JP2002058109A - 車輛電気駆動システム用可変電流制限制御装置 - Google Patents
車輛電気駆動システム用可変電流制限制御装置Info
- Publication number
- JP2002058109A JP2002058109A JP2001194285A JP2001194285A JP2002058109A JP 2002058109 A JP2002058109 A JP 2002058109A JP 2001194285 A JP2001194285 A JP 2001194285A JP 2001194285 A JP2001194285 A JP 2001194285A JP 2002058109 A JP2002058109 A JP 2002058109A
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- inverter
- rectifier
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- generator
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- 238000002485 combustion reaction Methods 0.000 claims abstract description 6
- 230000000994 depressogenic effect Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 2
- 230000002457 bidirectional effect Effects 0.000 description 5
- 230000007935 neutral effect Effects 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009347 mechanical transmission Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000218645 Cedrus Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/46—Series type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/54—Transmission for changing ratio
- B60K6/547—Transmission for changing ratio the transmission being a stepped gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/12—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of electric gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/20—Off-Road Vehicles
- B60Y2200/22—Agricultural vehicles
- B60Y2200/221—Tractors
-
- 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
- Y02T10/62—Hybrid vehicles
-
- 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
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/904—Component specially adapted for hev
- Y10S903/906—Motor or generator
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/904—Component specially adapted for hev
- Y10S903/915—Specific drive or transmission adapted for hev
- Y10S903/916—Specific drive or transmission adapted for hev with plurality of drive axles
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/904—Component specially adapted for hev
- Y10S903/915—Specific drive or transmission adapted for hev
- Y10S903/917—Specific drive or transmission adapted for hev with transmission for changing gear ratio
