JP2013005590A - Motor controller of electric vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor controller, capable of shifting a vehicle to a safe state to avoid danger, even when a drive command is not received from a vehicle integrated control unit.SOLUTION: The motor controller (10) of an electric vehicle receives the drive command from the vehicle integrated control unit (100) for aggregating the information of each part of the vehicle to control the motor. The motor controller (10) has a mode switching function part (11a), which self-determines whether or not it is a state in which the motor control cannot be continued, and when determining that it is the state in which the motor control cannot be continued, switches to an abnormal stop mode which performs the abnormal stop of the motor (110), and a torque limiting function part (11b), which limits the torque so that the torque limiting may become severer gradually, when the operation mode is switched to the abnormal stop mode by the mode switching function part (11a).

Description

  The present invention relates to a motor control device for an electric vehicle that performs motor control in response to an operation command such as a torque command from a vehicle integrated control unit.

  Developed a vehicle control system that collects information on the entire vehicle to the vehicle integrated control unit (EV-ECU), directs the operation from the vehicle integrated control unit to each component, and realizes vehicle control such as traveling and charging and fail-safe. (For example, refer to Patent Document 1).

  FIG. 5 is a conceptual diagram of a vehicle control system that gives an operation command from the vehicle integrated control unit to the motor control device. The vehicle integrated control unit 100 collects information such as accelerator information F1 (accelerator operation amount) and shift lever information F2 (shift position position), and calculates output torque based on the accelerator operation amount, shift position position, and the like. At this time, the vehicle integrated control unit 100 collects motor temperature information F3, which is the temperature of the traveling motor 110, battery remaining information F4 indicating the remaining amount of the motor battery, vehicle speed information F5, and brake information F6. Therefore, the output torque can be calculated in consideration of such information. The motor control device 120 drives the motor 110 so as to obtain the instructed torque output based on the operation command supplied from the vehicle integrated control unit 100 via the communication function.

Japanese Patent Laid-Open No. 08-317501 JP-A-10-248104 JP 2006-262587 A JP 2007-168564 A

  However, since the vehicle control system is configured to give an operation command to the motor control device from the vehicle integrated control unit, when a communication abnormality occurs between the vehicle integrated control unit and the motor control device, the motor control device However, there is a problem that vehicle operation via the motor control device is hindered. For example, if a motor control device that can no longer receive an operation command from the vehicle integrated control unit stops motor control and enters a free-running (coasting) state, regenerative braking by the motor will not work, or before moving to a safe place There is a problem that the vehicle stops.

  The present invention has been made in view of the above points, and provides a motor control device for an electric vehicle that can shift a vehicle to a safe state and avoid danger even when the operation command is not received from the vehicle integrated control unit. The purpose is to provide.

  Whether or not the motor control device for an electric vehicle according to the present invention is in a state in which motor control cannot be continued in the motor control device for an electric vehicle that performs motor control in response to an operation command from a vehicle integrated control unit that collects information on each part of the vehicle. If the determination means determines that the motor control cannot be continued, the mode switching means for switching to an abnormal stop mode for abnormally stopping the motor, and the mode switching means sets the operation mode. Torque limiting means for limiting the torque so that the torque limit becomes stricter step by step when switched to the abnormal stop mode is provided.

  According to this electric vehicle motor control device, when it is determined that the motor control cannot be continued by self-determination, the motor is switched to the abnormal stop mode for abnormally stopping the motor so that the torque limit becomes stricter step by step. Since the torque is limited, even if the operation command cannot be received from the vehicle integrated control unit and the motor control cannot be continued, the vehicle can be shifted to a safe state.

  In the motor control device for an electric vehicle according to the present invention, the mode switching means takes in motor temperature information and monitors the motor temperature. If the motor temperature exceeds an alarm temperature, the operation mode is switched to an abnormality avoidance mode. If the motor temperature exceeds an abnormal temperature higher than the alarm temperature in the abnormal avoidance mode, the operation mode is switched to the abnormal stop mode, and the torque limiting means lowers the upper limit value of the motor rotation speed in the abnormal avoidance mode. The torque is limited so as not to exceed the value.

