JP2009254161A - Driving apparatus, vehicle equipped with the same and control method of driving apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To discharge a charge in all smoothing capacitors in a plurality of electric motors when a system is turned off while an abnormality occurs in any of a plurality of the electric motors. <P>SOLUTION: When the abnormality occurs in any of the front wheel motors 24, 26 and the motor 36 while the system is turned off, power supply relays 55, 55a, 56 are turned off, relays other than the relay for one normal motor are turned off, the relay for the abnormal motor is turned on, a switching control of a switching element in a corresponding inverter is implemented so as to flow a d-axis current to the motors other than the abnormal motor, a gate of the corresponding inverter is turned off in order of voltages between terminals of the smoothing capacitors 43, 45, 47 reaching a value 0, and relay 57a, 58a, 59a for all motors including the front wheel motors 24, 26 and the motor 36 are turned off when all gates of the inverters 42, 44, 46 are turned off. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a drive device, a vehicle on which the drive device is mounted, and a control method for the drive device, and more specifically, a drive device including a plurality of electric motors and power storage means capable of exchanging electric power with the plurality of electric motors, and such a drive device. The present invention relates to a vehicle to be mounted and a control method of such a drive device when the system is off.

  Conventionally, as this type of drive device, one in which each of two traveling motors is connected to a battery via a smoothing capacitor and a boost converter has been proposed (for example, see Patent Document 1). In this device, a boost converter and a smoothing capacitor are individually provided for each motor so that power can be supplied to each motor individually.

In addition, in a device connected to a battery via a smoothing capacitor and a boost converter to the motor, a device that discharges the charge of the smoothing capacitor by flowing a d-axis current to the motor when the device is stopped has been proposed ( For example, see Patent Document 2). In this apparatus, when the apparatus is stopped, the d-axis current is supplied to the motor, thereby discharging the charge of the smoothing capacitor without outputting torque from the motor.
JP 2004-242371 A JP 2004357574 A

  In a drive device in which a plurality of motors are connected in parallel to the battery, even if an abnormality occurs in any of the plurality of motors, the motor in which an abnormality has occurred is separated and driven by another motor to ensure driving There is. In this case, when the apparatus is shut down, it is preferable to discharge the charge of all the smoothing capacitors in the apparatus, and it is also preferable to discharge the charge of the smoothing capacitor to the motor disconnected due to abnormality.

  The drive device of the present invention, the vehicle equipped with the drive device, and the control method of the drive device are charged with all the smoothing capacitors for the plurality of motors when the system is turned off in a state where any of the plurality of motors is abnormal. The main purpose is to discharge electric charges.

  The drive device of the present invention, a vehicle equipped with the drive device, and a drive device control method employ the following means in order to achieve the above-described main object.

The drive device of the present invention is
A drive device comprising a plurality of electric motors and a power storage means capable of exchanging electric power with the plurality of electric motors,
A positive electrode connecting member connected to the positive electrode of the power storage means and connected to each positive electrode side terminal of the plurality of electric motors;
A negative electrode connection member connected to the negative electrode of the power storage means and connected to each negative electrode side terminal of the plurality of electric motors;
A power relay that performs electrical connection to and disconnection from the positive electrode connection member and the negative electrode connection member of the power storage means;
A plurality of motor relays that perform electrical connection to the positive electrode connection member and the negative electrode connection member of the plurality of motors and release of the connection for each of the plurality of motors;
A plurality of smoothing capacitors attached to the plurality of motors from the plurality of motor relays;
Electrical connection of the power storage means to the positive electrode connecting member and the negative electrode connecting member by the power supply relay when the system is turned off from an abnormal state in any of the plurality of electric motors The power relay is controlled so as to be released, and the motor related to the abnormality is electrically connected to the positive electrode connecting member and the negative electrode connecting member by the electric motor relay for the electric motor related to the abnormal The plurality of electric motors in a state where the at least one electric motor is electrically connected to the positive electrode connecting member and the negative electrode connecting member by a motor relay for at least one electric motor other than the motor related to the abnormality among the plurality of electric motors. Of the plurality of electric motors according to the abnormality so that all the voltages of the smoothing capacitors are substantially zero After the external motor is controlled and all the voltages of the plurality of smoothing capacitors reach a value of approximately 0, all of the plurality of motors are electrically connected to the positive electrode connection member and the negative electrode connection member. Control means for controlling the plurality of electric motor relays so that is released,
It is a summary to provide.

  In the drive device according to the present invention, when the system is turned off from an abnormal state in any of the plurality of electric motors, when the system is turned off, the power relay relays electricity to the positive electrode connecting member and the negative electrode connecting member. The normal connection motor is electrically connected to the positive connection member and the negative connection member, and at least one of the plurality of electric motors other than the abnormal connection motor is a positive connection member. And controlling a motor other than the motor related to the abnormality among the plurality of motors so that all the voltages of the plurality of smoothing capacitors are substantially set to 0 while being electrically connected to the negative electrode connecting member, The electrical connection to the positive electrode connecting member and the negative electrode connecting member of the motor is released. That is, a state in which the abnormal motor is electrically connected to the positive electrode connecting member and the negative electrode connecting member and at least one other electric motor is electrically connected to the positive electrode connecting member and the negative electrode connecting member. By controlling at least one other electric motor, the charge of the smoothing capacitor for the abnormal motor is consumed by at least one other electric motor. As a result, even if an abnormality occurs in any of the plurality of electric motors, when the system is turned off, the charge charges of all the smoothing capacitors for the plurality of electric motors can be discharged.

  In such a drive device of the present invention, the control means includes a motor relay for the motor related to the abnormality among the plurality of relays for the motor and a motor for one motor other than the motor related to the abnormality when the system is off at the time of abnormality. The electrical connection to the positive electrode connecting member and the negative electrode connecting member of the electric motor other than the one electric motor and the electric motor related to the abnormality among the plurality of electric motors is released by the electric motor relay excluding the electric relay. It may be a means for controlling a motor other than the motor related to the abnormality among the plurality of motors so that the voltages of the plurality of smoothing capacitors become substantially zero in the state. In this way, it is possible to discharge the charge of the smoothing capacitor for the one motor and the smoothing capacitor for the abnormal motor by the power consumption of one motor, and the smoothing for each motor by the power consumption of the other motor. The charge of the capacitor can be discharged.