- Y10S903/919—Stepped shift
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
置を提供する。 【解決手段】 車輛電気駆動システムは、内燃エンジン
(12)、このエンジンによって駆動される電気モータ
/発電機(14)、このモータ/発電機に接続された第
1インバータ/整流器(16)、この第1インバータ/
整流器に接続されたバス(18)、このバスに接続され
た第2インバータ/整流器(20、22)、この第2イ
ンバータ/整流器の出力に接続されたトラクションモー
タ/発電機(24、28)、オペレータ速度制御部材
(36)、及び第2インバータ/整流器の電流出力を速
度制御部材の位置の関数として制御するために第2イン
バータ/整流器に接続された制御装置(21、23)を
含む。制御装置は、第2インバータ/整流器がトラクシ
ョンモータ/発電機に供給する電流をトランスジューサ
信号の関数として制限電流に制限する。
Description
ステムに関する。
及び製造に費用がかかり、車輛形体のオプションが限ら
れているといった、機械式トランスミッションシステム
の不都合を或る程度解消するため、車輛電気駆動システ
ム即ちAC電気トラクション駆動装置が提案されてき
た。このような電気駆動システムは、1996年10月
22日にグレイヤー等に賦与された米国特許第5,56
8,023号に示されているように、代表的には、DC
バスに接続されたインバータ/整流器に接続されたエン
ジン駆動式3相電動モータ/発電機を含む。バスはイン
バータ/整流器に供給し、このインバータ/整流器は、
アクスル又は車輪を駆動するトラクションモータ/発電
機に電力を供給する。インバータ/整流器は、バスのD
C電流を、オペレータに指示された速度で車輪を駆動す
る周波数の3相AC電流に変換する。駆動輪を通してト
ラクターに供給された、トラクターを必要以上の速度で
移動する傾向がある外部動力源は、モータを発電機とし
て作動し、動力変換の全ての順序が逆になり、エンジン
内に戻る機械的動力を再生する。この再生作用により、
エンジンは、外部から加えられた負荷から、現在の機械
式トランスミッションと同様の方法で、動力を吸収す
る。
の速度は、モータを駆動する電流の周波数を制御するこ
とによって制御される。速度制御装置が係合したとき、
駆動装置は全力又はトルクの作用と係合する。機械式ト
ランスミッションを備えた従来のトラクターのオペレー
タは、クラッチペダルを押して車輛を駆動するトルクを
解放するか或いは減少することができる。このような機
械式クラッチをゆっくりと係合し又は係合解除すること
によって、オペレータは、車輛を移動するためにエンジ
ンにより加えられたトルクを制御できる。従って、クラ
ッチの係合を調整することにより、オペレータは、車輪
が及ぼすことができる駆動力又はトルクを制御すること
によって車輛の移動を制御する。同様のクラッチ型制御
装置を電動システムに設けることが望ましい。
は、従来の機械式駆動車輛のクラッチ制御装置と同様の
方法で作動する制御装置を持つ車輛電気駆動システムを
提供することである。
は、車輛電気駆動システムが、エンジン駆動式電動モー
タ/発電機、このモータ/発電機に接続された第1イン
バータ/整流器、この第1インバータ/整流器に接続さ
れたバス、このバスに接続された第2インバータ/整流
器、及びこの第2インバータ/整流器の出力に接続され
たトラクションモータ/発電機を含む、本発明によって
達成される。電子式制御装置は、オペレータ速度制御部
材に応じてインバータ/整流器の作動を制御する。更
に、オペレータ制御式足踏みペダルが、この足踏みペダ
ルの位置を表す制限コマンド信号を発生するトランスジ
ューサに連結されている。電子式制御ユニットは、制限
コマンド信号を受け取り、第2インバータ/整流器がト
ラクションモータ/発電機に供給する電流を制限電流に
制限する。この電流は、制限コマンド信号及びモータ速
度の関数である。
動システム10は、電子式エンジン制御ユニット(EC
U)13によって制御される内燃エンジン12を含む。
このエンジン12は、三相電動モータ/発電機14を駆
動する。この電動モータ/発電機14は、高圧DCバス
18に接続された双方向性インバータ/整流器16に電
力を供給し、又はこれから電力を受け取る。バス18
は、電力を双方向性インバータ/整流器20及び22に
電力を供給し、又はこれから電力を受け取る。インバー
タ/整流器20は、前輪26を駆動するか或いはこれら
の前輪から動力を受け取るトラクションモータ/発電機
24に接続されている。インバータ/整流器22は、ア
クスル32及び減速器34を介して後輪30を駆動する
か或いはこれらの後輪から動力を受け取るトラクション
モータ/発電機28に接続されている。減速器34は、
高/低レンジセレクターレバー37によって制御される
高/低レンジボックス35を含む。各インバータ/整流
器16、20、及び22は、対応するマイクロ制御装置
17、21、及び23の夫々によって制御される。自動
車及びバス用の駆動装置で通常使用されるバッテリーが