  According to this electric vehicle motor control device, if the motor temperature exceeds the alarm temperature, the operation mode is switched to the abnormality avoidance mode, and the torque limit is set so as not to exceed the upper limit value by lowering the upper limit value of the motor speed. Therefore, it is possible to take an abnormality avoiding operation for lowering the motor temperature.

  According to the present invention, in the motor control apparatus for an electric vehicle, the mode switching unit takes in the remaining battery information of the motor battery and monitors whether the battery capacity is insufficient before arrival at the destination. If it is determined that it occurs, the operation mode is switched to the abnormality avoidance mode, and the torque limiting means limits the torque so as to suppress an increase in the output torque in the abnormality avoidance mode.

  According to this electric vehicle motor control device, if it is determined that the battery capacity is insufficient before arrival at the destination, the operation mode is switched to the abnormal avoidance mode and the torque is limited so as to suppress the increase in the output torque. Abnormality avoidance operation that suppresses consumption can be taken.

  The present invention provides the motor control device for an electric vehicle, further comprising an emergency movement switch for directly inputting an emergency movement command signal to the mode switching means, wherein the mode switching means is the emergency movement switch when the vehicle is stopped. When the emergency movement command signal is given from the operation mode, the operation mode is switched to the emergency movement mode, and the torque limiting means limits the torque in the emergency movement mode so that the output torque can temporarily run at the slow speed level. It is characterized by.

  According to this electric vehicle motor control device, when an emergency movement command signal is given from the emergency movement switch, the operation mode is switched to the emergency movement mode, and the torque is set so as to be an output torque capable of temporarily traveling at a slow speed level. Therefore, the vehicle can be urgently moved to a predetermined position by temporary slowing down.

  According to the present invention, even if the driving command cannot be received from the vehicle integrated control unit, the vehicle can be shifted to a safe state to avoid danger.

It is a conceptual diagram of the vehicle control system provided with the motor control apparatus of the electric vehicle which concerns on one Embodiment. It is a functional block diagram which shows the structure of the function part of the motor control apparatus shown in FIG. It is a transition diagram of the operation mode of the motor control device in one embodiment. It is a figure which shows the relationship between motor temperature, alarm temperature, abnormal temperature, and recovery temperature. It is a conceptual diagram of the conventional vehicle control system.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
In the normal operation mode, the motor control device for an electric vehicle according to the present embodiment receives the operation command from the vehicle integrated control unit, executes torque control, and performs motor control even if the operation command cannot be received from the vehicle integrated control unit. The operation mode is switched by self-determination of the device itself to avoid danger.

  FIG. 1 is a conceptual diagram of a vehicle control system including an electric vehicle motor control device according to the present embodiment. The motor control device 10 includes a mode switching function unit 11a that switches the operation mode by self-determination, a torque limitation function unit 11b that limits torque according to the operation mode, and a motor control function unit 11c that executes motor control. The motor temperature information F3, the battery remaining amount information F4, and the speed information F5 are input in parallel to the motor control device 10 and the vehicle integrated control unit 100. The motor control device 10 is input with distance information F7 indicating the distance from the navigation system mounted on the vehicle to the destination (including the next charging point), and from an emergency movement switch 11 described later provided on the vehicle. An emergency movement command signal is input. The vehicle integrated control unit 100 has the same function as that shown in FIG. 5, collects information such as the accelerator information F1 and the shift lever information F2, and outputs the output torque based on the accelerator operation amount and the shift position position. An operation command corresponding to the output torque calculation result is output to the motor control device 10.

  FIG. 2 is a functional block diagram illustrating a configuration of a functional unit of the motor control device 10. As shown in the figure, the mode switching function unit 11a of the motor control device 10 monitors the motor temperature of the motor 110 and determines whether or not mode switching is necessary, and a battery serving as a power source for the motor 110. A battery capacity shortage monitoring unit 22 that monitors whether or not mode switching is necessary and monitors whether or not mode switching is necessary from a remaining capacity of the motor, and a motor continuous control impossibility monitoring unit that monitors whether motor control is continued and whether mode switching is necessary And an emergency movement instruction monitoring unit 24 that monitors the presence or absence of an emergency movement instruction when the vehicle is stopped.