  In the driving device of the present invention, the power relay includes one of a positive electrode and a negative electrode of the power storage unit, a connecting member connected to the positive electrode connecting member, and the negative electrode connecting member. The relay for electric motor, the relay for electric motor is different from the connection member connected to the one electrode among the connection member for positive electrode and the connection member for negative electrode, and the plural It is also possible to be a relay that performs connection and disconnection with a terminal connected to the other connection member among the positive electrode side terminal and the negative electrode side terminal of each of the motors. By doing so, the physique can be made smaller than that capable of releasing the electrical connection to both the positive electrode connecting member and the negative electrode connecting member, and the size can be reduced. In addition, when the system is turned off, the power supply relay and the plurality of motor relays are all turned off, so that the power storage means and the plurality of motors can be completely disconnected.

  Furthermore, in the driving apparatus of the present invention, the power storage means is a plurality of capacitors, and the power relay is electrically connected to and connected to the positive connection member and the negative connection member of each of the plurality of capacitors. It can also be a plurality of relays that release In this way, even if an abnormality occurs in any of the plurality of capacitors, driving can be ensured by separating the capacitor in which the abnormality has occurred.

  A vehicle according to the present invention includes a drive device according to any one of the above-described aspects, that is, a drive device basically including a plurality of electric motors and power storage means capable of exchanging electric power with the plurality of electric motors. A positive electrode connecting member connected to a positive electrode of the power storage means and connected to a positive terminal of each of the plurality of electric motors; and a plurality of electric motor sides connected to a negative electrode of the power storage means A negative electrode connecting member connected to each negative electrode side terminal, a power supply relay for electrically connecting to and releasing the positive electrode connecting member and the negative electrode connecting member of the power storage means, and the plurality A plurality of motor relays that perform electrical connection to and disconnection from the positive electrode connecting member and the negative electrode connecting member for each of the plurality of motors, and the plurality of electric motors from the plurality of motor relays. A plurality of smoothing capacitors attached to the machine side and a connection for the positive electrode of the power storage means by the power supply relay when the system is off when the system is off from an abnormal state in any of the plurality of electric motors The power relay is controlled so that the electrical connection to the member and the negative electrode connection member is released, and the motor related to the abnormality is controlled by the motor relay for the motor related to the abnormality, the positive electrode connection member and the negative electrode The at least one motor is electrically connected to the connecting member for use, and the at least one motor is connected to the positive electrode connecting member and the negative electrode connection by an electric motor relay for at least one electric motor other than the motor related to the abnormality among the plurality of electric motors. All the voltages of the plurality of smoothing capacitors are substantially zero when electrically connected to the member. The motors other than the motor related to the abnormality are controlled among the plurality of motors, and all the plurality of motors are connected to the positive electrode connecting member after all the voltages of the plurality of smoothing capacitors have reached a value of approximately 0. And a control unit that controls the plurality of electric motor relays so that electrical connection to the negative electrode connecting member is released, and is driven by power from the plurality of electric motors. The gist.

  Since the vehicle according to the present invention is equipped with the drive device of the present invention according to any one of the above-described aspects, the effect of the drive device according to the present invention, for example, the system is turned off even if any of the plurality of electric motors is abnormal. In this case, it is possible to achieve the same effect as the effect of discharging the charging charges of all the smoothing capacitors for the plurality of electric motors.

  The vehicle according to the present invention includes an internal combustion engine and a transmission that shifts power from the internal combustion engine and transmits the power to a rear wheel side, and one of the plurality of electric motors is configured to transmit the rear through the transmission. The motor may be a rear wheel motor that outputs power to the wheel side, and one of the plurality of motors may be a front wheel motor that outputs power to the front wheel side.

The method for controlling the drive device of the present invention includes:
A plurality of electric motors, a power storage means capable of exchanging electric power with the plurality of motors, a positive electrode connecting member connected to a positive terminal of each of the plurality of motors and connected to a positive electrode of the power storage means A negative electrode connecting member connected to the negative electrode of the power storage means and connected to each negative electrode side terminal of the plurality of electric motors; and electricity to the positive electrode connecting member and the negative electrode connecting member of the power storage means A relay for power supply that performs general connection and connection release, and a plurality of relays that perform electrical connection to and disconnection from the positive electrode connection member and the negative electrode connection member for each of the plurality of electric motors. A method for controlling a drive device comprising: a relay for an electric motor; and a plurality of smoothing capacitors attached to the plurality of electric motors from the plurality of electric motor relays,
Electrical connection of the power storage means to the positive electrode connection member and the negative electrode connection member by the power supply relay when the system is turned off from an abnormal state in any of the plurality of electric motors The power relay is controlled so as to be released, and the motor related to the abnormality is electrically connected to the positive electrode connecting member and the negative electrode connecting member by the electric motor relay for the electric motor related to the abnormal The plurality of electric motors in a state where the at least one electric motor is electrically connected to the positive electrode connecting member and the negative electrode connecting member by a motor relay for at least one electric motor other than the motor related to the abnormality among the plurality of electric motors. Of the plurality of electric motors according to the abnormality so that all the voltages of the smoothing capacitors of the plurality are substantially zero After the external motor is controlled and all the voltages of the plurality of smoothing capacitors reach a value of approximately 0, all of the plurality of motors are electrically connected to the positive electrode connection member and the negative electrode connection member. Controlling the plurality of motor relays so that is released,
It is characterized by that.