駆動列に含まれない。
ラシレス永久磁石モータである。好ましくは、後モータ
28は、機械シフト式2速ギヤボックスを通して後アク
スルを駆動する。変速段が2段であるため、モータの作
動効率が向上する。これは、高速ギヤは、輸送速度に必
要な速度をアクスルに提供し、低速ギヤが低速での強力
な引っ張りに必要なトルクをアクスルに提供するためで
ある。
オペレータ制御アッセンブリ36、ECU13、様々な
センサ(図示せず)、及びマイクロ制御装置21及び2
3が接続されている。図2で最もよくわかるように、制
御アッセンブリ36は、案内スロット64内で移動自在
の速度制御レバー62(又はパドル等)を含む。案内ス
ロット64は、前進ブランチ66、後退ブランチ68、
パーキングブランチ70、ニュートラル位置72、及び
ゼロ速度保持位置74を備えている。制御アッセンブリ
36は、レバー62に作動的に連結された従来のトラン
スジューサ76を更に含む。このトランスジューサは、
レバー位置信号を発生し、この信号がVCU40に伝え
られる。制御アッセンブリは、ジョン・ディーア700
0シリーズのトラクターで使用されているシフト四分円
と同様であるのがよい。更に、制御アッセンブリ36
は、好ましくは、レバー62に作動的に連結されたトル
ク保持スイッチ78を含む。このスイッチは、レバー6
2がニュートラル位置又はパーキング位置にある場合に
トルク保持信号を発生する。
44、46、及び48が各モータ/発電機14、24、
及び28に接続されており、回転位置信号を対応するマ
イクロ制御装置21、23、及び42に供給する。これ
らの制御装置は、前記センサから速度信号を受け取る。
インバータ/整流器20、22は、DCバス電流を、オ
ペレータが速度制御レバー62を介して指令した速度で
車輪を駆動する周波数の3相AC電流に変換する。ロー
タ位置センサ46、48及びマイクロ制御装置21、2
3は、電気駆動モータ24及び28の各々について、閉
じた速度制御ループを形成し、マイクロ制御装置21、
23は、レバー62からの指令速度とセンサ46、48
から得られた実際の速度との間の差から速度エラーを計
算し、速度エラーの関数として電流をモータに加える。
置、好ましくは足踏み式ペダル50がトランスジューサ
52、例えばポテンショメータに連結されている。この
トランスジューサは、ペダル50の位置を表すトランス
ジューサ信号(即ち制限コマンド信号)を発生する。ば
ね54がペダル50を持ち上げ位置に押圧する。3位置
前輪駆動FWDスイッチ56及び左右のブレーキスイッ
チ58及び60もまたVCU40に接続されている。ブ
レーキスイッチは、好ましくは、左右のブレーキペダル
(図示せず)に作動的に連結されている。VCU40
は、スイッチ56、58、及び60、速度制御レバー6
2、及びクラッチペダルトランスジューサ52から信号
を受け取る。VCU40は、更に、高/低レンジボック
ス35の状態を表す信号をVCU40に提供するレンジ
ボックスセンサスイッチ61から信号を受け取る。VC
U40は、図3に簡単な形態で示すアルゴリズムを実行
し、値が0%乃至100%の範囲で変化できるトルク制
限信号を発生する。インバータ/整流器20、22、及
びこれらと関連したマイクロ制御装置21、23は、ト
ルク制限信号に応じて協働し、トラクションモータ/発
電機24、28に供給される電流を制限し、そのトルク
をこれに従って制限する。
マイクロ制御装置21、23に加えられる車輛速度コマ
ンド値を発生する主アルゴリズムループ(図示せず)を
呼び出したときに工程100で開始する。工程102
は、様々なセンサ及びオペレータ入力を走査し、アナロ
グ信号をデジタル信号に変換する。工程104は、工程
102からの値を工学単位に変換する。工程106は、
トランスジューサ52からの信号を計量し且つ相殺を加
え、クラッチコマンドを形成する。クラッチコマンド信
号の範囲は、ペダル50の移動範囲の上部分と対応す
る。好ましくは、100%クラッチコマンド信号は、ペ
ダル50がその一杯に持ち上げられた位置の僅かに下に
ある所定位置と対応し、ゼロクラッチコマンド信号は、
ペダル50を約75%踏み込んだ場合と対応する。工程
108は、車輛モード及び速度制御レバー62の位置に
基づいて車輛速度コマンド信号(Veh spd cm
d)を計算する。
査し、安全性検査を行う。不合格の場合には、工程11
0は、アルゴリズムを工程112に差し向ける。工程1
12は、車輛速度コマンド値をゼロに設定し、トルク制
限値をゼロに設定する。工程110はその外の場合には
アルゴリズムを工程114に差し向ける。
率を制限する。工程116は、所望の速度に達する上で
必要とされる後モータ速度を、車輛速度コマンド値Ve
h spd cmdに基づいて、及び後ギヤ比に基づい
て、以下のC言語コンピューターステートメントに従っ
て計算する。 RRGrat=Hi Gear Ratio; if(Lo Rng) RRGrat=Lo Gear Ratio; Rmot Spd Cmd=RRGrat*veh s
pd cmd; Veh spd cmdは、オペレータ入力から計算さ
