotative speed, and it is corresponding with motor torque and generator torque, calculate the CD-ROM drive motor target torque, needed vehicle requirement torque when travelling to produce elec. vehicle, when CD-ROM drive motor is activated, suppress the fluctuation of above-mentioned CD-ROM drive motor target torque.
In other other electric vehicle drive control device of the present invention, and then, the vibration damping processing mechanism that calculates the torque modification value of CD-ROM drive motor target torque for vibration takes place the vehicle output shaft that prevents elec. vehicle had.
Above-mentioned CD-ROM drive motor target torque restriction processing mechanism limits above-mentioned torque modification value.
In other other electric vehicle drive control device of the present invention, and then the CD-ROM drive motor angular acceleration with the angular acceleration that calculates CD-ROM drive motor calculates processing mechanism.
Above-mentioned vibration damping processing mechanism calculating torque correction is so that angular acceleration is less than the value of regulation.
In other other electric vehicle drive control device of the present invention, and then, the test section of 2 positions of the axle of the regulation of being arranged on had.
Above-mentioned vibration damping processing mechanism calculating torque correction is so that the difference of the rotative speed that each test section detects is zero.
In the motor-driven control method of the present invention, calculate the CD-ROM drive motor target torque of the target torque of expression CD-ROM drive motor, and judge and to be used to axle drive shaft can not be rotated and freely whether to move in conjunction with the halting mechanism that breaks away from configuration, when this halting mechanism action, suppress the fluctuation of above-mentioned CD-ROM drive motor target torque.
According to the present invention, in electric vehicle drive control device, have the target torque that calculates the expression CD-ROM drive motor the CD-ROM drive motor target torque CD-ROM drive motor target torque computing mechanism and be judged as axle drive shaft can not be rotated and free in conjunction with the halting mechanism that breaks away from configuration whether move, when this halting mechanism action, suppress the CD-ROM drive motor target torque restriction processing mechanism of the fluctuation of above-mentioned CD-ROM drive motor target torque.
At this moment, judge whether halting mechanism moves, when this halting mechanism action, occur at motor torque suppressing the fluctuation of CD-ROM drive motor target torque under the situation of fluctuation, therefore can prevent to produce in the halting mechanism gear strike note.
Description of drawings
Fig. 1 is the functional block diagram of the composite automotive driving control device of embodiments of the present invention.
Fig. 2 is the concept map of the composite automotive of embodiments of the present invention.
Fig. 3 is the action specification figure of the planetary gear unit of embodiments of the present invention.
Speed line chart when Fig. 4 is travelling usually of embodiments of the present invention.
Torque line chart when Fig. 5 is travelling usually of embodiments of the present invention.
Fig. 6 is the action specification figure of the halting mechanism of embodiments of the present invention.
Fig. 7 is the concept map of the composite automotive driving control device of embodiments of the present invention.
Fig. 8 is the 1st main flow chart of the action of the composite automotive driving control device of expression embodiments of the present invention.
Fig. 9 is the 2nd main flow chart of the action of the composite automotive driving control device of expression embodiments of the present invention.
Figure 10 is the 3rd main flow chart of the action of the composite automotive driving control device of expression embodiments of the present invention.
Figure 11 is that the 1st vehicle of embodiments of the present invention requires the torque mapping relations.
Figure 12 is that the 2nd vehicle of embodiments of the present invention requires the torque mapping relations.
Figure 13 is the engine target running state mapping relations of embodiments of the present invention.
Figure 14 is the engine drive zone mapping relations of embodiments of the present invention.
Figure 15 is the 1st figure of the subprogram of the engine starting control and treatment of expression embodiments of the present invention.
Figure 16 is the 2nd figure of the subprogram of the engine starting control and treatment of expression embodiments of the present invention.
Figure 17 is the block scheme of the correction restrictions of expression embodiments of the present invention.
Figure 18 is the figure of the subprogram of the CD-ROM drive motor target torque restriction processing of expression embodiments of the present invention.
Figure 19 is the time schedule of the action of the correction restrictions of expression embodiments of the present invention.
Figure 20 stops the figure of the subprogram of control and treatment for the driving engine of expression embodiments of the present invention.
Among the figure: 11-driving engine, 13-planetary gear unit, 16-electrical generator, the 18-halting mechanism, 25-CD-ROM drive motor, 49-CD-ROM drive motor control setup, the 51-controller of vehicle, 91-CD-ROM drive motor target torque computing mechanism, 92-CD-ROM drive motor target torque restriction processing mechanism, 121-CD-ROM drive motor target torque calculating part, 122-vibration correcting process control part, 125-CD-ROM drive motor target torque restriction handling part, CR-pinion carrier, the R-gear ring, the S-sun wheel.
The specific embodiment
Below, be described with reference to the accompanying drawings embodiments of the present invention.At this moment, to describing as the composite automotive of elec. vehicle, the composite automotive driving control device that reaches as electric vehicle drive control device.
Fig. 1 is the functional block diagram of the composite automotive driving control device of embodiments of the present invention.
Among the figure, 91 is the CD-ROM drive motor target torque computing mechanism of calculating the CD-ROM drive motor target torque of the target torque of representing CD-ROM drive motor.92 for judge for make axle drive shaft can not rotate free in conjunction with the halting mechanism that breaks away from configuration whether move, when this halting mechanism action, suppress the CD-ROM drive motor target torque restriction processing mechanism of the fluctuation of above-mentioned CD-ROM drive motor target torque.
Then, composite automotive is described.
Fig. 2 is the concept map of the composite automotive of embodiments of the present invention.
Among the figure, 11 for being arranged on the driving engine (E/G) on the 1st axis, 12 for being arranged on above-mentioned the 1st axis, export the output shaft of the rotation that produces by the above-mentioned driving engine 11 of driving, 13 for being arranged on above-mentioned the 1st axis, to carry out the planetary gear unit of the differential slewing arrangement of conduct of speed change by the rotation of above-mentioned output shaft 12 inputs, 14 for being arranged on above-mentioned the 1st axis, export the output shaft of the rotation after the speed change of above-mentioned planetary gear unit 13,15 is that 16 for being arranged on above-mentioned the 1st axis as the 1st inversion driving gear that is fixed on the output gear on this output shaft 14, be connected with above-mentioned planetary gear unit 13 by transmission shaft 17, and with conduct the 1st electromechanical electrical generator (G) of the free differential mechanical connections rotatably of driving engine 11.Also have this electrical generator 16 and drive wheel 37 mechanical connections as wheel.
Above-mentioned output shaft 12 is provided with shock attenuation unit D, this shock attenuation unit D is connected between the efferent 12b of the input part 12a of driving engine 11 sides of above-mentioned output shaft 12 and planetary gear unit 13 sides, and has among the figure that is installed on the above-mentioned input part 12a drive element of expression not, is installed among the figure on the output block 12b passive element of expression not and is arranged on the spring as pressure-producing part between this drive element and the passive element.The motor torque TE that is sent to drive element by above-mentioned input part 12a is sent on the spring, after having absorbed rapid fluctuation on this spring, is sent to passive element again, outputs to efferent 12b then.
Above-mentioned output shaft 14 has sleeve-shaped, and is in the position that surrounds above-mentioned output shaft 12.Also have, above-mentioned the 1st inversion driving gear 15 is than planetary gear unit 13 more close driving engine 11 sides.
Above-mentioned planetary gear unit 13 has the sun wheel S as the 1st difference element at least, with this sun wheel S ingear miniature gears P, with the gear ring R of this miniature gears P ingear as the 2nd difference element, and the pinion carrier CR that supports conduct the 3rd difference element of above-mentioned miniature gears P with rotating freely, above-mentioned sun wheel S is connected with electrical generator 16 by above-mentioned transmission shaft 17, gear ring R is by the gear row of output shaft 14 and regulation, with on the 2nd axis that is arranged on above-mentioned the 1st parallel axes and is connected with conduct the 2nd electromechanical CD-ROM drive motor (M) 25 and the drive wheel 37 of above-mentioned driving engine 11 with electrical generator 16 free differential mechanical connections rotatably, pinion carrier CR passes through output shaft 12 and is connected with driving engine 11.Above-mentioned CD-ROM drive motor 25 and drive wheel 37 mechanical connections.Also have, dispose free-wheel clutch F between the housing 10 of above-mentioned pinion carrier CR and vehicle drive unit, this free-wheel clutch F is being free state from driving engine 11 when pinion carrier CR transmits the positive dirction rotation, when pinion carrier CR transmits opposite spin, be lockup state from electrical generator 16 or CD-ROM drive motor 25, thereby the rotation of driving engine 11 is stopped, do not transmit opposite spin to driving engine 11.Therefore, when being under the halted state starter-generator 16 at driving engine 11, utilize above-mentioned free-wheel clutch F to apply relatively antagonistic force from the torque of electrical generator 16.In addition, also can replace free-wheel clutch F, between above-mentioned pinion carrier CR and housing 10, be provided as the drg of not representing among the figure of stop mechanism.