  In the method for controlling a drive device according to the present invention, when the system is turned off when an abnormality occurs in any of the plurality of electric motors, the positive electrode connecting member and the negative electrode connecting member of the power storage means are operated by the power relay when the system is off. The electrical connection to the abnormality is electrically connected to the positive electrode connection member and the negative electrode connection member, and at least one of the plurality of electric motors other than the abnormality motor is positive. Controlling a motor other than the motor related to the abnormality among the plurality of motors such that all the voltages of the plurality of smoothing capacitors are substantially set to 0 while being electrically connected to the connection member for negative electrode and the connection member for negative electrode, Then, the electrical connection to the positive electrode connection member and the negative electrode connection member of the plurality of electric motors is released. That is, a state in which the abnormal motor is electrically connected to the positive electrode connecting member and the negative electrode connecting member and at least one other electric motor is electrically connected to the positive electrode connecting member and the negative electrode connecting member. By controlling at least one other electric motor, the charge of the smoothing capacitor for the abnormal motor is consumed by at least one other electric motor. As a result, even if an abnormality occurs in any of the plurality of electric motors, when the system is turned off, the charge charges of all the smoothing capacitors for the plurality of electric motors can be discharged.

  Next, the best mode for carrying out the present invention will be described using examples.

  FIG. 1 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 20 developed for a race as one embodiment of the present invention. As illustrated, the hybrid vehicle 20 of the embodiment includes a front wheel drive system 21 having two front wheel motors 24 and 26 attached to left and right front wheels 29a and 29b, an engine 32, and a clutch 33a on a crankshaft 33 of the engine 32. The rear wheel drive system 31 outputs the power from the motor 36 attached via the transmission to the left and right rear wheels 39a, 39b via the transmission 34 and the differential gear 38, the front wheel motors 24, 26 and the motor 36 and the electric power. The hydraulic pressure is applied to the two capacitors (first capacitor and second capacitor) 50 and 51, and the wheel cylinders 66a, 66b, 68a and 68b attached to the left and right front wheels 29a and 29b and the left and right rear wheels 39a and 39b. Electronically controlled hydraulic brake unit that applies braking torque Comprising (hereinafter, referred to as. "ECB") and 60, and a main electronic control unit 70 that controls the entire hybrid vehicle 20.

  The front wheel motors 24 and 26 are the same as each other configured as a synchronous generator motor, and exchange power with the first capacitor 50 and the second capacitor 51 via the inverters 42 and 44 and the junk box 54. That is, the front wheel motors 24 and 26 function as a power unit that can distribute and output braking force and driving force to the left and right front wheels 29a and 29b independently on the left and right sides. The front wheel motors 24 and 26 are driven and controlled by a motor electronic control unit (hereinafter referred to as “motor ECU”) 40.

  The motor 36 is configured as a well-known synchronous generator motor that can operate as a generator and can operate as a motor. The motor 36 and the first capacitor 50 and the second capacitor 51 are connected to the power through the inverter 46 and the junk box 54. Communicate. The motor 36 is subjected to drive control by the motor ECU 40 in the same manner as the front wheel motors 24 and 26. The motor ECU 40 receives signals necessary for driving and controlling the front wheel motors 24 and 26 and the motor 36, for example, rotational position detection sensors 25 and 27 for detecting the rotational positions of the front wheel motors 24 and 26 and the rotor of the motor 36. 37, the phase current applied to the front wheel motors 24 and 26 and the motor 36 detected by a current sensor (not shown), and the like are input from the motor ECU 40 to the inverters 42, 44 and 46. A control signal is output. The inverters 42, 44, and 46 are each configured as a well-known inverter circuit including six switching elements and six diodes.

  The first capacitor 50 and the second capacitor 51 are configured as, for example, electric double layer capacitors, and are connected to the inverters 42, 44, 46 via the junk box 54.

  FIG. 2 is a configuration diagram illustrating an example of the configuration of the electric system of the hybrid vehicle 20 of the embodiment. As shown in the figure, the junk box 54 is connected to the positive terminals of the first capacitor 50 and the second capacitor 51 and to the positive terminals of the front wheel motors 24, 26 and the inverters 42, 44, 46 of the motor 36. Connected to the positive bus bar 54a connected and formed of a conductive material (for example, copper), and the negative terminals of the first capacitor 50 and the second capacitor 51, the front wheel motors 24 and 26 and the inverter 42 of the motor 36, Relays interposed between the negative electrode bus bar 54 b connected to the negative electrode side terminals 44 and 46 and made of a conductive material (for example, copper), the positive electrode bus bar 54 a, and the positive electrode side terminals of the first capacitor 50 and the second capacitor 51. 55, 56 and a relay connected in parallel to the relay 55 for avoiding an inrush current when the relay 55 is turned on. 55a and resistor 55b, relays 57a, 58a and 59a interposed between the negative electrode bus bar 54b and the front wheel motors 24 and 26, the negative terminals of the inverters 42, 44 and 46 of the motor 36, the positive electrode bus bar 54a and the front wheel Fuses 57b, 58b, 59b interposed between the motors 24, 26 and the positive terminals of the inverters 42, 44, 46 of the motor 36 are arranged. As described above, the power supply relays 55, 55a, and 56 are attached to the positive electrode side, and the motor relays 57a, 58a, and 59a are attached to the negative electrode side. 50, the second capacitor 51, the front wheel motors 24 and 26, and the motor 36 can be completely shut off. In addition, the first capacitor 50 and the second capacitor 51 have the temperatures of the voltage sensors 50a and 51a for detecting the voltage between the terminals and the current sensors 50b and 51b for detecting the charging current, the first capacitor 50 and the second capacitor 51 themselves. Temperature sensors 50c and 51c to be detected are attached. Smoothing capacitors 43, 45, 47 are attached between terminals of the inverters 42, 44, 46 of the front wheel motors 24, 26 and the motor 36, and the inverters 42, 44, 46 are connected by the smoothing capacitors 43, 45, 47. On the side, voltage sensors 42a, 44a, 46a for detecting voltage between terminals and current sensors 42b, 44b, 46b for detecting current applied to the inverters 42, 44, 46 are attached. The voltages Vc1, Vc2, Vcfr, Vcfl, Vcr from each voltage sensor 50a, 51a, 42a, 44a, 46a and the currents Ic1, Ic2, Ifr, Ifl, Ir, from each current sensor 50b, 51b, 42b, 44b, 46b, The temperatures Tc1 and Tc2 from the temperature sensors 50c and 51c are input to the motor ECU 40. Each relay 55, 55a, 56, 57a, 58a, 59a is turned on / off by a drive signal from the motor ECU 40. The motor ECU 40 is in communication with the main electronic control unit 70, and controls driving of the front wheel motors 24 and 26 and the motor 36 by a control signal from the main electronic control unit 70 and, if necessary, the front wheel motor 24, 26, data regarding the operating state of the motor 36, voltages Vc1, Vc2, terminals Ic1, Ic2, charging currents Ic1, Tc2, temperatures Tc1, Tc2, terminals of the smoothing capacitors 43, 45, 47 of the first capacitor 50 and the second capacitor 51 Vcfr, Vcfl, Vcr, currents Ifr, Ifl, Ir applied to the inverters 42, 44, 46, etc. are output to the main electronic control unit 70. The motor ECU 40 also calculates the rotational speeds Nfl, Nfr, Nm of the front wheel motors 24, 26 and the motor 36 based on signals from the rotational position detection sensors 25, 27, 37.