れ、実際の車輛速度によって制限された車輛速度コマン
ドである。有効後ギヤボックス/タイヤ比の値の関数で
ある場合には、RRGratはレンジボックスセンサ6
1から決定される。Lo Rngは、セレクター37が
その低速範囲位置にある場合に真である。Hi Gea
r Ratioは、レンジボックス35の高速範囲にお
ける後輪の速度の車輛速度に対する比である。後輪の転
動半径並びに実際のギヤ減速の効果を含む。Lo Ge
ar Ratioは、低速範囲での後輪速度の車輛速度
に対する比である。最後に、後モータ速度コマンド即ち
Rmot Spd Cmdは、ギヤ比即ちRRGrat
×veh spd cmdの関数として計算される。
クラッチコマンド信号の位置及び速度制御レバー62の
位置の関数として、以下のC言語コンピューターステー
トメントに従って計算する。 Rmot Torq Lim=Torq Lim; if((Trq Hld==FALSE)) Rmot Torq Lim=0.0; 後アクスルトルクレベル(Rear Axle Tor
que Level)は、オペレータのクラッチペダル
の位置に基づいて速度を制御するために使用される利用
可能なトルクの所望のパーセンテージであるTorq
Limと等しく設定される。結果的に得られたRmot
Torq Limを後モータ制御装置に通す。これ
は、指令された後モータ速度を維持しようとする試みに
おいて制御装置が加えることができる利用可能なトルク
の最大パーセンテージである。負荷トルクがこのレベル
以下である場合には、指令されたモータ(車輪)速度が
維持される。負荷トルクはこのレベル以上である場合に
は、モータ(車輪)速度が低下する。
メントは、速度制御レバー62のニュートラル位置72
について検査を行う。Trq Hldは、操作レバー6
2がゼロ速度位置74にない場合には常に真である。レ
バー62がゼロ速度位置にある場合には、オペレータ
は、Trq Hldスイッチ78の係合及び係合解除を
行うことにより、Trq Hldを、モータ制御装置1
7がトルクを(最大でTorq Limまで)加えて指
令速度(ゼロ)を維持する真にするか或いは、クラッチ
ペダル50の位置に拘わらず、空転(ニュートラル)又
はゼロモータトルクを指令する偽にする。
要な前モータ速度コマンド値即ちFmot Spd C
mdを車輛速度コマンド値に基づいて、及び前ギヤ比に
基づいて、以下のC言語コンピューターステートメント
に従って計算する。Fmot Spd Cmd=veh
spd cmd*FRGrat*Bst;ここで、F
RGratは、前輪の速度と後輪の速度との間の比であ
る(後タイヤ転動半径の効果並びに実際のギヤ減速の効
果を含む)。Bstは、負荷が適切に分配された状態を
維持するための、前輪の後輪速度に対する有効ブースト
比である。かくして、前モータ速度コマンドは、車輛速
度コマンド、有効ギヤ比、及びブーストファクタの積で
ある。
よって、この速度コマンドは、工程122と関連して以
下に説明するように変化する。工程122は、前モータ
トルク限度値を、ペダル50の位置及び速度制御レバー
62の位置の関数として、以下のC言語コンピューター
ステートメントに従って計算する。 Fmot Torq Lim=Torq Lim; (1) if((Trq Hld==FALSE)) (2) Fmot Torq Lim=0.0; (3) if(MFWD On==FALSE) (4) Fmot Torq Lim=0.0; (5) if((MFWD On)&&(MFWD Auto)) (6) { (7) if((veh spd cmd−Auto maxf)>0) (8) Fmot Torq Lim=0.0; (9) if((veh spd cmd+Auto maxr)<0) (10) Fmot Torq Lim=0.0; (11) } (12) Fmot Spd Cmd>3000) (13) { (14) if((Fmot Torq Lim<10)&&(Torq Lim>10) ) (15) Fmot Torq Lim=10; (16) } (17) if((Rt Brk)&&(Lt Brk)) (18) { (19) Fmot Torq Lim=Brk Torq; (20) Fmot Spd Cmd=0.0} (21) ステートメント(1)では、前モータトルク限度は、ク
ラッチペダル50の位置に基づいて設定され、ここで
は、Torq Limは、クラッチペダル50の位置に
基づいた速度制御に使用される利用可能なトルクの所望
のパーセンテージである。結果的に得られたFmot
Torq Limを前モータ制御装置21に通す。これ
は、指令された前モータ速度を維持する試みにおいて制
御装置が加えることができる利用可能なトルクの最大パ
ーセンテージである。負荷トルクがこのレベル以下であ
る場合には、指令されたモータ(車輪)速度が維持され
る。負荷トルクがこのレベル以上である場合には、モー
タ(車輪)速度が低下する。
Hld値はスイッチ78の状態を表す。これは、操作
レバー62がゼロ速度位置74にない場合には常に真で
ある。制御レバー62がゼロ速度位置74にある場合に