Above-mentioned electrical generator 16 by be fixed on the above-mentioned transmission shaft 17, rotate freely setting rotor 21, be arranged on this rotor 21 around stator 22 and the coil 23 that is wound on this stator 22 form.Above-mentioned electrical generator 16 utilizes the rotation that transmits by transmission shaft 17 to produce electric power.Among above-mentioned coil 23 and the figure not the battery of expression is connected, to this battery supply DC current.Be provided with generator brake B between above-mentioned rotor 21 and the above-mentioned housing 10, can fix rotor 21 by making this generator brake B combination, thus the rotation of mechanical generation outage machine 16.
Also have, 26 for be arranged on above-mentioned the 2nd axis, the output shaft of the rotation of the above-mentioned CD-ROM drive motor 25 of output.27 for being fixed on the 2nd inversion driving gear as output gear on this output shaft 26.Above-mentioned CD-ROM drive motor 25 by be fixed on the above-mentioned output shaft 26, rotate freely setting rotor 40, be arranged on this rotor 40 around stator 41 and the coil 42 that is wound on this stator 41 form.
U phase, the V of the alternating current of above-mentioned CD-ROM drive motor 25 by supplying to coil 42 reach the W phase current mutually, produce motor torque TM.Therefore, above-mentioned coil 42 is connected with above-mentioned electric current, and the DC current of this battery is transformed to each phase current, supplies to above-mentioned coil 42.
In order to make above-mentioned drive wheel 37 along the direction rotation identical with the rotation of driving engine 11, tween drive shaft 30 is configured on the 3rd axis with above-mentioned the 1st, the 2nd parallel axes, be fixed with on this tween drive shaft 30 the 1st counter-rotating driven gear 31, and the number of teeth more than the 2nd of this counter-rotating driven gear 31 driven gear 32 that reverses.Above-mentioned the 1st counter-rotating driven gear 31 and above-mentioned the 1st inversion driving gear 15 are meshing with each other.Above-mentioned the 2nd counter-rotating driven gear 32 and above-mentioned the 2nd inversion driving gear 27 are meshing with each other.After the rotation counter-rotating of above-mentioned the 1st inversion driving gear 15, be sent to the 1st counter-rotating driven gear 31.After the rotation counter-rotating of above-mentioned the 2nd inversion driving gear 27, be sent to the 2nd counter-rotating driven gear 32.In addition, be fixed with the differential pinion 33 that the number of teeth is less than above-mentioned the 1st counter-rotating driven gear 31 on the above-mentioned tween drive shaft 30.
Differential gear 36 is arranged on the 4th axis with above-mentioned 1-the 3rd parallel axes, the differential Internal gear 35 of this differential gear 36 and above-mentioned differential pinion 33 engagements.Therefore, the rotation that is sent to differential Internal gear 35 is sent to drive wheel 37 after distributing by above-mentioned differential gear 36 again.Like this, not only the rotation that produced of driving engine 11 is sent to the 1st counter-rotating driven gear 31, and the rotation that produced of CD-ROM drive motor 25 can be sent to the 2nd counter-rotating driven gear 32, so by driving driving engine 11 and CD-ROM drive motor 25, composite automotive is travelled.Also have, above-mentioned driving engine 11, planetary gear unit 13, electrical generator 16, CD-ROM drive motor 25, differential gear 36 etc. constitute vehicle drive unit.
Yet, in the composite automotive of said structure, by operating the gear shifting handle of not representing as among the figure of variable-speed operation parts, after selecting the regulation gear in D Drive, backward gear, neutral gear and the Parking shelves, the gear judgment means of not representing among the figure is judged selected gear, and gear signal is sent to the controller of vehicle of not representing among the figure.If select the Parking shelves, along with the operation of gear shifting handle, drive wheel 37 is understood by locking, thereby keeps the halted state of composite automotive.Therefore, above-mentioned gear ring R goes up the Parking gear Gp of integrated formation as combined parts, navigating mate operation gear shifting handle, after selecting the Parking shelves, free halting mechanism 18 in conjunction with the configuration of disengaging ground moves, the pawl that claw bar is arranged as not representing among the figure of bonded block of configuration combines with Parking gear Gp with freely swinging, thereby locking Parking gear Gp makes drive wheel 37 not to be rotated.In the present embodiment, the integrated Parking gear Gp that is formed with on the outer peripheral face of gear ring R, drive wheel 37 and Parking gear Gp are mechanically coupled together.But also can be at the regulation position of output shaft 14, for example with the 1st inversion driving gear 15 adjacent formation Parking gear Gp.In addition, Parking gear Gp also can form on tween drive shaft 30, or is forming with differential Internal gear 35 adjacents, thereby makes drive wheel 37 and Parking gear Gp mechanically coupled together.
In addition, 38 are the position sensors such as resolver of detection as conduct the 1st rotor position detection portion of the rotor position G of the position of rotor 21, and 39 are the position sensors such as resolver of detection as conduct the 2nd rotor position detection portion of the rotor position M of the position of rotor 40.Detected rotor position G is sent to the generator control unit of not representing among controller of vehicle and the figure, and detected rotor position M is sent to the CD-ROM drive motor control setup of not representing among controller of vehicle and the figure.In addition, 50 is the axle drive shaft as the output shaft of above-mentioned differential gear 36, and 52 is the engine rotary speed sensor as the engine rotary speed test section of detection of engine rotative speed NE.Detected engine rotary speed NE is sent to the engine control unit of not representing among controller of vehicle and the figure.
The action of above-mentioned halting mechanism 18 then, is described.
Fig. 3 is the action specification figure of the planetary gear unit of embodiments of the present invention.Speed line chart when Fig. 4 is travelling usually of embodiments of the present invention.Torque line chart when Fig. 5 is travelling usually of embodiments of the present invention.
In the above-mentioned planetary gear unit 13 (Fig. 2), because pinion carrier CR is connected with driving engine 11, sun wheel S is connected with electrical generator 16, gear ring R is connected with drive wheel 37 with above-mentioned CD-ROM drive motor 25 by the gear row of output shaft 14 and regulation, therefore, as the gear ring rotative speed NR of the rotative speed of gear ring R with equate as the output shaft rotative speed that outputs to the rotative speed of output shaft 14, the rotative speed of pinion carrier CR equates that with engine rotary speed NE the rotative speed of sun wheel S equates with electrical generator rotative speed NG.If the number of teeth of gear ring R is ρ times (present embodiment is 2 times) of the number of teeth of sun wheel S, following relation is arranged then:
(ρ+1)·NE＝1·NG+ρ·NR
Therefore, from gear ring rotative speed NR and electrical generator rotative speed NG, can calculate engine rotary speed NE:
NE＝(1·NG+ρ·NR)/(ρ+1)...(1)
In addition, utilize above-mentioned formula (1), can constitute the rotative speed relational expression of planetary gear unit 13.
Also have, there are following relation in the gear ring torque TR and the generator torque TG of motor torque TE, the torque that produced as gear ring R:
TE: TR: TG=(ρ+1): ρ: 1 ... (2) bear antagonistic force each other.In addition, utilize above-mentioned formula (2), can constitute the torque relational expression of planetary gear unit 13.
When composite automotive travelled usually, gear ring R, pinion carrier CR and sun wheel S be all along positive dirction rotation, as shown in Figure 4, gear ring rotative speed NR, engine rotary speed NE and electrical generator rotative speed NG be on the occasion of.Also have, above-mentioned gear ring torque TR and generator torque TG carry out proportional distribution according to the determined torque ratio of the number of teeth of planetary gear unit 13 to motor torque TE, therefore in torque line chart shown in Figure 5, gear ring torque TR and generator torque TG addition become motor torque TE.
The action of above-mentioned planetary gear unit 13 then, is described.
Fig. 6 is the action specification figure of the halting mechanism of embodiments of the present invention.
Among the figure, halting mechanism 18 have with above-mentioned gear shifting handle bonded assembly oscillating axle sh1 be the tabular ratchet handle 19 that disposes of center with freely swinging, along with the swing of this ratchet handle 19 advance and retreat (moving along left and right directions among the figure) bar 20, be installed in the assigned position of this bar 20 cam 24, bear this cam 24 steady arm 45, with oscillating axle sh2 be the center dispose with freely swinging as bonded block have claw bar 48, with this have claw bar 48 press to bar 20 sides as the torque spring 56 of the 1st pressure-producing part and as the ratchet spring 57 of the 2nd pressure-producing part.
Above-mentioned have claw bar 48 at the regulation position of footpath direction, towards the outstanding pawl 58 as the joint portion that combines with Parking gear Gp selection that is formed with of the outer peripheral face of Parking gear Gp.Tooth square with regulation on the outer peripheral face of above-mentioned Parking gear Gp is formed with tooth 59, forms paddy portion 60 between each tooth 59.In addition, above-mentioned tooth 59 constitutes combined portion with paddy portion 60.