  The engine 32 is an internal combustion engine that outputs power using hydrocarbon fuel such as gasoline or light oil, and the main electronic control unit 70 that receives signals from various sensors that detect the operating state of the engine 32 causes the fuel injection amount and ignition. Control of timing, intake air volume, etc.

  The transmission 34 is configured as, for example, a hydraulically driven six-speed transmission, and is upshifted or downshifted by a main electronic control unit 70 that inputs signals based on operations of the up switch 81 and the down switch 82 by the driver. Shift control is performed.

  The ECB 60 has a master cylinder 61 that is pressurized when the brake pedal 85 is depressed, and a braking torque that corresponds to the share of the ECB 60 in the braking force that should be applied to the vehicle in accordance with the pressure (brake pedaling force) of the master cylinder 61. A brake actuator 64 that adjusts the hydraulic pressure to the wheel cylinders 66a, 66b, 68a, 68b so as to act on the left and right front wheels 29a, 29b and the left and right rear wheels 39a, 39b, and an electronic control unit for brake that controls the drive of the brake actuator 64 ( (Hereinafter referred to as “brake ECU”) 62. The brake ECU 62 includes a master cylinder pressure (brake pedaling force Fb) detected by a master cylinder pressure sensor 61a attached to the master cylinder 61 and wheel speeds (not shown) provided on the left and right front wheels 29a and 29b and the left and right rear wheels 39a and 39b. The wheel speed from the sensor is input, and the brake ECU 62 outputs a drive signal to the brake actuator 64. The brake ECU 62 communicates with the main electronic control unit 70, and applies braking torque to the left and right front wheels 29 a and 29 b and the left and right rear wheels 39 a and 39 b according to a control signal from the main electronic control unit 70, as well as the ECB 60. Data on the state is output to the main electronic control unit 70.

  The main electronic control unit 70 is configured as a microprocessor centered on the CPU 72. In addition to the CPU 72, a ROM 74 for storing processing programs, a RAM 76 for temporarily storing data, an input / output port and a communication port (not shown). With. The main electronic control unit 70 is provided with an accelerator pedal position sensor 84 that is attached to the steering and detects a signal from an up switch 81 or a down switch 82 that instructs an upshift or downshift of the transmission 34 or an amount of depression of an accelerator pedal 83. The accelerator pedal opening Acc, the brake pedal position BP from the brake pedal position sensor 86 for detecting the depression amount of the brake pedal 85, and the like are input via the input port. As described above, the main electronic control unit 70 is connected to the motor ECU 40, the capacitor ECU 52, and the brake ECU 62 via the communication port, and exchanges various control signals and data with the motor ECU 40 and the brake ECU 62.

  The thus configured hybrid vehicle 20 of the embodiment adjusts the intake air amount of the engine 32 in accordance with the amount of depression of the accelerator pedal 83 and uses the electric power stored in the first capacitor 50 and the second capacitor 51 for front wheels. Torque is output from the motors 24 and 26 and the motor 36, and brake torque corresponding to the depression force (stepping force) of the brake pedal 85 is output from the ECB 60 and the front wheel motors 24 and 26 and the motor 36. 26, the regenerative electric power obtained by the output of the regenerative torque of the motor 36 is stored in the first capacitor 50 and the second capacitor 51.

  Next, an operation when the hybrid vehicle 20 of the embodiment is turned off, particularly an operation when the system is turned off when any of the front wheel motors 24 and 26 and the motor 36 is abnormal will be described. FIG. 3 is a flowchart showing an example of a system-off control routine executed by the motor ECU 40 that has received a system-off control signal transmitted from the main electronic control unit 70 when a system-off is requested. In the hybrid vehicle 20 according to the embodiment, when an abnormality occurs in any of the front wheel motors 24 and 26 and the motor 36, the relay corresponding to the motor in which the abnormality has occurred is turned off to disconnect the motor in which the abnormality has occurred. And run.

  When the system-off control routine is executed, the motor ECU 40 first turns off the relays 55, 55a, 56 as power supply relays that cut off the first capacitor 50 and the second capacitor 51 (step S100), and the front wheel motor 24, It is determined whether or not any of the motors 26 and 36 is abnormal (step S110). Whether or not an abnormality has occurred in the motor can be determined based on whether or not the relay is turned off.