は、オペレータは、Trq Hldスイッチ78の係合又
は係合解除を行い、Trq Hldを、モータ制御装置
がトルク(最大Torq Limまで)を加えて指令速
度(ゼロ)を維持する真にするか或いは、クラッチペダ
ル50の位置に拘わらず、空転(ニュートラル)トルク
又はゼロモータトルクを指令する偽にする。
イッチ56は前輪駆動装置の係合を制御する。スイッチ
56の三つの位置は、MFWD Onを真又は偽に設定
し、又は第3オートマチックモードに設定する。オート
マチックモードでは、前輪駆動装置は、Auto ma
xf(前進している場合)の速度以下で係合し(Fmo
t Torq Lim=Torq Lim)、前記速度
以上で係合解除する(Fmot Torq Lim=
0)。後退モード及びオートマチックモードでは、前輪
駆動装置がAuto maxr以下の速度で係合し(F
mot Torq Lim=Torq Lim)、前記速
度以上で係合解除する(Fmot Torq Lim=
0)。
Auto特徴を実行する。ステートメント13乃至17
を作動することにより、前モータ制御装置21は、前モ
ータ24のトルクを、前モータ速度コマンドが3000
rpmを越えている場合にはいつでも、クラッチペダル
50によって低いトルクが指令されるまで、最大値の1
0%の最小値に維持する。
ペダルオーバーライド機能を提供する。ブレーキ58、
60を掛けたとき(Rt Brk=真、及びLt Br
k=真)に前輪制動トルクを提供するため、ステートメ
ント18乃至21は、前輪モータへの全ての他の速度コ
マンド及びトルクコマンドをオーバーライドする。両ブ
レーキが掛けられたときにはいつでも、最大でBrk
Torkの大きさまでのトルクの遅延が加えられ、車輛
を(車輛の方向に拘わらず)減速する。
Fにある場合、又はFWDスイッチ56がそのAUTO
位置にある場合には、前モータトルク限度値をゼロに変
更し、前モータ速度は所定の限度速度を越える。
8及び60の両方を掛けた場合に前モータ速度をゼロに
設定し、前モータトルク限度値を現在のモータ速度での
利用可能な最大トルクの所定のパーセンテージに設定す
る。
かくして、ペダル50が一杯に上昇した位置は、100
%電流限度、即ちモータ24又は28がその現在の作動
速度で及ぼすことができるトルクの100%を表す。ペ
ダル50を踏み込んでポテンショメータ52を回転し、
VCU40に供給されるクラッチ指令信号を変化させ
る。オペレータは、速度制御レバー62を通して車輛速
度コマンドを入力し、このコマンドをVCUが工程11
6及び120で後電動モータ28用の後モータ速度コマ
ンド及び前電動モータ24用の前モータ速度コマンドに
変換する。これらの電動モータ24及び28の各々は、
ロータ位置センサ46、48、及びマイクロ制御装置2
1、23を含む閉じた速度制御ループ内にある。この制
御ループでは、マイクロ制御装置21、23はモータト
ルクコマンド値を発生する。この値は、工程116及び
120でレバー62から計算された指令された速度とセ
ンサ46、48から得られた実際の速度との間の差であ
る速度エラーの関数である。各モータ24、28が発生
したトルクは、モータ電流の関数である。好ましくは、
モータ及び制御装置を保護するため、電流もまた、マイ
クロ制御装置21、23によって電子的に制限される。
更に、本発明によれば、モータ電流及びトルクは、更
に、ペダル50の位置の関数として制限され又は変化さ
れる。
ポテンショメータ52からの変化するクラッチコマンド
信号に対し、モータ24、28に供給される電流をマイ
クロ制御装置21、23で減少することによって応答
し、これによって、モータのトルクを、ペダル50のほ
ぼ一杯に踏み込んだ位置でトルクがゼロに達するまで、
制限する。オペレータの視点から見ると、このシステム
は、機械式摺動クラッチと同様に作動し且つ反応する
が、摩耗する摺動面は存在せず、制御が容易に行われ
る。システムは、低いトルクレベルで、構成要素を損傷
することなく、無限に作動できる。本システムにより、
オペレータは、建物の近くで作動する場合や器具を持ち
上げるといった場合に、車輛をゆっくりと及び僅かな力
で移動できる。本システムにより、オペレータは駆動装
置をゆっくりと且つ滑らかに係合でき、及ぼされる力を
正確に制御できる。エンジンが本質的にアイドル状態に
あるときに低速で又は速度ゼロで、駆動アクスルに全ト
ルクを及ぼすことができる。オペレータは、クラッチ/
インチングペダルにより、アクスルトルクを完全に制御
し、そのため、駆動ライントルクレベルに対するオペレ
ータのキューの一つ即ちエンジンノイズをほとんど感じ
ない場合でも、所望レベルの駆動ライントルクを維持で
きる。これにより、例えば、取り付けられた器具に対し
てヒッチアップした場合の車輛の制御を容易にする。
エンジン速度とは独立して、機械的に簡単な設計によ
り、及び無限に変化できる速度比で、牽引駆動装置に伝
達される。
が、多くの変形及び変更は、以上の説明に照らして、当
業者には明らかであるということは理解されよう。従っ
て、本発明は、添付の特許請求の範囲の精神及び範疇の