Above-mentioned ratchet handle 19 has the arm 81 that extends from the above-mentioned oscillating axle sh1 radius vector direction outside, and from the ratchet portion 82 that the front end of this arm 81 extends to about circumferencial direction, be formed with the position of gear shifting handle on the outer peripheral face of this ratchet portion 82, be the corresponding a plurality of ratchets of gear (combining ditch) 83.When above-mentioned oscillating axle sh1 rotated along with the operation of above-mentioned gear shifting handle, ratchet handle 19 was swung, and each ratchet 83 that corresponds to gear combines with the leading section 84 of ratchet spring 57.
Also have, it is porose 85 that an end of the ratchet portion 82 of above-mentioned ratchet handle 19 forms, and the rear end of above-mentioned bar 20 (right-hand member among the figure) is installed in this 85 places, hole freely to rotate, along with the swing of ratchet handle 19, and bar 20 action of advancing and retreat.
The above-mentioned cam 24 that is provided with at the regulation position of this bar 20 can be free to slide with respect to bar 20, the outstanding jut 86 that is provided with in the regulation position on the rear of above-mentioned cam 24 (right-hand among the figure).Be provided with compression spring 87 between above-mentioned cam 24 and the jut 86, and bar 20 is free to slide relatively, cam 24 is pressed to the place ahead (left among the figure) as the 3rd pressure-producing part.Be formed with 2 sections circular conical surfaces that have the summit at the preceding extreme direction of bar 20 on this cam 24.
In the halting mechanism 18 of said structure, after navigating mate operation gear shifting handle was selected the Parking shelves, oscillating axle sh1 rotated, and ratchet handle 19 rotates along the arrow A direction.Meanwhile, Parking in each ratchet 83 combines with leading section 84 with ratchet 83, and bar 20 (among the figure left to) forward is mobile.At this moment, cam 24 moves forward under the pressure of compression spring 87, enters into the leading section 88 of claw bar 48 and the gap between the steady arm 45, it is the center with oscillating axle sh2 that claw bar 48 is arranged then, the pressure of resistance torque spring 56 rotates along the arrow B direction, and is lifted.
Its result, pawl 58 enters in the paddy portion 60, has claw bar 48 to combine with Parking gear Gp, locking Parking gear Gp.
In addition, when having claw bar 48 to be lifted,, then there is claw bar 48 not combine, thereby can not have further lifted claw bar 48 with Parking gear Gp if pawl 48 contacts with tooth 59.At this moment, along with the rotation of ratchet handle 19, the application force of cam 24 resistance compression springs 87 (right among the figure) backward falls back.Then, by mobile a little composite automotive, when Parking gear Gp rotates at least a tooth pitch of tooth 59 (1 tooth 59) and 1 paddy portion 60, pawl 58 no longer contacts with tooth 59, pawl 58 enters in the paddy portion 60, and under the application force of compression spring 87, cam 24 moves forward, this cam 24 has lifted claw bar 48, and claw bar 48 is combined with Parking gear Gp.
The composite automotive driving control device of the control of carrying out above-mentioned vehicle drive unit then, is described.
Fig. 7 is the concept map of the composite automotive driving control device of embodiments of the present invention.
Among the figure, 10 is housing, and 11 is driving engine (E/G), and 13 is planetary gear unit, 16 is electrical generator (G), B is a generator brake, and 25 is CD-ROM drive motor (M), and 28 for being used to drive the changer as generator converter of above-mentioned electrical generator 16,29 for being used to drive the changer as the CD-ROM drive motor changer of above-mentioned CD- ROM drive motor 25,37 is drive wheel, and 38,39 is position transduser, and 43 is battery.Above-mentioned changer 28,29 is connected with battery 43 by source switch SW, when this battery 43 is connected at above-mentioned source switch SW, supplies with DC current to above-mentioned changer 28,29.That this each changer 28,29 all has is a plurality of, 6 transistors as on-off element for example, and the paired modularity of each transistor constitutes the transistor modular (IGBT) of each phase.
The entrance side of above-mentioned changer 28 be provided with conduct the 1st vdc test section of the generator converter voltage VG that is used to detect the vdc that is applied on the changer 28 generator converter voltage sensor 75, be used to detect the generator converter current sensor 77 of conduct the 1st direct current detection portion of the generator converter electric current I G of the DC current that supplies to changer 28.In addition, the entrance side of above-mentioned changer 29 be provided with conduct the 2nd vdc test section of the CD-ROM drive motor converter voltage VM that is used to detect the vdc that is applied on the changer 29 CD-ROM drive motor converter voltage sensor 76, be used to detect the CD-ROM drive motor converter current sensor 78 of conduct the 2nd direct current detection portion of the CD-ROM drive motor converter current IM of the DC current that supplies to changer 29.Above-mentioned generator converter voltage VG and generator converter electric current I G are sent to controller of vehicle 51 and generator control unit 47.Above-mentioned CD-ROM drive motor converter voltage VM and CD-ROM drive motor converter current IM are sent to controller of vehicle 51 and CD-ROM drive motor control setup 49.In addition, be connected with the cond C that is used for steady purpose between above-mentioned battery 43 and the changer 28,29.
Also have, above-mentioned controller of vehicle 51 is made up of the CPU that does not represent among the figure, memory storage etc., vehicle drive unit integral body is controlled the function of performance such as program according to the rules, data computing machine.Above-mentioned controller of vehicle 51 is connected with engine control unit 46, generator control unit 47 and CD-ROM drive motor control setup 49.Above-mentioned engine control unit 46 is made up of the CPU that does not represent among the figure, memory storage etc., for driving engine 11 is controlled, indicator signals such as throttle, valve timing is sent to driving engine 11 and controller of vehicle 51.Also have, generator control unit 47 is made up of the CPU that does not represent among the figure, memory storage etc., for above-mentioned electrical generator 16 is controlled, drive signal SG1 is sent to changer 28.Also have, CD-ROM drive motor control setup 49 is made up of the CPU that does not represent among the figure, memory storage etc., for above-mentioned CD-ROM drive motor 25 is controlled, drive signal SG2 is sent to changer 29.In addition, above-mentioned engine control unit 46, generator control unit 47 and CD-ROM drive motor control setup 49 constitute and are positioned at the 1st the next control setup of controller of vehicle 51, and above-mentioned controller of vehicle 51 constitutes and is positioned at the 2nd upper control setup of above-mentioned engine control unit 46, generator control unit 47 and CD-ROM drive motor control setup 49.Also have, above-mentioned engine control unit 46, generator control unit 47 and CD-ROM drive motor control setup 49 be according to the rules program, the function of data performance computing machine also.
Above-mentioned changer 28 is activated according to drive signal SG1, when traction, accept DC current from battery 43, produce each phase current IGU, IGV, IGW, supply with each phase current IGU, IGV, IGW to electrical generator 16, when regeneration, then accept each phase current IGU, IGV, IGW from electrical generator 16, produce DC current, supply with battery 43.
Above-mentioned changer 29 is activated according to drive signal SG2, when traction, accept DC current from battery 43, produce each phase current IMU, IMV, IMW, supply with each phase current IMU, IMV, IMW to CD-ROM drive motor 25, when regeneration, then accept each phase current IMU, IMV, IMW from CD-ROM drive motor 25, produce DC current, supply with battery 43.
44 are the battery remaining capacity detecting device of detection as the battery remaining capacity SOC of the battery status of the state of above-mentioned battery 43,52 is the engine rotary speed sensor of detection of engine rotative speed NE, 53 for detecting the gear position sensor of gear SP, 54 is acceleration pedal, 55 acceleration pedal switches as the acceleration pedal operation detection part for the accelerator pedal position AP of the position (amount of depressing) of detecting this acceleration pedal 54,61 is brake pedal, 62 brake switch as the brake service test section for the brake pedal position BP of the position (amount of depressing) of detecting this brake pedal 61,63 is the engine temperature sensing unit of the temperature t mE of detection of engine 11,64 for detecting the temperature of electrical generator 16, the generator-temperature detection sensor of the tmG of coil 23 (Fig. 2) for example, 65 for detecting the temperature of CD-ROM drive motor 25, the CD-ROM drive motor temperature sensor of the temperature t mM of coil 42 for example, 70 is the 1st changer temperature sensor that detects the temperature t mGI of changer 28, and 71 is the 2nd changer temperature sensor that detects the temperature t mMI of changer 29.In addition, temperature t mE is sent to engine control unit 46, and temperature t mG, tmGI are sent to generator control unit 47, and temperature t mM, tmMI are sent to CD-ROM drive motor control setup 49.
In addition, 66-69 is for detecting the current sensor as the alternating current test section of each phase current IGU, IGV, IMU, IMV respectively, and 72 for detecting the battery voltage sensor as the voltage detection department of battery 43 usefulness as the cell pressure VB of above-mentioned battery status.Above-mentioned cell pressure VB and battery remaining capacity SOC are sent to generator control unit 47, CD-ROM drive motor control setup 49 and controller of vehicle 51.Also have,, also can detect battery current, battery temperature etc. as battery status.In addition, the formation battery status test sections of not representing among the battery current sensor of not representing among battery remaining capacity detecting device 44, battery voltage sensor 72, the figure, the figure such as battery temperature sensor.Also have, electric current I GU, IGV supply to generator control unit 47 and controller of vehicle 51, and electric current I MU, IMV supply to CD-ROM drive motor control setup 49 and controller of vehicle 51.
