JP2007161191A - ステアリング制御装置および電動車両 - Google Patents
ステアリング制御装置および電動車両 Download PDFInfo
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- JP2007161191A JP2007161191A JP2005363164A JP2005363164A JP2007161191A JP 2007161191 A JP2007161191 A JP 2007161191A JP 2005363164 A JP2005363164 A JP 2005363164A JP 2005363164 A JP2005363164 A JP 2005363164A JP 2007161191 A JP2007161191 A JP 2007161191A
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- steering
- wheel
- angle
- torque
- front wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
- B62D9/005—Emergency systems using brakes for steering
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0092—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption with use of redundant elements for safety purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/003—Backup systems, e.g. for manual steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
- B62D9/002—Steering deflectable wheels not otherwise provided for combined with means for differentially distributing power on the deflectable wheels during cornering
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- 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
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
- B60K17/046—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel with planetary gearing having orbital motion
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
-
- 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
- Y02T10/64—Electric machine technologies 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
- 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
【解決手段】モータジェネレータIWMR,IWMLは、それぞれ前輪FR,FLに組込まれ、前輪FR,FLをそれぞれ駆動する。ECU36は、ステアリング角センサ26からのステアリングホイール22の操作角Δθsおよび舵角センサ32からの前輪FR,FLの舵角ΔDに基づいて、操舵アクチュエータ28、タイロッド30および舵角センサ32から成る操舵装置に故障が発生しているか否かを判定する。ECU36は、操舵装置に故障が発生していると判定すると、ステアリングホイール22の操作角Δθsに応じてモータジェネレータIWMR,IWMLのトルク指令にトルク差を与える。
【選択図】図1
Description
Claims (5)
- ステアリングホイールと、
左右の前輪をそれぞれ駆動する第1および第2の電動機と、
前記ステアリングホイールの操作角に応じて前記前輪に舵角を与える操舵装置の故障の有無を判定する故障判定手段と、
前記故障判定手段によって前記操舵装置が故障していると判定されたとき、前記第1および第2の電動機の出力トルクに前記ステアリングホイールの操作角に応じたトルク差を生じさせる制御手段とを備えるステアリング制御装置。 - 前記操舵装置は、前記ステアリングホイールと前記前輪とが機構的に分離されたステアバイワイヤ方式から成る、請求項1に記載のステアリング制御装置。
- 前記前輪の舵角を検出する舵角センサをさらに備え、
前記故障判定手段は、前記舵角センサによって検出された舵角と前記ステアリングホイールの操作角とに基づいて前記操舵装置の故障の有無を判定する、請求項1または請求項2に記載のステアリング制御装置。 - 蓄電装置と、
前記蓄電装置から供給される電力を受けて左右の前輪をそれぞれ駆動する第1および第2の電動機と、
ステアリングホイールと、
前記ステアリングホイールの操作角に応じて前記前輪に舵角を与える操舵装置と、
前記操舵装置の故障の有無を判定する故障判定手段と、
前記故障判定手段によって前記操舵装置が故障していると判定されたとき、前記第1および第2の電動機の出力トルクに前記ステアリングホイールの操作角に応じたトルク差を生じさせる制御手段とを備える電動車両。 - 前記第1の電動機は、前記右前輪のホイール内に設けられ、
前記第2の電動機は、前記左前輪のホイール内に設けられる、請求項4に記載の電動車両。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005363164A JP4727410B2 (ja) | 2005-12-16 | 2005-12-16 | ステアリング制御装置および電動車両 |
US12/097,393 US9221495B2 (en) | 2005-12-16 | 2006-12-12 | Steering control device and electrically powered vehicle |
PCT/JP2006/325147 WO2007069763A1 (ja) | 2005-12-16 | 2006-12-12 | ステアリング制御装置および電動車両 |
CN2006800473314A CN101331031B (zh) | 2005-12-16 | 2006-12-12 | 转向控制装置以及电动车辆 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005363164A JP4727410B2 (ja) | 2005-12-16 | 2005-12-16 | ステアリング制御装置および電動車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007161191A true JP2007161191A (ja) | 2007-06-28 |
