JP2013110903A - モータの制御装置 - Google Patents
モータの制御装置 Download PDFInfo
- Publication number
- JP2013110903A JP2013110903A JP2011255710A JP2011255710A JP2013110903A JP 2013110903 A JP2013110903 A JP 2013110903A JP 2011255710 A JP2011255710 A JP 2011255710A JP 2011255710 A JP2011255710 A JP 2011255710A JP 2013110903 A JP2013110903 A JP 2013110903A
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- JP
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- Prior art keywords
- motor
- temperature
- dtc
- current limiting
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- 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
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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
- 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
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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
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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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- 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
- B60L15/2054—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 by controlling transmissions or clutches
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- B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
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- B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
- B60L3/108—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels whilst braking, i.e. ABS
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- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/64—Controlling or determining the temperature of the winding
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- B60L2240/00—Control parameters of input or output; Target parameters
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/325—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising a carrier with pins guiding at least one orbital gear with circular holes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
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- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- 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
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- Y02T90/10—Technologies relating to charging of electric vehicles
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Abstract
【解決手段】 モータ6のモータコイルに、このモータコイルの温度Tcを検出する温度センサSaを設ける。温度センサSaで検出される温度Tcに対し複数の閾値が設定され、各閾値で区分される温度領域毎に、互いに異なる電流制限条件が設定され、検出される温度Tcの含まれる前記温度領域の前記電流制限条件に応じてモータ6の電流値を制限するモータ電流制限手段95を設けた。
【選択図】 図2
Description
また、従来、インホイールモータ駆動装置において、信頼性確保のために、車輪用軸受、減速機、およびモータ等の温度を測定して過負荷を監視し、温度測定値に応じてモータの駆動電流の制限や、モータ回転数を低下させるものが提案されている(例えば、特許文献1)。
上記のように、インホイールモータ駆動装置において、モータ温度を測定して過負荷を監視し、モータの駆動電流を駆動制限する場合、車両の運転が急激に妨げられるおそれがある。
モータ電流制限手段95の制御解除によって、モータコイル温度Tcが上がり始めても、そのときは、検出される温度Tcが、この温度Tcの含まれる温度領域における閾値以上であり、且つ、dTc/dtが、検出される前記温度Tcの含まれる温度領域の上限値を超えれば、再度モータ6の電流値を低減する制御を行う。そのため、モータコイル温度の時間変化dTc/dtが0以下になったときに、モータ電流を低減する制御を解除しても過負荷の確実な防止が行える。
前記モータ6の一部または全体が車輪2内に配置されるインホイールモータ駆動装置8を構成するものであっても良い。