Above-mentioned controller of vehicle 51 transmits engine control signal to above-mentioned engine control unit 46, and the startup that utilizes engine control unit 46 to carry out driving engine 11 stops.
Also have, the electrical generator rotative speed computing mechanism that does not represent among the figure of above-mentioned generator control unit 47 carries out the computing of electrical generator rotative speed, read in above-mentioned rotor position G, by this rotor position G is carried out differential, computational transformation rate δ θ G, with the angular velocity omega G of this interconversion rate δ θ G, simultaneously as electrical generator rotative speed NG as electrical generator 16.The electrical generator angular acceleration of not representing among the figure of above-mentioned generator control unit 47 calculates processing mechanism and carries out electrical generator angular acceleration calculating processing, and above-mentioned interconversion rate δ θ G is carried out differential once more, calculates angular acceleration (rotation change rate) the α G of electrical generator 16.
Also have, the CD-ROM drive motor rotative speed computing mechanism that does not represent among the figure of above-mentioned CD-ROM drive motor control setup 49 carries out the computing of CD-ROM drive motor rotative speed, read in above-mentioned rotor position M, by this rotor position M is carried out differential, computational transformation rate δ θ M, with the angular velocity omega M of this interconversion rate δ θ M, simultaneously as CD-ROM drive motor rotative speed NM as CD-ROM drive motor 25.The CD-ROM drive motor angular acceleration of not representing among the figure of above-mentioned CD-ROM drive motor control setup 49 calculates processing mechanism and carries out CD-ROM drive motor angular acceleration calculating processing, above-mentioned interconversion rate δ θ M is carried out differential once more, calculate angular acceleration (rotation change rate) the α M of CD-ROM drive motor 25.
In addition, the speed of a motor vehicle computing mechanism that does not represent among the figure of above-mentioned controller of vehicle 51 carries out speed of a motor vehicle computing, read in above-mentioned rotor position M, based on rotor position M computational transformation rate δ θ M, based on this interconversion rate δ θ M, and torque from above-mentioned output shaft 26 to drive wheel 37 transmit system gear than γ V, calculate vehicle velocity V.
Controller of vehicle 51 is set the engine target rotative speed NE of the expected value of expression engine rotary speed NE *, expression electrical generator rotative speed NG the electrical generator target rotational speed NG of expected value *, expression generator torque TG the electrical generator target torque TG of expected value *, expression motor torque TM the CD-ROM drive motor target torque TM of expected value *In addition, above-mentioned engine target rotative speed NE *, electrical generator target rotational speed NG *, electrical generator target torque TG *, CD-ROM drive motor target torque TM *Deng the formation control command value.
Also have, because above-mentioned rotor position G and electrical generator rotative speed NG are mutually direct ratio, rotor position M and CD-ROM drive motor rotative speed NM, vehicle velocity V is mutually ratio, the effect of the electrical generator rotative speed test section of position transduser 38 and the above-mentioned electrical generator rotative speed computing performance conduct detection electrical generator rotative speed NG of mechanism, also can allow position sensor 39 and the performance of above-mentioned CD-ROM drive motor rotative speed computing mechanism detect the effect of the CD-ROM drive motor rotative speed test section of CD-ROM drive motor rotative speed NM, allow position sensor 39 and the performance of above-mentioned speed of a motor vehicle computing mechanism detect the effect of the speed of a motor vehicle test section of vehicle velocity V.
In the present embodiment, utilize above-mentioned engine rotary speed sensor 52 detection of engine rotative speed NE, but also can in engine control unit 46, calculate engine rotary speed NE.Also have, in the present embodiment, utilize above-mentioned speed of a motor vehicle computing mechanism to calculate vehicle velocity V, but also can detect gear ring rotative speed NR based on rotor position M, calculate vehicle velocity V based on this gear ring rotative speed NR, or based on the rotative speed of drive wheel 37, be that the drive wheel rotative speed calculates vehicle velocity V.At this moment, as speed of a motor vehicle test section, be provided with gear ring rotation speed sensor, drive wheel rotation speed sensor etc.
The action of the composite automotive driving control device of said structure then, is described.
Fig. 8 is the 1st main flow chart of the action of the composite automotive driving control device of expression embodiments of the present invention.Fig. 9 is the 2nd main flow chart of the action of the composite automotive driving control device of expression embodiments of the present invention.Figure 10 is the 3rd main flow chart of the action of the composite automotive driving control device of expression embodiments of the present invention.Figure 11 is that the 1st vehicle of embodiments of the present invention requires the torque mapping relations.Figure 12 is that the 2nd vehicle of embodiments of the present invention requires the torque mapping relations.Figure 13 is the engine target running state mapping relations of embodiments of the present invention.Figure 14 is the engine drive zone mapping relations of embodiments of the present invention.In addition, among Figure 11,12 and 14, transverse axis is a vehicle velocity V, and the longitudinal axis is vehicle requirement torque TO *Among Figure 13, transverse axis is engine rotary speed NE, and the longitudinal axis is motor torque TE.
At first, the initialization process mechanism that does not represent among the figure of controller of vehicle 51 (Fig. 7) carries out initialization process, with various specification of variables initial values.Then, above-mentioned controller of vehicle 51 reads in accelerator pedal position AP from acceleration pedal switch 55, reads in brake pedal position BP from brake switch 62.Rotor position M is read in above-mentioned speed of a motor vehicle computing mechanism, calculates the interconversion rate δ θ M of this rotor position M, than γ V, calculates vehicle velocity V based on this interconversion rate δ θ M and said gear.
Then, the vehicle of not representing among the figure of controller of vehicle 51 requires torque to determine that processing mechanism carries out vehicle and requires torque to determine to handle, when to put one's foot down 54 the time, the 1st vehicle with reference to the Figure 11 in the memory storage that is stored in above-mentioned controller of vehicle 51 requires the torque mapping relations, and when depressing brake pedal 61, require the torque mapping relations with reference to the 2nd vehicle that is stored in the Figure 12 in the above-mentioned memory storage, determine and accelerator pedal position AP, the composite automotive of brake pedal position BP and the cooresponding prior setting of the vehicle velocity V required vehicle that travels requires torque TO *
Then, above-mentioned controller of vehicle 51 judges that vehicle requires torque TO *Whether greater than the peaked CD-ROM drive motor maximum torque TMmax of expression motor torque TM.If vehicle requires torque TO *Greater than CD-ROM drive motor maximum torque TMmax, 51 of above-mentioned controller of vehicle judge whether driving engine 11 is halted state, if driving engine 11 is a halted state, the brish acceleration control and treatment mechanism that does not represent among the figure of controller of vehicle 51 carries out the brish acceleration control and treatment, CD-ROM drive motor 25 and electrical generator 16 are driven, composite automotive is travelled.
Also have, if vehicle requires torque TO *Smaller or equal to CD-ROM drive motor maximum torque TMmax, perhaps vehicle requires torque TO *Greater than CD-ROM drive motor maximum torque TMmax, and driving engine 11 is not in halted state, the navigating mate of not representing among the figure of above-mentioned controller of vehicle 51 requires output computing mechanism to carry out navigating mate and requires to export computing, and above-mentioned vehicle is required torque TO *Multiply each other with vehicle velocity V, calculate navigating mate and require output PD:
PD＝TO *·V。
In addition, above-mentioned vehicle is required torque TO *When comparing, in fact CD-ROM drive motor maximum torque TMmax and the gear from output shaft 26 (Fig. 2) to axle drive shaft 50 are multiplied each other than γ MA, above-mentioned vehicle is required torque TO with CD-ROM drive motor maximum torque TMmax *Compare with product.In addition, also can pre-estimate said gear, make the 1st, the 2nd vehicle requirement torque mapping relations than γ MA.
Then, the battery charging and discharging of not representing among the figure of above-mentioned controller of vehicle 51 requires the output computing mechanism to carry out battery charging and discharging and requires output calculating, read in battery remaining capacity SOC from above-mentioned battery remaining capacity detecting device 44, discharge and recharge according to this battery remaining capacity SOC counting cell and require output PB.
Then, the vehicle of not representing among the figure of above-mentioned controller of vehicle 51 requires output computing mechanism to carry out vehicle and requires to export computing, and above-mentioned navigating mate is required output PD and battery charging and discharging requirement output PB addition, calculates vehicle and requires output PO:
PO＝PD+PB
Then, the engine target running state of not representing among the figure of above-mentioned controller of vehicle 51 is set processing mechanism and is carried out engine target running state setting processing, engine target running state mapping relations with reference to the Figure 13 in the memory storage that is stored in above-mentioned controller of vehicle 51, the above-mentioned vehicle of expression is required the line PO1 of output PO, PO2... the some A1-A3 that intersects with the most effective best fuel efficiency curve L of the driving engine 11 of each accelerator pedal position AP1-AP6, Am is defined as the operating point of the driving engine 11 of engine target running state, with the motor torque TE1-TE3 of this operating point, Tem is defined as representing the engine target torque TE of the expected value of motor torque TE *, engine rotary speed NE1-NE3, the NEm of above-mentioned operating point is defined as engine target rotative speed NE *, with this engine target rotative speed NE *Be sent to engine control unit 46.