  The motor temperature monitoring unit 21 takes in the motor temperature information F3 and monitors the motor temperature of the motor 110. If the motor temperature exceeds the alarm temperature, the motor temperature monitoring unit 21 switches the mode to the abnormality avoidance mode. Mode switching is executed so that the normal operation mode is restored when the temperature drops to the recovery temperature.

  When the battery capacity shortage monitoring unit 22 takes in the battery remaining amount information F4 and the distance information F7 and determines that the current operation state is continued and the battery capacity shortage occurs before arrival at the destination (or within a predetermined time), the power saving mode is set. When the possibility of switching and the lack of battery capacity is resolved, mode switching is executed so as to return to the normal operation mode.

  The motor continuation control impossibility monitoring unit 23 determines that the motor control cannot be continued and enters an abnormal stop mode when a state in which an operation command cannot be received from the vehicle integrated control unit 100 due to some event such as communication abnormality occurs. Switch.

  Further, the motor continuity control impossibility monitoring unit 23 fetches the motor temperature information F3 and determines that the motor temperature has reached an abnormal temperature, or fetches the battery remaining amount information F4 and the remaining battery amount has reached a certain value or less. If it is determined that the motor control cannot be continued, it is switched to the abnormal stop mode.

  The emergency movement instruction monitoring unit 24 monitors whether or not an emergency movement command signal is input from the emergency movement switch 11 of the vehicle when the vehicle is stopped, and switches to the emergency movement mode when the emergency movement command signal is detected.

  The torque limiting function unit 11b, in any of the abnormal avoidance mode, the power saving mode, the abnormal stop mode, and the emergency movement mode, regardless of the operation command determined by the vehicle integrated control unit 100, Is given to the motor control function unit 11c. In the abnormality avoidance mode, torque limitation is performed to reduce the upper limit value of the motor rotation speed. The upper limit value of the motor speed is dynamically changed according to the change in motor temperature. In the power saving mode, in order to prevent an increase in battery capacity consumption due to sudden acceleration, a torque limit is added to the increase range of the output torque. In the abnormal stop mode, the torque limit is tightened in a stepwise manner with respect to the torque amount being output immediately before the transition to the abnormal stop mode, and the torque limit is applied so that the output torque is gradually lowered and regenerative braking is activated. In the emergency movement mode, the motor control stop restriction is released, and the torque restriction is applied so that a motor torque capable of temporarily traveling at a slow speed level is output.

  The motor control function unit 11c controls the torque output of the motor 110 based on the operation command given from the vehicle integrated control unit 100 in the normal operation mode. In addition, the motor control function unit 11c outputs the torque output of the motor 110 under the torque limit given from the torque limit function unit 11b in any of the abnormal avoidance mode, power saving mode, abnormal stop mode, and emergency movement mode. Control.

Next, the transition of the operation mode of the motor control apparatus 10 according to the present embodiment will be described with reference to FIG.
In the normal operation mode, the motor temperature monitoring unit 21, the battery capacity shortage monitoring unit 22, and the motor continuous control impossible monitoring unit 23 self-determine whether it is necessary to switch the operation mode. For example, as shown in FIG. 4, when the motor temperature exceeds the alarm temperature at time t1, the motor temperature monitoring unit 21 switches the operation mode to the abnormality avoidance mode (FIG. 3). As described above, in the abnormality avoidance mode, the motor temperature is lowered by the torque restriction of the torque restriction function unit 11b, so the upper limit value of the motor rotation speed is lowered. By lowering the upper limit value of the motor rotation speed, the maximum value of the motor rotation speed is suppressed and the motor temperature is lowered. Further, if the motor temperature continues to rise even when a torque limit that lowers the upper limiter is applied, the upper limiter value is further lowered to apply a more severe torque limit. As a result, for example, as shown in FIG. 4, when the motor temperature falls to the recovery temperature at time t2, the motor temperature monitoring unit 21 switches the operation mode to the normal operation mode and releases the torque limitation.