JP4727410B2 JP4727410B2 (ja) | 2011-07-20 |
Family
ID=38163064
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005363164A Expired - Fee Related JP4727410B2 (ja) | 2005-12-16 | 2005-12-16 | ステアリング制御装置および電動車両 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9221495B2 (ja) |
JP (1) | JP4727410B2 (ja) |
CN (1) | CN101331031B (ja) |
WO (1) | WO2007069763A1 (ja) |
Cited By (9)
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JP2007161190A (ja) * | 2005-12-16 | 2007-06-28 | Toyota Motor Corp | 電動車両 |
JP2012035753A (ja) * | 2010-08-06 | 2012-02-23 | Denso Corp | 操舵制御装置 |
CN102390224A (zh) * | 2011-10-11 | 2012-03-28 | 魏海兵 | 轮毂电机驱动车差速器 |
JP2012176643A (ja) * | 2011-02-25 | 2012-09-13 | Ntn Corp | 電気自動車 |
JP2014000832A (ja) * | 2012-06-15 | 2014-01-09 | Ntn Corp | 転舵装置の異常判断装置 |
KR20140021216A (ko) * | 2012-08-09 | 2014-02-20 | 현대모비스 주식회사 | 인휠 모터를 장착한 차량의 토크 벡터링 방법 |
JP2017225327A (ja) * | 2015-03-10 | 2017-12-21 | 呉震洋 | 電気自動車の航続距離延長・充電・駆動装置 |
JP2018052482A (ja) * | 2016-09-21 | 2018-04-05 | Ntn株式会社 | 補助動力装置付き車輪用軸受装置およびその補助動力装置 |
JP2020050231A (ja) * | 2018-09-28 | 2020-04-02 | Ntn株式会社 | 操舵機能付ハブユニットおよびこれを備えた車両 |
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WO2011021305A1 (ja) * | 2009-08-21 | 2011-02-24 | トヨタ自動車株式会社 | エンジン制御装置 |
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JP5365607B2 (ja) * | 2010-11-10 | 2013-12-11 | トヨタ自動車株式会社 | 操舵装置 |
JP5811402B2 (ja) * | 2011-12-26 | 2015-11-11 | 株式会社ジェイテクト | 操舵装置 |
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- 2006-12-12 US US12/097,393 patent/US9221495B2/en active Active
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JP2007161190A (ja) * | 2005-12-16 | 2007-06-28 | Toyota Motor Corp | 電動車両 |
JP2012035753A (ja) * | 2010-08-06 | 2012-02-23 | Denso Corp | 操舵制御装置 |
JP2012176643A (ja) * | 2011-02-25 | 2012-09-13 | Ntn Corp | 電気自動車 |
CN102390224A (zh) * | 2011-10-11 | 2012-03-28 | 魏海兵 | 轮毂电机驱动车差速器 |
JP2014000832A (ja) * | 2012-06-15 | 2014-01-09 | Ntn Corp | 転舵装置の異常判断装置 |
KR101871160B1 (ko) | 2012-08-09 | 2018-06-27 | 현대모비스 주식회사 | 인휠 모터를 장착한 차량의 토크 벡터링 방법 |
KR20140021216A (ko) * | 2012-08-09 | 2014-02-20 | 현대모비스 주식회사 | 인휠 모터를 장착한 차량의 토크 벡터링 방법 |
JP2017225327A (ja) * | 2015-03-10 | 2017-12-21 | 呉震洋 | 電気自動車の航続距離延長・充電・駆動装置 |
JP7029776B2 (ja) | 2015-03-10 | 2022-03-04 | 呉震洋 | 電気自動車の航続距離延長・充電・駆動装置 |
JP2018052482A (ja) * | 2016-09-21 | 2018-04-05 | Ntn株式会社 | 補助動力装置付き車輪用軸受装置およびその補助動力装置 |
JP7079582B2 (ja) | 2016-09-21 | 2022-06-02 | Ntn株式会社 | 補助動力装置付き車輪用軸受装置およびその補助動力装置 |
JP2020050231A (ja) * | 2018-09-28 | 2020-04-02 | Ntn株式会社 | 操舵機能付ハブユニットおよびこれを備えた車両 |
JP7138526B2 (ja) | 2018-09-28 | 2022-09-16 | Ntn株式会社 | 操舵機能付ハブユニットおよびこれを備えた車両 |
Also Published As
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JP4727410B2 (ja) | 2011-07-20 |
WO2007069763A1 (ja) | 2007-06-21 |
US9221495B2 (en) | 2015-12-29 |
CN101331031A (zh) | 2008-12-24 |
US20090093931A1 (en) | 2009-04-09 |
CN101331031B (zh) | 2012-07-04 |
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