  When any of the front wheel motors 24 and 26 and the motor 36 is normal, the relays 57a, 58a and 59a for all the motors are turned off (step S120), and any of the front wheel motors 24 and 26 and the motor 36 is turned off. In addition, switching control of the switching elements of the inverters 42, 44, 46 is performed so that the d-axis current also flows (step S130). Then, the voltages Vfr, Vfl, Vr from the voltage sensors 42a, 44a, 46a attached between the terminals of the smoothing capacitors 43, 45, 47 corresponding to each motor are input (step S140), and the input voltages Vfr, It is determined whether or not one of Vfl and Vr has reached the value 0 (step S150), and when either has reached the value 0, the corresponding inverter is shut off (step S160), and the smoothing capacitors 43, 45, The process returns to the process of inputting 47 voltages Vfr, Vfl, Vr. Then, when the voltages Vfr, Vfl, Vr of all the smoothing capacitors 43, 45, 47 reach the value 0 and all the inverters 42, 44, 46 are gate-blocked (step S170), this routine is finished. By such control, the charge of all the smoothing capacitors 43, 45, 47 can be discharged. Of course, when the system is turned off, the first capacitor 50 and the second capacitor 51, the front wheel motors 24 and 26, and the motor 36 can be completely shut off by finally turning off all the relays.

  On the other hand, if any one of the front wheel motors 24, 26, and motors 36 is abnormal, the other relays are turned off except for the relay for one normal motor (step S180), and the abnormality occurs. The relay for the motor being turned on is turned on (step S190). For example, when an abnormality occurs in the front wheel motor 24, the relay 59a for the front wheel motor 26 is held in an ON state, the relay 57a for the motor 36 is turned off, and the relay 58a for the front wheel motor 24 is turned on. As a result, the smoothing capacitor 43 for the front wheel motor 24 is connected to the smoothing capacitor 45 and the inverter 44 because the relays 58a and 59a are on. When abnormality occurs in the two motors 24 and 26 for the front wheels, the relay 57a for the motor 36 is held in the ON state and the relays 58a and 59a for the motors 24 and 26 for the front wheel are turned on. As a result, the smoothing capacitors 43 and 45 for the front wheel motors 24 and 26 are connected to the smoothing capacitor 47 and the inverter 46 because the relays 57a, 58a and 59a are on.

  Then, switching control of the corresponding inverter switching element is performed so that the d-axis current flows to the motor except for the motor in which the abnormality has occurred (step S200), and between the terminals of the smoothing capacitors 43, 45, 47 corresponding to each motor. Voltages Vfr, Vfl, Vr from the attached voltage sensors 42a, 44a, 46a are input (step S210), and it is determined whether any of the input voltages Vfr, Vfl, Vr has reached the value 0 ( In step S220), when any of the values reaches 0, the corresponding inverter is gate-cut (step S230), and the process returns to the process of inputting the voltages Vfr, Vfl, Vr of the smoothing capacitors 43, 45, 47. When the voltages Vfr, Vfl, Vr of all the smoothing capacitors 43, 45, 47 reach the value 0 and all of the inverters 42, 44, 46 are gate-blocked (step S240), the front wheel motors 24, 26 , The relays 57a, 58a, 59a for all the motors 36 are turned off (step S250), and this routine is terminated. By such control, even when any one of the front wheel motors 24, 26, and the motor 36 is abnormal, all of the smoothing capacitors 43, 45, 47 including the smoothing capacitor for the motor in which the abnormality has occurred. Charged charge can be discharged. Of course, when the system is turned off, the first capacitor 50 and the second capacitor 51, the front wheel motors 24 and 26, and the motor 36 can be completely shut off by finally turning off all the relays.

  According to the hybrid vehicle 20 of the embodiment described above, when any of the front wheel motors 24 and 26 and the motor 36 is abnormal when the system is off, the power supply relays 55, 55a and 56 are turned off. Then, with the exception of the relay for one normal motor, the other relays are turned off and the relay for the abnormal motor is turned on, so that the d-axis current flows through the motor except for the abnormal motor. Switching control of the switching elements of the inverters is performed, and the inverters 42, 44, 45, 47, 45, 47 are sequentially gated in the order in which the voltages Vfr, Vfl, Vr between the terminals of the smoothing capacitors 43, 45, 47 corresponding to the respective motors reach the value 0. When all the gates 46 are shut off, the front wheel motors 24 and 26 and the motor 36 are all connected. By turning off the relays 57a, 58a, 59a, even if any of the front wheel motors 24, 26, or the motor 36 is abnormal, all the smoothing including the smoothing capacitor for the motor in which the abnormality has occurred is performed. The charge of the capacitors 43, 45, 47 for use can be discharged. Of course, when the system is turned off, the first capacitor 50 and the second capacitor 51, the front wheel motors 24 and 26, and the motor 36 can be completely shut off by finally turning off all the relays.

  In the hybrid vehicle 20 of the embodiment, when any of the front wheel motors 24, 26, and the motor 36 is abnormal when the system is off, the power supply relays 55, 55a, 56 are turned off, and the normal one Switching off the other relays except for one motor and turning on the relays for the motor in which an abnormality has occurred, and switching the corresponding inverter switching element so that the d-axis current flows in the motor except for the motor in which the abnormality has occurred. Switching control is performed, and the inverters corresponding to the voltages Vfr, Vfl, and Vr between the terminals of the smoothing capacitors 43, 45, and 47 corresponding to each motor are gate-cut off in order, and all of the inverters 42, 44, and 46 are gated. Relays 57a for the front wheel motors 24 and 26, all motors 36 when the motor is shut off, 8a and 59a are turned off. If any of the front wheel motors 24 and 26 and the motor 36 is abnormal when the system is off, the power relays 55, 55a and 56 are turned off. The relay for the motor in which an abnormality has occurred is kept on while maintaining the relay ON state for the normal motor, and the corresponding inverter is controlled so that the d-axis current flows to one or two of the normal motors. When the voltage between the terminals of the smoothing capacitor corresponding to the motor carrying the shaft current reaches the value 0, all the inverters 42, 44, 46 including the corresponding inverter are gate-cut off and the front wheel motors 24, 26 The relays 57a, 58a, 59a for all the motors 36 may be turned off.