  Further, in the normal operation mode, the battery shortage monitoring unit 22 captures the battery remaining amount information F4, and also captures the distance information F7 from the car navigation system to the destination (or the next charging point) at a predetermined timing to arrive at the destination. Until the battery capacity is insufficient. If the battery capacity shortage monitoring unit 22 determines that the battery capacity is insufficient, the operation mode is switched to the power saving mode (FIG. 3). In the power saving mode, the torque limit of the torque limit function unit 11b suppresses the increase in output torque in order to prevent an increase in battery capacity consumption due to sudden acceleration. If it is determined that the battery capacity shortage until arrival at the destination has been resolved by traveling for a certain period of time in the power saving mode, the operation mode is switched to the normal operation mode, and the torque limit is released.

  On the other hand, if the motor temperature continues to rise and exceeds the abnormal temperature even in the abnormal avoidance mode, the motor continuation control impossibility monitoring unit 23 switches to the abnormal stop mode in which the vehicle is stopped in a safe state. In the abnormal stop mode, the motor control is not stopped immediately after entering the free-run state, but the torque limit is tightened in stages, and the output torque is controlled to gradually decrease. Then, after confirming from the speed information F5 that the vehicle speed is equal to or lower than the predetermined speed (about the slow speed), the motor control is stopped and control is performed so that torque output is not performed. As a result, regenerative braking can be applied in the process of stopping the vehicle in a safe state, and a free-run state can be prevented at a predetermined speed or higher.

  In the process of gradually decreasing the output torque in the abnormal stop mode, when the abnormality is recovered (when the motor temperature falls below the abnormal temperature), the limitation of the output torque is gradually weakened, and the vehicle integrated control unit 100 The operation command (torque command value) from is restored.

  Further, even if the battery capacity shortage is not resolved even in the power saving mode and the remaining battery level becomes a certain value or less, the motor continuation control impossibility monitoring unit 23 switches to an abnormal stop mode in which the vehicle is stopped in a safe state. The torque limiting operation until the vehicle stops in the abnormal stop mode is the same as the case where the abnormal avoidance mode is switched to the abnormal stop mode.

  In addition, the motor continuation control impossibility monitoring unit 23 determines that the motor control cannot be continued even when a state in which the operation command cannot be received from the vehicle integrated control unit 100 due to some event such as a communication abnormality occurs and the abnormality is detected. Switch to stop mode. In the conventional system, when a state in which an operation command cannot be received from the vehicle integrated control unit 100 occurs, the motor control is stopped and a free-run state is entered. In the present embodiment, switching to the abnormal stop mode is performed so that the torque limit is tightened gradually and the output torque is gradually reduced, so that it is possible to prevent a free-running state at a predetermined speed or higher.

  In the abnormal stop mode, the vehicle is stopped by gradually decreasing the output torque and finally stopping the motor control. This state is a stop mode (FIG. 3). Alternatively, when the operation switch is turned off and the engine is stopped, the vehicle enters the stop mode.

  When the emergency movement switch 11 is turned on while the vehicle is stopped in the stop mode, an emergency movement command signal is detected by the emergency movement instruction monitoring unit 24. When the emergency movement instruction monitoring unit 24 detects the emergency movement command signal, it switches the operation mode to the emergency movement mode (FIG. 3). In the emergency movement mode, the torque limit function unit 11b cancels the motor control stop limit, and outputs a torque command that becomes an output torque that can temporarily travel at a slow speed level (for example, 10 km / h or less). 11c. As a result, an output torque capable of temporarily traveling at a slow speed level is obtained in the emergency movement mode, and the vehicle can be slowly moved to a predetermined place (safe position). The slow traveling time in the emergency movement mode is limited to a certain time, and is switched to the stop mode after a certain time has elapsed.