Controller of vehicle 51 judges with reference to the engine drive zone mapping relations of the Figure 14 in the memory storage that is stored in engine control unit 46 whether driving engine 11 is arranged in drive area AR1.Among Figure 14, AR1 is driving engine 11 driven drive areas, AR2 be the driving of driving engine 11 be stopped stop the field, AR3 is the hysteresis field.Also have, LE1 is the driving engine 11 driven lines in stopping, and LE2 is the line that the driving of the driving engine 11 in driving is stopped.In addition, along with the increase of battery remaining capacity SOC, above-mentioned line LE1 moves to the right-hand of Figure 14, and drive area AR1 narrows down.Along with reducing of battery remaining capacity SOC, above-mentioned line LE1 moves to the left of Figure 14, and drive area AR1 broadens.
Although be positioned at drive area AR1 at driving engine 11, when driving engine 11 was not activated, the engine starting control and treatment mechanism that does not represent among the figure of controller of vehicle 51 carried out the engine starting control and treatment, start the engine 11.Also have, although be not positioned at drive area AR1 at driving engine 11, when driving engine 11 is driven, among the figure of controller of vehicle 51 not the driving engine of expression stop control and treatment mechanism and carry out driving engine and stop control and treatment, the driving of shutting engine down 11.Driving engine 11 is not positioned at drive area AR1, when driving engine 11 is not driven, above-mentioned controller of vehicle 51 requires torque TO with above-mentioned vehicle *Be defined as CD-ROM drive motor target torque TM *, with this CD-ROM drive motor target torque TM *Be sent to CD-ROM drive motor control setup 49.The CD-ROM drive motor control and treatment mechanism that does not represent among the figure of this CD-ROM drive motor control setup 49 carries out the CD-ROM drive motor control and treatment, carries out the torque control of CD-ROM drive motor 25.
Also have, when driving engine 11 is positioned at drive area AR1 and driving engine 11 and is driven, among the figure of controller of vehicle 51 not the engine control processing mechanism of expression carry out engine control and handle, method is according to the rules carried out the control of driving engine 11.
Then, the electrical generator target rotational speed computing mechanism that does not represent among the figure of controller of vehicle 51 carries out the computing of electrical generator target rotational speed, read in rotor position M from position transduser 39, according to this rotor position M and gear from output shaft 26 to gear ring R than γ R, calculate gear ring rotative speed NR, read in the engine target running state simultaneously and set the engine target rotative speed NE that determines in the processing *, according to gear ring rotative speed NR and engine target rotative speed NE *, utilize above-mentioned rotative speed relational expression, calculating generator target rotational speed NG *, and determine.
But, when utilizing CD-ROM drive motor 25 and driving engine 11 that the composite automotive of said structure is travelled, if electrical generator rotative speed NG is low, the consumption power boosting, the generating efficiency of electrical generator 16 reduces, simultaneously also corresponding the degenerating of fuel efficiency of composite automotive.Therefore, as electrical generator target rotational speed NG *Absolute value | NG *| when being lower than predetermined rotational speed Nth1 (for example, 500 (rpm)), make generator brake B combination, mechanical generation outage machine 16, thus improve above-mentioned fuel efficiency.
Like this, the above-mentioned electrical generator target rotational speed NG of above-mentioned controller of vehicle 51 judgements *Absolute value | NG *| whether more than or equal to rotative speed Nth1.If electrical generator target rotational speed NG *Absolute value | NG *| more than or equal to rotative speed Nth1,51 of controller of vehicle judge whether generator brake B is in release position.If this generator brake B is in release position, the electrical generator rotative speed control and treatment mechanism that does not represent among the figure of controller of vehicle 51 carries out electrical generator rotative speed control and treatment, drives electrical generator 16, carries out the torque control of electrical generator 16 simultaneously.Also have, if above-mentioned generator brake B is not in release position, the generator brake of not representing among the figure of above-mentioned controller of vehicle 51 discharges control and treatment mechanism and carries out generator brake release control and treatment, discharges generator brake B.
But, in above-mentioned electrical generator rotative speed control and treatment, determine electrical generator target torque TG *, and according to this electrical generator target torque TG *After carrying out the generator torque TG that torque is controlled, generation is stipulated of electrical generator 16, as mentioned above, motor torque TE, gear ring torque TR and generator torque TG bear antagonistic force mutually, and generator torque TG is transformed to gear ring torque TR, and R exports from gear ring.
If along with from gear ring R output gear torque TR, electrical generator rotative speed NG fluctuates, and then above-mentioned gear ring torque TR fluctuates, and the gear ring torque TR that fluctuation then takes place is sent to drive wheel 37, the ride comfort sensation variation of composite automotive.At this moment, consider the torque of inertia (inertia of rotor 21 and the rotor shaft) part of the electrical generator 16 of the fluctuation of following electrical generator rotative speed NG, calculate according to electrical generator target torque TG *Gear ring torque TR during the torque of control electrical generator 16, torque, axle drive shaft torque TR/TOUT on the output shaft 26 when inferring output this gear ring torque TR based on the axle drive shaft torque TR/TOUT that is inferred, calculate CD-ROM drive motor target torque TM *, CD-ROM drive motor 25 is driven.
Therefore, 91 (Fig. 1) of CD-ROM drive motor target torque computing mechanism of above-mentioned controller of vehicle 51 carry out the computing of CD-ROM drive motor target torque, calculate CD-ROM drive motor target torque TM *Therefore, above-mentioned electrical generator target torque TG is read in CD-ROM drive motor target torque computing mechanism 91 *, according to this electrical generator target torque TG *, and the ratio of number of teeth of the number of teeth of the relative sun wheel S of the number of teeth of gear ring R, calculate according to electrical generator target torque TG *Control electrical generator 16 torque the time gear ring torque TR.
That is, the inertia of electrical generator 16 is the angular acceleration of InG, electrical generator 16 when being α G, and the sun wheel torque TS that is applied to sun wheel S is for from electrical generator target torque TG *Deduct torque composition (inertia torque) TGI of equal value of inertia part InG part:
TGI＝InG·αG
TS＝TG *-TGI
＝TG *-InG·αG ......(3)
In addition, engine rotary speed NE is one regularly, and above-mentioned torque composition TGI of equal value is in when quickening relative acceleration direction at composite automotive usually and gets negative value, composite automotive be in when slowing down relative acceleration direction get on the occasion of.
When the number of teeth of gear ring R is ρ times of the number of teeth of sun wheel S and since gear ring torque TR be sun wheel torque TS ρ doubly:
TR＝ρ·TS
＝ρ·(TG *-TGI)
＝ρ·(TG *-InG·αG)......(4)
Like this, can be from electrical generator target torque TG *And torque composition TGI of equal value, calculate gear ring torque TR.
Then, above-mentioned CD-ROM drive motor target torque computing mechanism 91 is according to above-mentioned electrical generator target torque TG *And torque composition TGI of equal value, infer above-mentioned axle drive shaft torque TR/OUT.That is, above-mentioned CD-ROM drive motor target torque computing mechanism 91 according to above-mentioned gear ring torque TR, and the number of teeth of the 2nd inversion driving gear 27 with respect to the ratio of the number of teeth of gear ring R, infer and calculate axle drive shaft torque TR/OUT.
In addition and since generator brake B in conjunction with the time, electrical generator target torque TG *Be 0, gear ring torque TR is directly proportional with motor torque TE.At this moment, generator brake B in conjunction with the time, motor torque TE is read in by controller of vehicle 51 in above-mentioned CD-ROM drive motor target torque computing mechanism 91, utilize above-mentioned torque relational expression, calculate gear ring torque TR based on motor torque TE, according to this gear ring torque TR, and the number of teeth of the 2nd inversion driving gear 27 with respect to the ratio of the number of teeth of this gear ring R, infer above-mentioned axle drive shaft torque TR/OUT.
Then, above-mentioned CD-ROM drive motor target torque computing mechanism 91 is by requiring torque TO from above-mentioned vehicle *Deduct above-mentioned axle drive shaft torque TR/OUT, calculate as CD-ROM drive motor target torque TM *Utilize axle drive shaft torque TR/OUT the time insufficient section.Above-mentioned controller of vehicle 51 definite CD-ROM drive motor target torque TM that calculated *, with CD-ROM drive motor target torque TM *Be sent to CD-ROM drive motor control setup 49.
Then, the above-mentioned CD-ROM drive motor control and treatment mechanism of this CD-ROM drive motor control setup 49 carries out the CD-ROM drive motor control and treatment, based on determined CD-ROM drive motor target torque TM *, carry out the torque control of CD-ROM drive motor 25, controlling and driving motor torque TM.