  In the hybrid vehicle 20 of the embodiment, when there is no abnormality in any of the front wheel motors 24 and 26 and the motor 36 when the system is off, the relays 57a, 58a and 59a for all the motors are turned off and all the motors are turned off. The switching elements of the inverters 42, 44, and 46 are controlled so that the d-axis current flows, and the corresponding inverters in the order in which the voltages Vfr, Vfl, and Vr of the smoothing capacitors 43, 45, and 47 corresponding to the respective motors have reached the value 0. The gate is shut off and the operation is terminated when all of the inverters 42, 44, and 46 are shut off. However, when no abnormality occurs in any of the front wheel motors 24 and 26 and the motor 36 when the system is off, For front wheels, keeping relays 57a, 58a, 59a on for all motors The switching elements of the inverters 42, 44, 46 are controlled so that the d-axis current flows in any one, two or all of the motors 24, 26 and the motor 36, and the voltages Vfr, When either Vfl or Vr reaches the value 0, all of the inverters 42, 44 and 46 may be shut off, and all of the relays 57a, 58a and 59a may be turned off and the process may be terminated.

  In the hybrid vehicle 20 of the embodiment, the three motors of the front wheel motors 24 and 26 and the motor 36 are connected in parallel to the first capacitor 50 and the second capacitor 51, but the two motors are connected to the first capacitor. 50 and the second capacitor 51 may be connected in parallel, or four or more motors may be connected in parallel to the first capacitor 50 and the second capacitor 51. In the hybrid vehicle 20 of the embodiment, the two capacitors, the first capacitor 50 and the second capacitor 51, are connected in parallel to the front wheel motors 24, 26 and the motor 36. However, three or more capacitors are used. May be connected in parallel to the front wheel motors 24, 26 and the motor 36, or a single capacitor may be connected to the front wheel motors 24, 26 and the motor 36.

  In the hybrid vehicle 20 of the embodiment, the first capacitor 50 and the second capacitor 51 are connected in parallel to the front wheel motors 24, 26 and the motor 36, but two instead of the first capacitor 50 and the second capacitor 51 are used. The secondary battery may be connected to the front wheel motors 24 and 26 and the motor 36.

  In the hybrid vehicle 20 of the embodiment, relays 55 and 56 are attached so as to be interposed between the positive electrode bus bar 54a and the positive terminals of the first capacitor 50 and the second capacitor 51, and the negative electrode bus bar 54b and the front wheel motors 24, 26, The relays 57a, 58a, 59a are attached so as to be interposed between the negative terminals of the inverters 42, 44, 46 of the motor 36. However, the negative bus bar 54b, the negative terminals of the first capacitor 50 and the second capacitor 51, The relays 55 and 56 are attached so as to be interposed between the positive electrode bus bar 54a and the front wheel motors 24 and 26, and the positive terminals of the inverters 42, 44 and 46 of the motor 36 are attached with relays 57a, 58a and 59a. It is good. Further, the relay 55 is interposed between the positive electrode bus bar 54 a and the positive electrode side terminals of the first capacitor 50 and the second capacitor 51, and is interposed between the negative electrode bus bar 54 b and the negative electrode side terminals of the first capacitor 50 and the second capacitor 51. , 56 are interposed between the positive electrode bus bar 54a and the front wheel motors 24 and 26, and the positive terminals of the inverters 42, 44 and 46 of the motor 36, and the negative electrode bus bar 54b, the front wheel motors 24 and 26 and the motor 36 The relays 57a, 58a, 59a may be attached so as to be interposed between the negative terminals of the inverters 42, 44, 46. Further, the relay 55 is interposed between the positive electrode bus bar 54 a and the positive electrode side terminals of the first capacitor 50 and the second capacitor 51, and is interposed between the negative electrode bus bar 54 b and the negative electrode side terminals of the first capacitor 50 and the second capacitor 51. , 56, and relays 57a, 58a, 59a to be interposed between the positive electrode bus bar 54a and the positive side terminals of the inverters 42, 44, 46 of the front wheel motors 24, 26 and motor 36, Relays 55 and 56 are attached so as to be interposed between the positive electrode side terminals of the first capacitor 50 and the second capacitor 51 and to be interposed between the negative electrode bus bar 54 b and the negative electrode side terminals of the first capacitor 50 and the second capacitor 51. Bus bar 54b, front wheel motors 24 and 26, and inverters 42 and 4 of motor 36 Relay 57a so interposed with the negative terminal of the 46, 58a, may or install a 59a.

  In the embodiment, the best mode for carrying out the present invention has been described as applied to the hybrid vehicle 20. However, a drive device mounted on a vehicle other than the hybrid vehicle may be used, and a drive device not mounted on the vehicle may be used. It is good also as a form. Moreover, it does not matter as a form of the control method of the driving device.

  The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problems will be described. In the embodiment, the front wheel motors 24 and 26 and the motor 36 correspond to “a plurality of electric motors”, the first capacitor 50 and the second capacitor 51 correspond to “electric storage means”, and the positive electrode bus bar 54a corresponds to “positive electrode connection”. The negative electrode bus bar 54b corresponds to the “negative electrode connection member”, the relays 55 and 56 correspond to the “relay for power supply”, and the relays 57a, 58a, and 59a correspond to “the relays for a plurality of motors”. The smoothing capacitors 43, 45, and 47 correspond to “a plurality of smoothing capacitors”. If any of the front wheel motors 24 and 26 and the motor 36 is abnormal when the system is off, the power supply relays 55, 55a and 56 are turned off, and the relay for one normal motor is removed. The other relays are turned off and the relay for the motor in which the abnormality has occurred is turned on, and the switching elements of the corresponding inverters are switched so that the d-axis current flows in the motor except for the motor in which the abnormality has occurred. The gates of the inverters corresponding to the voltages Vfr, Vfl, Vr between the terminals of the smoothing capacitors 43, 45, 47 corresponding to the value 0 are shut off, and the front wheels are turned off when all of the inverters 42, 44, 46 are shut off. The relays 57a, 58a and 59a for all the motors 24 and 26 and motor 36 are turned off. Step System OFF control routine S100, S110, motor ECU40 executing the processing in S180~S250 correspond to the "control means".