  As described above, according to the present embodiment, when a state in which an operation command cannot be received from the vehicle integrated control unit 100 due to some event such as a communication abnormality occurs, the operation is switched to the abnormal stop mode by self-determination, and the torque is limited step by step. Is controlled so that the output torque is gradually reduced, so that it is possible to prevent a free-run state at a predetermined speed or higher and to safely shift the vehicle to a stopped state.

  Further, according to the present embodiment, before switching to the abnormal stop mode, the motor temperature change is monitored, and when the motor temperature exceeds the alarm temperature, the motor is switched to the abnormal avoidance mode and the upper limit value of the motor rotational speed is set. Therefore, the abnormal state can be avoided by taking the abnormality avoiding operation.

  In addition, according to the present embodiment, the battery remaining amount is monitored before switching to the abnormal stop mode, and if there is a high possibility that the battery capacity is insufficient, the operation mode is switched to the power saving mode to prevent an increase in battery capacity consumption. An abnormal state can be avoided by taking an abnormality avoiding operation.

  In addition, according to the present embodiment, if the emergency movement switch 11 is turned on while the vehicle is stopped, the operation mode is switched to the emergency movement mode, the motor control stop restriction is released, and the low speed level is temporarily set. Since traveling is possible, the vehicle can be slowly moved to a safe position.

  In addition, this invention is not limited to the said embodiment, It can implement variously. In the above-described embodiment, the functional block configuration illustrated in the accompanying drawings is not limited to this, and can be appropriately changed within a range in which the effect of the present invention is exhibited. In addition, various modifications can be made without departing from the scope of the object of the present invention.

  The present invention can be used in a vehicle control system for an electric vehicle in which an operation command is given from a vehicle integrated control unit to a motor control device.

DESCRIPTION OF SYMBOLS 10 Motor control apparatus 11 Emergency movement switch 11a Mode switching function part 11b Torque limiting function part 11c Motor control function part 21 Motor temperature monitoring part 22 Battery capacity shortage monitoring part 23 Motor continuous control impossible monitoring part 24 Emergency movement instruction monitoring part 100 Vehicle integration Control unit 110 Motor

Claims (4)

In a motor control device for an electric vehicle that receives a driving command from a vehicle integrated control unit that collects information on each part of the vehicle and performs motor control,
Determination means for self-determining whether or not the motor control cannot be continued;
When the determination means determines that the motor control cannot be continued, mode switching means for switching to an abnormal stop mode for abnormally stopping the motor;
When the operation mode is switched to the abnormal stop mode by the mode switching means, torque limiting means for limiting the torque so that the torque limit becomes stricter step by step;
An electric vehicle motor control apparatus comprising: The mode switching means takes in the motor temperature information and monitors the motor temperature. If the motor temperature exceeds the alarm temperature, the operation mode is switched to the abnormality avoidance mode. In the abnormality avoidance mode, the motor temperature is higher than the alarm temperature. If the temperature is exceeded, switch the operation mode to the abnormal stop mode,
2. The motor control apparatus for an electric vehicle according to claim 1, wherein the torque limiting means limits the torque so as not to exceed the upper limit value by lowering the upper limit value of the motor speed in the abnormality avoidance mode. The mode switching means captures the remaining battery information of the motor battery and monitors whether the battery capacity is insufficient before arrival at the destination. If it is determined that the battery capacity is insufficient, the operation mode is changed to the abnormality avoidance mode. Switching,
2. The motor control apparatus for an electric vehicle according to claim 1, wherein the torque limiting means limits the torque so as to suppress an increase range of the output torque in the abnormality avoidance mode. An emergency movement switch for directly inputting an emergency movement command signal to the mode switching means,
The mode switching means switches the operation mode to the emergency movement mode when an emergency movement command signal is given from the emergency movement switch in a vehicle stop state,
2. The motor control device for an electric vehicle according to claim 1, wherein the torque limiting means limits the torque so as to obtain an output torque capable of temporarily traveling at a slow speed level in the emergency movement mode.

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