全てのこのような変形及び変更を含もうとするものであ
る。
ある。
ンブリの概略図である。
ルゴリズムの論理フローダイヤグラムである。
ン 13 電子式エンジン制御ユニット 14 三相電動モ
ータ/発電機 16 双方向性インバータ/整流器 17 マイクロ制
御装置 18 高圧DCバス 20 双方向性イ
ンバータ/整流器 21 マイクロ制御装置 22 双方向性イ
ンバータ/整流器 23 マイクロ制御装置 24 トラクショ
ンモータ/発電機 26 前輪 28 トラクショ
ンモータ/発電機 30 後輪 32 アクスル 34 減速器 35 高/低レン
ジボックス 37 高/低レンジセレクターレバー
Claims (10)
- 【請求項1】 内燃エンジン、このエンジンによって駆
動される電気モータ/発電機、このモータ/発電機に接
続された第1インバータ/整流器、この第1インバータ
/整流器に接続されたバス、このバスに接続された第2
インバータ/整流器、及びこの第2インバータ/整流器
の出力に接続されたトラクションモータ/発電機、オペ
レータ速度制御部材、及び前記第2インバータ/整流器
の電流出力を前記速度制御部材の位置の関数として制御
するために前記第2インバータ/整流器に接続された制
御装置を持つ車輛電気駆動システムの制限制御装置にお
いて、 オペレータ制御式制限制御部材、及び前記制限制御部材
に連結されており、前記制限制御部材の位置を表す制限
コマンド信号を発生するトランスジューサを含み、前記
制御装置は、制限コマンド信号を受け取り、前記第2イ
ンバータ/整流器によって前記トラクションモータ/発
電機に供給された電流を、制限コマンド信号の関数であ
る制限電流に制限する、制限制御装置。 - 【請求項2】 請求項1に記載の制御装置において、前
記制御装置、前記制限制御部材、及び前記トランスジュ
ーサが協働し、制限電流を前記制限制御部材の移動に応
じて変化させる、制御装置。 - 【請求項3】 請求項1に記載の制御装置において、 ばねが前記制限制御部材を上限位置に押圧し、 前記制御装置により前記第2インバータ/整流器が前記
トラクションモータ/発電機に制限電流を供給するが、
この制限電流は、前記速度制御装置によって指令された
速度に達するのに必要な電流以下である、制御装置。 - 【請求項4】 請求項1に記載の制御装置において、 前記制限制御部材は、足踏みペダルである、制御装置。
- 【請求項5】 請求項1に記載の制御装置において、 前記制御装置は、前記制限コマンド信号がゼロから最大
値まで変化するように、前記トランスジューサからの信
号を計数する、制御装置。 - 【請求項6】 請求項5に記載の制御装置において、 前記制限制御部材は一杯に持ち上げられた位置から一杯
に押し込んだ位置まで移動自在であり、 前記制御装置は、前記トランスジューサからの信号に相
殺を加え、その結果、ゼロの制限コマンド信号は、一杯
に押し込んだ制限制御部材位置以下と対応し、100%
の制限コマンド信号は、一杯に持ち上げられた制限制御
部材位置以下と対応する、制御装置。 - 【請求項7】 内燃エンジン、このエンジンによって駆
動される電気モータ/発電機、このモータ/発電機に接
続された第1インバータ/整流器、この第1インバータ
/整流器に接続されたバス、このバスに接続された第2
インバータ/整流器、及びこの第2インバータ/整流器
の出力に接続されたトラクションモータ/発電機、オペ
レータ速度制御部材、及び前記第2インバータ/整流器
の電流出力を前記速度制御部材の位置の関数として制御
するために前記第2インバータ/整流器に接続された制
御装置を持つ車輛電気駆動システムの別の制御装置にお
いて、 オペレータ制御式足踏みペダル、及び前記足踏みペダル
に連結されており、前記足踏みペダルの位置を表す制限
信号を発生するトランスジューサを含み、前記制御装置
は、トランスジューサ信号を受け取り、前記第2インバ
ータ/整流器によって前記トラクションモータ/発電機
に供給された電流を、トランスジューサ信号の関数であ
る制限電流に制限する、制限制御装置。 - 【請求項8】 請求項7に記載の制御装置において、前
記制御装置、前記足踏みペダル、及び前記トランスジュ
ーサが協働し、前記制限電流を前記足踏みペダルの移動
に応じて変化する、制御装置。 - 【請求項9】 請求項7に記載の制御装置において、 ばねが前記足踏みペダルを上限位置に付勢し、 前記制御ユニットにより前記第2インバータ/整流器は
前記トラクションモータ/発電機に最大量の電流を供給
するが、この電流は、前記足踏みペダルがその上限位置
にある場合に前記速度制御装置によって指令された速度
に達するのに必要とされる電流以下である、制御装置。 - 【請求項10】 車輛電気駆動システムにおいて、 内燃エンジン、 このエンジンによって駆動される電気モータ/発電機、 このモータ/発電機に接続された第1インバータ/整流
器、 この第1インバータ/整流器に接続されたバス、 このバスに接続された第2インバータ/整流器、 この第2インバータ/整流器の出力に接続されたトラク
ションモータ/発電機、 オペレータ速度制御部材、 前記第2インバータ/整流器の電流出力を前記速度制御