  Here, the “plurality of electric motors” is not limited to the front wheel motors 24 and 26 and the motors 36 configured as synchronous generator motors, and may be two motors or four or more motors. The type is not limited to the synchronous generator motor. The “power storage means” is not limited to the first capacitor 50 and the second capacitor 51, and may be a single capacitor, three or more capacitors, a secondary battery, and the like. As long as the exchange of electric power is possible, it does not matter. The “positive electrode connection member” is not limited to the positive electrode bus bar 54a formed of a conductive material, and is connected to the positive electrode of the power storage means and connected to each positive electrode side terminal of the plurality of electric motors. Any material can be used as long as it has conductivity. The “negative electrode connecting member” is not limited to the negative electrode bus bar 54b formed of a conductive material, and is connected to the negative electrode of the power storage means and connected to each negative electrode side terminal on the plurality of motor sides. Any material can be used as long as it has conductivity. The “relay for power supply” is not limited to the relays 55 and 56 interposed between the positive electrode bus bar 54a and the positive terminals of the first capacitor 50 and the second capacitor 51, but the negative electrode bus bar 54b and the first capacitor. 50 and the negative relay terminal of the second capacitor 51, or the positive relay bus bar 54a and the positive terminal of the first capacitor 50 and the second capacitor 51, and the negative bus bar 54b and the first relay. Any one that electrically connects and disconnects the positive electrode connecting member and the negative electrode connecting member of the power storage means, such as two relays interposed between the capacitor 50 and the negative electrode side terminal of the second capacitor 51. It doesn't matter what. The "plurality of electric motor relays" is limited to the relays 57a, 58a, 59a interposed between the negative electrode bus bar 54b, the front wheel motors 24, 26, and the negative terminals of the inverters 42, 44, 46 of the motor 36. Instead, the relays are three relays interposed between the positive electrode bus bar 54a, the front wheel motors 24, 26, and the positive terminals of the inverters 42, 44, 46 of the motor 36, or the positive bus bar 54a and the front wheel motors 24, 26, Three relays that are interposed between the positive terminals of the inverters 42, 44, and 46 of the motor 36 and that are interposed between the negative bus bar 54b, the front wheel motors 24 and 26, and the negative terminals of the inverters 42, 44, and 46 of the motor 36. For example, a plurality of electric motors can be electrically connected to and disconnected from a positive electrode connecting member and a negative electrode connecting member. As long as it performs the may be any ones. The “plurality of smoothing capacitors” is not limited to the smoothing capacitors 43, 45, and 47, and may be any as long as it is attached to the plurality of motors from the plurality of motor relays. . As the “control means”, when any one of the front wheel motors 24, 26, and the motor 36 is abnormal when the system is off, the power relays 55, 55a, 56 are turned off, Other relays are turned off except for the relay for the motor, and the relay for the motor in which the abnormality has occurred is turned on, and the switching element of the corresponding inverter is switched so that the d-axis current flows in the motor except for the motor in which the abnormality has occurred The inverters corresponding to the motors in the order in which the voltages Vfr, Vfl, and Vr between the terminals of the smoothing capacitors 43, 45, and 47 reach the value 0 are gated, and all the inverters 42, 44, and 46 are gated. Relays 57a, 58a and 59a for all motors of the front wheel motors 24 and 26 and the motor 36 when The power supply relays 55, 55a, 56 are turned off when any of the front wheel motors 24, 26, motor 36 is abnormal when the system is turned off. The relay for the motor in which an abnormality has occurred is kept on while maintaining the relay ON state for the normal motor, and the corresponding inverter is controlled so that the d-axis current flows to one or two of the normal motors. When the voltage between the terminals of the smoothing capacitor corresponding to the motor carrying the shaft current reaches the value 0, all the inverters 42, 44, 46 including the corresponding inverter are gate-cut off and the front wheel motors 24, 26 , The relays 57a, 58a, 59a for all the motors 36 are turned off. When the system is off from the state where the system is off When the system is off, the power relay controls the power relay so that the electrical connection to the positive electrode connecting member and the negative electrode connecting member of the power storage means is released by the power relay, and the electric motor related to the abnormality The motor for the abnormality is electrically connected to the positive electrode connecting member and the negative electrode connecting member by the electric motor relay, and the electric motor relay for at least one electric motor other than the abnormal electric motor among the plurality of electric motors Other than the motor related to the abnormality among the plurality of motors so that all the voltages of the plurality of smoothing capacitors are substantially 0 in a state where one motor is electrically connected to the positive electrode connecting member and the negative electrode connecting member. All of the motors are controlled after all the voltages of the smoothing capacitors are controlled to approximately 0 by controlling the motors. However, any device may be used as long as it controls a plurality of relays for electric motors so that the electrical connection to the positive electrode connection member and the negative electrode connection member is released.

  The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problem is the same as that of the embodiment described in the column of means for solving the problem. It is an example for specifically explaining the best mode for doing so, and does not limit the elements of the invention described in the column of means for solving the problem. That is, the interpretation of the invention described in the column of means for solving the problems should be made based on the description of the column, and the examples are those of the invention described in the column of means for solving the problems. It is only a specific example.

  The best mode for carrying out the present invention has been described with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made without departing from the gist of the present invention. Of course, it can be implemented in the form.

  The present invention can be used in the manufacturing industry of a drive device and a vehicle equipped with the drive device.

1 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 20 developed for a race as one embodiment of the present invention. It is a block diagram which shows an example of a structure of the electric system of the hybrid vehicle 20 of an Example. 4 is a flowchart showing an example of a system off control routine executed by a motor ECU 40 that has received a system off control signal transmitted from the main electronic control unit 70 when a system off is requested.