Also have, if judge electrical generator target rotational speed NG *Absolute value | NG *| less than rotative speed Nth1,51 of controller of vehicle judge whether generator brake B is in bonding state.If this generator brake B is not in bonding state, the generator brake of not representing among the figure of controller of vehicle 51 carries out generator brake in conjunction with control and treatment in conjunction with control and treatment mechanism, makes generator brake B combination.
Then, the diagram of circuit of instruction diagram 8-10.
Step S1 carries out initialization process.
Step S2 reads in accelerator pedal position AP and brake pedal position BP.
Step S3 calculates vehicle velocity V.
Step S4 determines vehicle requirement torque TO *
Step S5 judges that vehicle requires torque TO *Whether greater than CD-ROM drive motor maximum torque TMmax.If vehicle requires torque TO *Greater than CD-ROM drive motor maximum torque TMmax, then enter step S6.If vehicle requires torque TO *Smaller or equal to CD-ROM drive motor maximum torque TMmax, then enter step S8.
Step S6 judges whether driving engine 11 is in halted state.If driving engine 11 is in halted state, then enter step S7.If be not in halted state, then enter step S8.
Step S7 carries out brish acceleration control and treatment, end process.
Step S8 calculates navigating mate and requires output PD.
Step S9 counting cell discharges and recharges and requires output PB.
Step S10 calculates vehicle and requires output PO.
Step S11 determines the operating point of driving engine 11.
Step S12 judges whether driving engine 11 is positioned at drive area AR1.If driving engine 11 is positioned at drive area AR1, then enter step S13.If be not positioned at drive area AR1, then enter step S14.
Step S13 judges whether driving engine 11 drives.If driving engine 11 is driving, then enter step S17.If be not driven, then enter step S15.
Step S14 judges whether driving engine 11 drives.If driving engine 11 is driving, then enter step S16.If be not driven, then enter step S26.
Step S15 carries out engine starting control and treatment, end process.
Step S16 carries out driving engine and stops control and treatment, end process.
Step S17 carries out engine control to be handled.
Step S18 determines electrical generator target rotational speed NG *
Step S19 judges electrical generator target rotational speed NG *Absolute value | NG *| whether more than or equal to rotative speed Nth1.If electrical generator target rotational speed NG *Absolute value | NG *| more than or equal to rotative speed Nth1, then enter step S20.If electrical generator target rotational speed NG *Absolute value | NG *| less than rotative speed Nth1, then enter step S21.
Step S20 judges whether generator brake B is in release position.If generator brake B is in release position, then enter step S23.If be not in release position, then enter step S24.
Step S21 judges whether generator brake B is in bonding state.If generator brake B is in bonding state, then end process.If be not in bonding state, then enter step S22.
Step S22 carries out generator brake in conjunction with control and treatment, end process.
Step S23 carries out electrical generator rotative speed control and treatment.
Step S24 carries out generator brake and discharges control and treatment, end process.
Step S25 carries out the computing of CD-ROM drive motor target torque.
Step S26 determines CD-ROM drive motor target torque TM *
Step S27 carries out CD-ROM drive motor control and treatment, end process.
Then, the subprogram of the engine starting control and treatment among the step S15 of instruction diagram 9.
Figure 15 is the 1st figure of the subprogram of the engine starting control and treatment of expression embodiments of the present invention.Figure 16 is the 2nd figure of the subprogram of the engine starting control and treatment of expression embodiments of the present invention.Figure 17 is the block scheme of the correction restrictions of expression embodiments of the present invention.Figure 18 is the figure of the subprogram of the CD-ROM drive motor target torque restriction processing of expression embodiments of the present invention.Figure 19 is the time schedule of the action of the correction restrictions of expression embodiments of the present invention.
At first, throttle is read in the above-mentioned engine starting control and treatment mechanism of controller of vehicle 51 (Fig. 7), when throttle is 0 (%), read in the vehicle velocity V of utilizing above-mentioned speed of a motor vehicle computing mechanism to calculate, and read in and utilize the engine target running state to set the operating point of the determined driving engine 11 of processing mechanism.
Then, rotor position M is read in the above-mentioned electrical generator target rotational speed computing mechanism of controller of vehicle 51, than γ R, calculate gear ring rotative speed NR based on this rotor position M and said gear, read in the engine target rotative speed NE of above-mentioned operating point simultaneously *, based on gear ring rotative speed NR and engine target rotative speed NE *, utilize above-mentioned rotative speed relational expression, calculate, determine electrical generator target rotational speed NG *, be sent to generator control unit 47.
Generator control unit 47 is accepted above-mentioned electrical generator target rotational speed NG *, utilize this electrical generator target rotational speed NG *, drive electrical generator 16.
Then, above-mentioned controller of vehicle 51 compares engine rotary speed NE and predefined startup rotative speed NEth1, judges that whether engine rotary speed NE is greater than starting rotative speed NEth1.If engine rotary speed NE is greater than starting rotative speed NEth1, engine starting control and treatment mechanism carries out fuel injection and igniting, start the engine 11 at driving engine 11.
Then, the above-mentioned electrical generator rotative speed control and treatment mechanism of above-mentioned controller of vehicle 51 is based on electrical generator target rotational speed NG *, drive electrical generator 16, increase electrical generator rotative speed NG, increase engine rotary speed NE thereupon.
Yet, control electrical generator rotative speed NG like this, thereby make engine rotary speed NE become engine target rotative speed NE *The time, because the antagonistic force when being subjected to rotary engine 11 must utilize CD-ROM drive motor 25 to produce and the corresponding motor torque TM of above-mentioned generator torque TG.
At this moment, the CD-ROM drive motor target torque calculating part 121 of 91 (Fig. 1) of the above-mentioned CD-ROM drive motor target torque of the conduct of above-mentioned controller of vehicle 51 computing mechanism is based on electrical generator target rotational speed NG *, infer the axle drive shaft torque TR/OUT when carrying out electrical generator rotative speed control and treatment, calculate CD-ROM drive motor target torque TM based on this axle drive shaft torque TR/OUT *, be sent to CD-ROM drive motor control setup 49.
Yet the fluctuation owing to along with motor torque TE produces on the vehicle output shaft of output shaft 12 (Fig. 2), 14, transmission shaft 17, tween drive shaft 30, axle drive shaft 50 etc. and reverses, therefore above-mentioned CD-ROM drive motor target torque TM *Former state is sent to CD-ROM drive motor control setup 49, when CD-ROM drive motor 25 is driven, can produce vibration on above-mentioned each vehicle output shaft, brings uncomfortable sensation to navigating mate.
At this moment, the vibration correcting process control part of not representing among the figure of above-mentioned controller of vehicle 51 122 as the vibration damping processing mechanism carries out vibration damping to be handled, and revises CD-ROM drive motor target rotational speed NM *, suppress the fluctuation of CD-ROM drive motor rotative speed NM, prevent to produce on each vehicle output shaft vibration.
Therefore, vibration correcting process control part 122 reads in the inertia InM and the angular acceleration M of CD-ROM drive motor 25, and this angular acceleration M and inertia InM are multiplied each other, and shown in the line L1 of Figure 19, calculates the fluctuation Δ TM. of the motor torque TM that follows the vibration appearance:
ΔTM＝InM·αM
Shown in the line L2 of Figure 19, offset the torque modification value Δ TM of fluctuation Δ TM *For:
ΔTM *＝-InM·αM
Also have, adder calculator 123 is with above-mentioned CD-ROM drive motor target torque TM *With above-mentioned torque modification value Δ TM *Addition is to CD-ROM drive motor target torque TM *Revise.Like this, in order to make angular acceleration M less than specified value, in the present embodiment, calcuating correction value Δ TM *, carry out controlled reset, so that angular acceleration M is 0.
In the present embodiment, during vibration damping is handled, carry out controlled reset, so that angular acceleration M is 0, thereby each at least 2 positions such as output shaft 12,14, transmission shaft 17, tween drive shaft 30, axle drive shaft 50 be provided with detect each rotative speed as the figure of test section in the rotation speed sensor of expression not, thereby can carry out controlled reset, calculating torque correction Δ TM *, so that the difference of utilizing the rotative speed that this each rotation speed sensor detects for example equals 0 less than specified value.
Yet, owing to be used to calculate above-mentioned CD-ROM drive motor target torque TM respectively * Electrical generator 16 angular acceleration G be used to calculate above-mentioned torque modification value Δ TM *The angular acceleration M of CD-ROM drive motor 25, therefore above-mentioned angular acceleration G, α M can calculate from rotor position G, θ M are carried out 2 subdifferentials.Therefore, contain just like the noise shown in the line L3 of Figure 19 in the output of the sensor of position transduser 38,39, produce and detect error, thereby can not accurately calculate above-mentioned CD-ROM drive motor target torque TM *And torque modification value Δ TM *For example, torque modification value Δ TM *When the sensor output of position transduser 38,39 occurs detecting error, get the value shown in the line L4 of Figure 19.