部材の位置の関数として制御するために前記第2インバ
ータ/整流器に接続された制御装置、 オペレータ制御式足踏みペダル、及び前記足踏みペダル
に連結されたトランスジューサであって、前記足踏みペ
ダルの位置を表すトランスジューサ信号を発生し、この
トランスジューサ信号は、前記制御装置に伝えられ、前
記制御装置は、前記第2インバータ/整流器が前記トラ
クションモータ/発電機に供給した電流を前記トランス
ジューサ信号の関数として制限電流に制限する、トラン
スジューサを含む、システム。
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Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/604148 | 2000-06-27 | ||
US09/604,148 US6492785B1 (en) | 2000-06-27 | 2000-06-27 | Variable current limit control for vehicle electric drive system |
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Publication Number | Publication Date |
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JP2002058109A true JP2002058109A (ja) | 2002-02-22 |
JP3811373B2 JP3811373B2 (ja) | 2006-08-16 |
Family
ID=24418365
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---|---|---|---|
JP2001194285A Expired - Fee Related JP3811373B2 (ja) | 2000-06-27 | 2001-06-27 | 可変電流制限制御装置および車輌電気駆動システム |
Country Status (5)
Country | Link |
---|---|
US (1) | US6492785B1 (ja) |
EP (1) | EP1167110B1 (ja) |
JP (1) | JP3811373B2 (ja) |
CA (1) | CA2329268C (ja) |
DE (1) | DE60109854T2 (ja) |
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2000
- 2000-06-27 US US09/604,148 patent/US6492785B1/en not_active Expired - Fee Related
- 2000-12-20 CA CA002329268A patent/CA2329268C/en not_active Expired - Fee Related
-
2001
- 2001-06-22 DE DE60109854T patent/DE60109854T2/de not_active Expired - Lifetime
- 2001-06-22 EP EP01115147A patent/EP1167110B1/en not_active Expired - Lifetime
- 2001-06-27 JP JP2001194285A patent/JP3811373B2/ja not_active Expired - Fee Related
Cited By (2)
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JP2008195379A (ja) * | 2007-02-09 | 2008-08-28 | Deere & Co | ブレーキ応答性の車両電気駆動装置 |
JP2012020680A (ja) * | 2010-07-15 | 2012-02-02 | Mitsubishi Motors Corp | 電動車両の制御装置 |
Also Published As
Publication number | Publication date |
---|---|
CA2329268C (en) | 2003-12-16 |
DE60109854D1 (de) | 2005-05-12 |
EP1167110A3 (en) | 2003-07-30 |
EP1167110B1 (en) | 2005-04-06 |
CA2329268A1 (en) | 2001-12-27 |
JP3811373B2 (ja) | 2006-08-16 |
US6492785B1 (en) | 2002-12-10 |
EP1167110A2 (en) | 2002-01-02 |
DE60109854T2 (de) | 2005-09-29 |
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