Explanation of symbols

  20 hybrid vehicle, 21 front wheel drive system, 24, 26 front wheel motor, 25, 27 rotational position detection sensor, 29a, 29b front wheel, 31 rear wheel drive system, 32 engine, 33 crankshaft, 33a clutch, 34 transmission, 36 motor , 37 Rotational position detection sensor, 38 Differential gear, 39a, 39b Rear wheel, 40 Motor electronic control unit (motor ECU), 42, 44, 46 Inverter, 42a, 44a, 46a, 50a, 51a Voltage sensor, 42b, 44b , 46b, 50b, 51b Current sensor, 43, 45, 47 Smoothing capacitor, 50 First capacitor, 51 Second capacitor, 50c, 51c Temperature sensor, 54 Junk box, 55, 55a, 56, 57a, 58a, 59a Relay , 5b Resistance, 57b, 58b, 59b Fuse, 60 Electronically controlled hydraulic brake unit (ECB), 61 Master cylinder, 61a Master cylinder pressure sensor, 62 Brake electronic control unit (brake ECU), 64 Brake actuator, 66a, 66b, 68a, 68b wheel cylinder, 70 main electronic control unit, 72 CPU, 74 ROM, 76 RAM, 81 up switch, 82 down switch, 83 accelerator pedal, 84 accelerator pedal position sensor, 85 brake pedal, 86 brake pedal position sensor.

Claims (7)

A drive device comprising a plurality of electric motors and a power storage means capable of exchanging electric power with the plurality of electric motors,
A positive electrode connecting member connected to the positive electrode of the power storage means and connected to each positive electrode side terminal of the plurality of electric motors;
A negative electrode connection member connected to the negative electrode of the power storage means and connected to each negative electrode side terminal of the plurality of electric motors;
A power relay that performs electrical connection to and disconnection from the positive electrode connection member and the negative electrode connection member of the power storage means;
A plurality of motor relays that perform electrical connection to the positive electrode connection member and the negative electrode connection member of the plurality of motors and release of the connection for each of the plurality of motors;
A plurality of smoothing capacitors attached to the plurality of motors from the plurality of motor relays;
Electrical connection of the power storage means to the positive electrode connecting member and the negative electrode connecting member by the power supply relay when the system is turned off from an abnormal state in any of the plurality of electric motors The power relay is controlled so as to be released, and the motor related to the abnormality is electrically connected to the positive electrode connecting member and the negative electrode connecting member by the electric motor relay for the electric motor related to the abnormal The plurality of electric motors in a state where the at least one electric motor is electrically connected to the positive electrode connecting member and the negative electrode connecting member by a motor relay for at least one electric motor other than the motor related to the abnormality among the plurality of electric motors. Of the plurality of electric motors according to the abnormality so that all the voltages of the smoothing capacitors are substantially zero After the external motor is controlled and all the voltages of the plurality of smoothing capacitors reach a value of approximately 0, all of the plurality of motors are electrically connected to the positive electrode connection member and the negative electrode connection member. Control means for controlling the plurality of electric motor relays so that is released,
A drive device comprising:   When the system is off at the time of abnormality, the control means is a motor relay that excludes a motor relay for the motor related to the abnormality and a motor relay for one motor other than the motor related to the abnormality among the plurality of relays for motor The plurality of smoothing capacitors in a state in which electrical connection to the positive electrode connection member and the negative electrode connection member of the electric motor other than the electric motor related to the abnormality and the one electric motor among the plurality of electric motors is released. 2. The drive device according to claim 1, wherein the drive unit is a unit that controls a motor other than the motor related to the abnormality among the plurality of motors such that the voltage of the first motor is approximately zero. The drive device according to claim 1 or 2,
The power supply relay connects and disconnects one of the positive electrode and the negative electrode of the power storage means and the connection member connected to the one of the positive electrode connection member and the negative electrode connection member. Relay,
The motor relay includes a positive electrode terminal and a negative electrode on each of the plurality of electric motors, the other connecting member being different from the connecting member connected to the one electrode among the positive electrode connecting member and the negative electrode connecting member. It is a relay that performs connection and release of the terminal connected to the other connecting member among the side terminals,
Drive device. The drive device according to any one of claims 1 to 3,
The power storage means is a plurality of capacitors,
The power supply relay is a plurality of relays that perform electrical connection to and disconnection from the positive connection member and the negative connection member of each of the plurality of capacitors.
Drive device.   A vehicle on which the drive device according to any one of claims 1 to 4 is mounted and travels by power from the plurality of electric motors. The vehicle according to claim 5,
An internal combustion engine;
A transmission for shifting the power from the internal combustion engine and transmitting it to the rear wheel side;
With
One of the plurality of electric motors is a rear wheel electric motor that outputs power to the rear wheel side through the transmission.
One of the plurality of electric motors is a front wheel electric motor that outputs power to the front wheel side.
vehicle. A plurality of electric motors, a power storage means capable of exchanging electric power with the plurality of motors, a positive electrode connecting member connected to a positive terminal of each of the plurality of motors and connected to a positive electrode of the power storage means A negative electrode connecting member connected to the negative electrode of the power storage means and connected to each negative electrode side terminal of the plurality of electric motors; and electricity to the positive electrode connecting member and the negative electrode connecting member of the power storage means A relay for power supply that performs general connection and connection release, and a plurality of relays that perform electrical connection to and disconnection from the positive electrode connection member and the negative electrode connection member for each of the plurality of electric motors. A method for controlling a drive device comprising: a relay for an electric motor; and a plurality of smoothing capacitors attached to the plurality of electric motors from the plurality of electric motor relays,
Electrical connection of the power storage means to the positive electrode connection member and the negative electrode connection member by the power supply relay when the system is turned off from an abnormal state in any of the plurality of electric motors The power relay is controlled so as to be released, and the motor related to the abnormality is electrically connected to the positive electrode connecting member and the negative electrode connecting member by the electric motor relay for the electric motor related to the abnormal The plurality of electric motors in a state where the at least one electric motor is electrically connected to the positive electrode connecting member and the negative electrode connecting member by a motor relay for at least one electric motor other than the motor related to the abnormality among the plurality of electric motors. Of the plurality of electric motors according to the abnormality so that all the voltages of the smoothing capacitors are substantially zero After the external motor is controlled and all the voltages of the plurality of smoothing capacitors reach a value of approximately 0, all of the plurality of motors are electrically connected to the positive electrode connection member and the negative electrode connection member. Controlling the plurality of motor relays so that is released.
A control method for a driving device.

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