Therefore, halting mechanism 18 (Fig. 2) when work, when for example driving engine 11 starts, along with the fluctuation of motor torque TE, can generation gear strike note between the pawl 58 that claw bar 48 (Fig. 6) arranged and the tooth 59 of Parking gear Gp.
At this moment, the CD-ROM drive motor target torque restriction handling part 125 as CD-ROM drive motor target torque restriction processing mechanism 92 of controller of vehicle 51 carries out the restriction of CD-ROM drive motor target torque to be handled, and in 18 operating periods of halting mechanism, suppresses CD-ROM drive motor target torque TM *Fluctuation Δ TM.
Therefore, above-mentioned CD-ROM drive motor target torque restriction handling part 125 has the 1st, the 2nd rate of change limit device 126,127 and change-over switch 128, in above-mentioned the 1st, the 2nd rate of change limit device 126,127, sets CD-ROM drive motor target torque TM *Rate of change δ TM *Value α, β be:
α＜β
Above-mentioned CD-ROM drive motor target torque restriction handling part 125 reads in above-mentioned gear signal, based on this gear signal, judges whether halting mechanism 18 moves.If halting mechanism 18 is moving, then utilize change-over switch 128 to select the 1st rate of change limit device 126, utilize rate of change α restriction CD-ROM drive motor target torque TM *If halting mechanism 18 is failure to actuate, then utilize change-over switch 128 to select the 2nd rate of change limit device 127, utilize rate of change β restriction CD-ROM drive motor target torque TM *
That is, CD-ROM drive motor target torque restriction handling part 125 limits, and makes rate of change δ TM when halting mechanism 18 is moving *Rate of change δ TM when being failure to actuate less than halting mechanism 18 *
Therefore, noise is arranged, produce and detect error, because above-mentioned CD-ROM drive motor target torque TM even add in the output of the sensor of position transduser 38,39 *Rate of change δ TM *That sets is very little, can suppress CD-ROM drive motor target torque TM *Fluctuation, so shown in the line L5 of Figure 19, can reduce torque modification value Δ TM in fact *Fluctuation.
Its result can prevent to produce the gear strike note between the tooth 59 of pawl 58 that claw bar 48 is arranged and Parking gear Gp.
Then, above-mentioned controller of vehicle 51 is based on above-mentioned rate of change δ TM *, calculate and definite CD-ROM drive motor target torque TM *, be sent to CD-ROM drive motor control setup 49.The above-mentioned CD-ROM drive motor control and treatment mechanism of this CD-ROM drive motor control setup 49 carries out the CD-ROM drive motor control and treatment.
In addition, in the present embodiment, 125 pairs of CD-ROM drive motor target torques of CD-ROM drive motor target torque restriction handling part TM *Rate of change δ TM *Limit, but also can utilize the ratio torque-limiting correction Δ TM of regulation *, or utilize the rate of change limit inertia InG torque partly composition TGI of equal value that stipulates, or utilize the rate of change limit torque modification value Δ TM of regulation *And torque composition TGI of equal value.
Then, above-mentioned engine starting control and treatment mechanism adjusts throttle, makes engine rotary speed NE become engine target rotative speed NE *Then, above-mentioned engine starting control and treatment mechanism is in order to judge whether driving engine 11 is in the driven state, judge that generator torque TG is whether less than the motoring torque TEth of the startup of following driving engine 11, and under the state of generator torque TG, wait for specified time less than motoring torque TEth.
Also have, engine rotary speed NE is when starting rotative speed NEth1, and above-mentioned electrical generator rotative speed control and treatment mechanism is based on electrical generator target rotational speed NG *, carry out electrical generator rotative speed control and treatment, then, as previously mentioned, above-mentioned CD-ROM drive motor target torque calculating part 121 is based on electrical generator target rotational speed NG *, infer axle drive shaft torque TR/OUT, based on this axle drive shaft torque TR/OUT, calculate CD-ROM drive motor target torque TM *Above-mentioned vibration correcting process control part 122 fluctuates in order to suppress CD-ROM drive motor rotative speed NM, to CD-ROM drive motor target rotational speed NM *Revise.Above-mentioned CD-ROM drive motor target torque restriction handling part 125 carries out the restriction of CD-ROM drive motor target torque to be handled, and during halting mechanism 18 actions, suppresses CD-ROM drive motor target torque TM *Like this, determine CD-ROM drive motor target torque TM *, carry out the CD-ROM drive motor control and treatment.
The diagram of circuit of Figure 15 and 16 then, is described.
Step S15-1 judges whether throttle is 0 (%).If throttle is 0 (%), then enter step S15-3.If be not 0 (%), then enter step S15-2.
It is 0 (%) that step S15-2 sets throttle, returns step S15-1.
Step S15-3 reads in vehicle velocity V.
Step S15-4 reads in the operating point of driving engine 11.
Step S15-5 determines electrical generator target rotational speed NG *
Step S15-6 judges whether engine rotary speed NE is higher than startup rotative speed NEth1.Start rotative speed NEth1 if engine rotary speed NE is higher than, then enter step S15-7.If engine rotary speed NE then enters step S15-17 smaller or equal to starting rotative speed NEth1.
Step S15-7 carries out fuel injection and igniting.
Step S15-8 carries out electrical generator rotative speed control and treatment.
Step S15-9 carries out the computing of CD-ROM drive motor target torque.
Step S15-10 carries out vibration damping to be handled.
Step S15-11 carries out the restriction of CD-ROM drive motor target torque to be handled.
Step S15-12 determines motor target torque TM *
Step S15-13 carries out the CD-ROM drive motor control and treatment.
Step S15-14 adjusts throttle.
Step S15-15 judges that whether generator torque TG is less than motoring torque TEth.If generator torque TG less than motoring torque TEth, then enters step S15-16.If generator torque TG more than or equal to motoring torque TEth, then returns step S15-7.
Step S15-16 waits for through specified time, through then returning later.
Step S15-17 carries out electrical generator rotative speed control and treatment.
Step S15-18 carries out the computing of CD-ROM drive motor target torque.
Step S15-19 carries out vibration damping to be handled.
Step S15-20 carries out the restriction of CD-ROM drive motor target torque to be handled.
Step S15-21 determines motor target torque TM *
Step S15-22 carries out the CD-ROM drive motor control and treatment, returns step S15-1.
The diagram of circuit of Figure 18 then, is described.In addition, because the CD-ROM drive motor target torque restriction of step S15-20 of Figure 15 was handled and was handled identically with the CD-ROM drive motor target torque restriction of the step S15-11 of Figure 16 this moment, described so the CD-ROM drive motor target torque restriction of the step S15-11 of Figure 16 handled.
Step S15-11-1 judges whether halting mechanism 18 moves.If halting mechanism 18 is moving, then enter step S15-11-2.If action does not then enter step S15-11-3.
Step S15-11-2 utilizes rate of change α restriction CD-ROM drive motor target torque TM *, return.
Step S15-11-3 utilizes rate of change β restriction CD-ROM drive motor target torque TM *, return.
Then, the driving engine of the step S16 of instruction diagram 9 stops the subprogram of control and treatment.
Figure 20 stops the figure of the subprogram of control and treatment for the driving engine of expression embodiments of the present invention.
At first, above-mentioned controller of vehicle 51 (Fig. 7) judges whether generator brake B is in release position.Be not in bonding state if generator brake B is in release position, above-mentioned generator brake discharges control and treatment mechanism and carries out generator brake release control and treatment, discharges generator brake B.
Also have, if generator brake B is in release position, above-mentioned driving engine stops fuel injection and the igniting that control and treatment mechanism stops to carry out driving engine 11, and setting throttle is 0 (%).
Then, above-mentioned gear ring rotative speed NR is read in the above-mentioned electrical generator target rotational speed computing mechanism of above-mentioned controller of vehicle 51, based on this gear ring rotative speed NR and engine target rotative speed NE *(0 (rpm)) utilizes above-mentioned rotative speed relational expression, calculates and definite electrical generator target rotational speed NG *, be sent to generator control unit 47.This generator control unit 47 carries out electrical generator rotative speed control and treatment.
Then, during halting mechanism 18 (Fig. 2) action, controlling and driving motor target torque TM *Fluctuation, stop to produce the gear strike note with what avoid following driving engine 11.That is, 91 (Fig. 1) of CD-ROM drive motor target torque computing mechanism of controller of vehicle 51 are based on electrical generator target rotational speed NG *, infer the axle drive shaft torque TR/OUT when carrying out electrical generator rotative speed control and treatment, based on this axle drive shaft torque TR/OUT, calculate CD-ROM drive motor target torque TM *Then, above-mentioned vibration damping processing mechanism carries out vibration damping to be handled, by at above-mentioned CD-ROM drive motor target rotational speed NM *On add above-mentioned torque modification value Δ TM *, to CD-ROM drive motor target rotational speed NM *Revise, fluctuate to suppress CD-ROM drive motor rotative speed NM.CD-ROM drive motor target torque restriction handling part 125 (Figure 17) suppresses CD-ROM drive motor target torque TM during halting mechanism 18 (Fig. 2) action *Fluctuation.Therefore, also can prevent from halting mechanism 18, to produce the gear strike note this moment.
Like this, to CD-ROM drive motor target torque TM *After revising, limiting, controller of vehicle 51 is determined CD-ROM drive motor target torque TM *, be sent to CD-ROM drive motor control setup 49.The above-mentioned CD-ROM drive motor control and treatment mechanism of this CD-ROM drive motor control setup 49 is based on above-mentioned CD-ROM drive motor target torque TM *, carry out the CD-ROM drive motor control and treatment.
Then, above-mentioned generator control unit 47 judges that whether engine rotary speed NE is smaller or equal to the speed NEth2 that stops the rotation.If engine rotary speed NE, then begins the control of stopping smaller or equal to the speed NEth2 that stops the rotation, the energising of generation outage machine 16 is stopped electrical generator 16.
Then, description of flow diagram.
Step S16-1 judges whether generator brake B is in release position.If generator brake B is in release position, then enter step S16-3.If be not in release position, then enter step S16-2.
Step S16-2 carries out generator brake and discharges control and treatment.
Step S16-3 stops fuel injection and igniting.
It is 0 (%) that step S16-4 sets throttle.
Step S16-5 determines electrical generator target rotational speed NG *
Step S16-6 carries out electrical generator rotative speed control and treatment.
Step S16-7 carries out the computing of CD-ROM drive motor target torque.
Step S16-8 carries out vibration damping to be handled.
Step S16-9 carries out the restriction of CD-ROM drive motor target torque to be handled.
Step S16-10 determines CD-ROM drive motor target torque TM *
Step S16-11 carries out the CD-ROM drive motor control and treatment.
Step S16-12 judges that whether engine rotary speed NE is smaller or equal to the speed NEth2 that stops the rotation.If engine rotary speed NE smaller or equal to the speed NEth2 that stops the rotation, then enters step S16-13.If engine rotary speed NE greater than the speed NEth2 that stops the rotation, then returns step S16-5.
The energising of step S16-13 generation outage machine 16 is returned.
Also have, the present invention is not limited to above-mentioned embodiment, can be out of shape on the basis of principle of the present invention, and these distortion still belong to scope of the present invention.

Claims (8)

1. an electric vehicle drive control device is characterized in that: have
CD-ROM drive motor target torque computing mechanism, its CD-ROM drive motor target torque to the target torque of expression CD-ROM drive motor calculates; And
CD-ROM drive motor target torque restriction processing mechanism, it when this halting mechanism is moving, suppresses the fluctuation of above-mentioned CD-ROM drive motor target torque to judging for making axle drive shaft can not rotate free whether the action in conjunction with the halting mechanism that breaks away from the ground configuration.
2. electric vehicle drive control device according to claim 1 is characterized in that:
Above-mentioned CD-ROM drive motor target torque restriction processing mechanism limits the rate of change of above-mentioned CD-ROM drive motor target torque.
3. electric vehicle drive control device according to claim 1 is characterized in that:
Above-mentioned CD-ROM drive motor target torque restriction processing mechanism limits the rate of change of above-mentioned CD-ROM drive motor target torque, the numerical value when it is not moved less than halting mechanism.
4. electric vehicle drive control device according to claim 1 is characterized in that:
Has differential slewing arrangement, this differential slewing arrangement has 1-the 3rd difference element, and the 1st difference element is connected with electrical generator, the 2nd difference element is connected with CD-ROM drive motor, the 3rd difference element is connected with driving engine, and, above-mentioned CD-ROM drive motor target torque restriction processing mechanism control electrical generator rotative speed, thereby make engine rotary speed equal the engine target rotative speed, and corresponding with motor torque and generator torque, calculate the CD-ROM drive motor target torque, needed vehicle requirement torque when travelling to produce elec. vehicle, when CD-ROM drive motor is activated, suppress the fluctuation of above-mentioned CD-ROM drive motor target torque.
5. according to each described electric vehicle drive control device among the claim 1-4, it is characterized in that:
Have the vibration damping processing mechanism that calculates the torque modification value of CD-ROM drive motor target torque for vibration takes place the vehicle output shaft that prevents elec. vehicle, and above-mentioned CD-ROM drive motor target torque restriction processing mechanism limits above-mentioned torque modification value.
6. electric vehicle drive control device according to claim 5 is characterized in that:
CD-ROM drive motor angular acceleration with the angular acceleration that calculates above-mentioned CD-ROM drive motor calculates processing mechanism, and above-mentioned vibration damping processing mechanism calculating torque correction, so that angular acceleration is less than the value of regulation.
7. electric vehicle drive control device according to claim 5 is characterized in that:
The test section of 2 positions with axle of the regulation of being arranged on, and above-mentioned vibration damping processing mechanism calculating torque correction are so that the difference of the rotative speed that each test section detects is zero.
8. elec. vehicle drive controlling method is characterized in that:
Calculate the CD-ROM drive motor target torque of the target torque of expression CD-ROM drive motor, and be judged as and axle drive shaft can not be rotated and free whether moving in conjunction with the halting mechanism that breaks away from the ground configuration, when this halting mechanism is moving, suppress the fluctuation of above-mentioned CD-ROM drive motor target torque.
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7496435B2 (en) * 2004-01-21 2009-02-24 Aisin Aw Co., Ltd. Drive control system for electric vehicle and method of drive control of electric vehicle
CN102454779A (en) * 2010-10-14 2012-05-16 加特可株式会社 Parking mechnism for automatic transmission
CN102486231A (en) * 2010-12-03 2012-06-06 现代自动车株式会社 Layout for parking system of decelerator for electric motor vehicle
CN103963766A (en) * 2013-01-31 2014-08-06 E-Aam传动系统公司 Drive module with parking brake
TWI576259B (en) * 2011-07-26 2017-04-01 睿能創意公司 Thermal management of components in electric motor drive vehicles
CN108459270A (en) * 2017-02-17 2018-08-28 东元电机股份有限公司 The abnormal state detection system and detection method of motor output speed
CN109375611A (en) * 2018-11-09 2019-02-22 中国汽车技术研究中心有限公司 A kind of controller of new energy automobile hardware-in―the-loop test system
CN109687784A (en) * 2018-12-20 2019-04-26 国家电网有限公司 Generator intelligence constant velocity system based on requirement speed measurement and control
CN109804181A (en) * 2016-10-12 2019-05-24 Ntn株式会社 Drive source control device and the vehicle with the driving source control device
CN110312649A (en) * 2017-02-21 2019-10-08 日立汽车系统株式会社 Parking control device
CN113085843A (en) * 2021-05-11 2021-07-09 浙江合众新能源汽车有限公司 Method and system for energy recovery and automatic parking of electric automobile

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7496435B2 (en) * 2004-01-21 2009-02-24 Aisin Aw Co., Ltd. Drive control system for electric vehicle and method of drive control of electric vehicle
CN102454779A (en) * 2010-10-14 2012-05-16 加特可株式会社 Parking mechnism for automatic transmission
CN102454779B (en) * 2010-10-14 2015-07-29 加特可株式会社 The halting mechanism of automatic transmission
CN102486231A (en) * 2010-12-03 2012-06-06 现代自动车株式会社 Layout for parking system of decelerator for electric motor vehicle
TWI576259B (en) * 2011-07-26 2017-04-01 睿能創意公司 Thermal management of components in electric motor drive vehicles
CN103963766A (en) * 2013-01-31 2014-08-06 E-Aam传动系统公司 Drive module with parking brake
CN103963766B (en) * 2013-01-31 2018-10-19 E-Aam 传动系统公司 drive module with parking brake
CN109804181A (en) * 2016-10-12 2019-05-24 Ntn株式会社 Drive source control device and the vehicle with the driving source control device
CN108459270B (en) * 2017-02-17 2020-08-14 东元电机股份有限公司 System and method for detecting abnormal state of motor output speed
CN108459270A (en) * 2017-02-17 2018-08-28 东元电机股份有限公司 The abnormal state detection system and detection method of motor output speed
CN110312649A (en) * 2017-02-21 2019-10-08 日立汽车系统株式会社 Parking control device
CN110312649B (en) * 2017-02-21 2022-06-17 日立安斯泰莫株式会社 Parking control device
CN109375611A (en) * 2018-11-09 2019-02-22 中国汽车技术研究中心有限公司 A kind of controller of new energy automobile hardware-in―the-loop test system
CN109375611B (en) * 2018-11-09 2020-11-13 中国汽车技术研究中心有限公司 Hardware-in-loop test system for vehicle control unit of new energy automobile
CN109687784A (en) * 2018-12-20 2019-04-26 国家电网有限公司 Generator intelligence constant velocity system based on requirement speed measurement and control
CN113085843A (en) * 2021-05-11 2021-07-09 浙江合众新能源汽车有限公司 Method and system for energy recovery and automatic parking of electric automobile
CN113085843B (en) * 2021-05-11 2022-08-12 浙江合众新能源汽车有限公司 Method and system for energy recovery and correlation automatic parking of electric automobile

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