前記インホイールモータ駆動装置8は、前記モータ6と車輪用軸受4と減速機7とを含むものであっても良い。インホイールモータ駆動装置8の場合、コンパクト化を図る結果、車輪用軸受4、減速機7、およびモータ6は、材料使用量の削減、モータ6の高速回転化を伴うため、これらの信頼性確保が重要な課題となる。特に、モータコイル78の温度を検出し、検出される温度Tcの含まれる温度領域の電流制限条件に応じてモータ6の電流値を制限するため、モータ6を木目細かく温度管理することができ、モータコイル78の絶縁性能の劣化を防止することができる。
減速機7をサイクロイド減速機として減速比を例えば1/4以上に高くした場合、モータ6の小型化を図り、装置のコンパクト化を図ることができる。減速比を高くした場合、モータ6は高速回転するものが用いられる。
判定部39は、温度センサSaで検出される温度Tcが、この検出される温度Tcの含まれる温度領域で定められた各閾値T1〜T4を超えるか否かを常時判定する。これと共に、判定部39は、モータコイル温度の時間変化dTc/dtが、検出される温度Tcの含まれる温度領域の上限値を超えたか否かも常時判定する。前記各閾値T1〜T4は、例えば、実験、シミュレーション等により、モータコイルに絶縁性能の劣化を生じさせる、モータコイル78の温度および時間の関係に基づいて適宜に求められる。モータコイル78に絶縁が生じたか否かは、モータ6に印加するモータ印加電圧に対するモータ電流値を、絶縁が生じていない基準値と比較することで判断し得る。なおモータ印加電圧は、電流検出手段35の後段等に設けられる図示外の電圧センサにより得られ、モータ電流値は、電流検出手段35により得られる。求められた閾値は、テーブルとして図示外の記憶手段に書換え可能に記憶されている。
モータ電流制限手段95の制御解除によって、モータコイル温度Tcが上がり始めても、そのときは、検出される温度Tcが、この温度Tcの含まれる温度領域における閾値以上であり、且つ、dTc/dtが、検出される前記温度Tcの含まれる温度領域の上限値を超えれば、再度モータ6の電流値を低減する制御を行う。そのため、モータコイル温度Tcの時間変化dTc/dtが0以下になったときに、モータ電流を低減する制御を解除しても過負荷の確実な防止が行える。
ECU21に設けられた異常表示手段42は、異常報告手段41から出力されたモータ6の異常発生情報を受けて、運転席の表示装置27に、異常を知らせる表示を行わせる手段である。表示装置27における表示は、文字や記号による表示、例えばアイコンによる表示とされる。
この構成によると、温度センサSaは、モータコイル78の温度Tcを常時検出する。例えば、坂道等において連続して高トルク発生状態で電気自動車を運転した場合、モータコイル78の温度Tcが上昇する。温度センサSaによるモータコイル78の温度検出は、応答性が悪いことから、温度Tcに対し複数の閾値が設定され、各閾値で区分される温度領域毎に、互いに異なる電流制限条件が設定される。つまり、検出される温度Tcが比較的低温のときは、電流制限条件を緩和つまりdTc/dtの上限値を高くし、検出される温度Tcが高温になる程、電流制限条件を規制つまりdTc/dtの上限値を規制する。モータ電流制限手段95は、検出される温度Tcの含まれる前記温度領域の前記電流制限条件に応じてモータ6の電流値を制限する。このようにモータ6の電流値を制限することで、モータ6を木目細かく温度管理することができ、モータコイル78の絶縁性能の劣化を防止することができる。これにより、車両の運転が急激に妨げられることを回避することができる。
ECU21は、車両全般を統括して制御する装置であるため、インバータ装置22におけるモータ電流制限手段95により、モータコイル78の異常を検出したとき、ECU21にモータ6の異常報告を出力することで、ECU21により車両全体の適切な制御が行える。また、ECU21はインバータ装置22に駆動の指令を与える上位制御手段であり、インバータ装置22による応急的な制御の後、ECU21により、その後の駆動のより適切な制御を行うことも可能となる。
なお、インホイールモータ駆動装置8のモータ電流の配線や各種センサ系,指令系の配線は、モータハウジング72等に設けられたコネクタ99により纏めて行われる。
図9に示すように、モータ電流制限手段95を、車両全般を制御する電気制御ユニットであるECU21に設けても良い。
4…車輪用軸受
6…モータ
7…減速機
8…インホイールモータ駆動装置
21…ECU
39…判定部
40…電流制御部
41…異常報告手段
78…モータコイル
95…モータ電流制限手段
Sa…温度センサ
U1…制御装置
Claims (9)
- 車輪を駆動するモータを有する電気自動車の前記モータを制御する制御装置であって、
前記モータのモータコイルに、このモータコイルの温度Tcを検出する温度センサを設け、この温度センサで検出される温度Tcに対し複数の閾値が設定され、各閾値で区分される温度領域毎に、互いに異なる電流制限条件が設定され、検出される温度Tcの含まれる前記温度領域の前記電流制限条件に応じてモータの電流値を制限するモータ電流制限手段を設けたことを特徴とするモータの制御装置。 - 請求項1において、前記モータ電流制限手段は、温度Tcを時間tで微分したモータコイル温度の時間変化dTc/dtが正のとき、区分された各温度領域に応じて、モータコイル温度の時間変化dTc/dtの許容上限を変更するものとしたモータの制御装置。
- 請求項2において、前記モータ電流制限手段は、温度Tcを時間tで微分したモータコイル温度の時間変化dTc/dtの許容上限を、検出される温度Tcの含まれる各温度領域毎に低温側から高温側に向けて小さくなるように設定したモータの制御装置。
- 請求項2または請求項3において、前記モータ電流制限手段は、モータの電流値を制御することにより、前記dTc/dtを制限するモータの制御装置。
- 請求項1ないし請求項4のいずれか1項において、前記モータ電流制限手段は、温度センサで検出される温度Tcが各閾値を超えるか否かを判定する判定部を有し、検出される温度Tcが複数の閾値のうち定められた閾値を超えたと判定部で判定されたとき、車両全般を制御する電気制御ユニットであるECUにモータの異常報告を出力する異常報告手段を設けたモータの制御装置。
- 請求項1ないし請求項5のいずれか1項において、前記モータは、前記電気自動車の車輪を個別に駆動するモータであるモータの制御装置。
- 請求項6において、前記モータの一部または全体が車輪内に配置されるインホイールモータ駆動装置を構成するモータの制御装置。
- 請求項7において、前記インホイールモータ駆動装置は、前記モータと車輪用軸受と減速機とを含むモータの制御装置。
- 請求項1ないし請求項7のいずれか1項において、前記モータの回転を減速する減速機を備え、この減速機は、1/4以上の高減速比を有するサイクロイド減速機であるモータの制御装置。
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2011
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2012
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- 2012-11-22 WO PCT/JP2012/080321 patent/WO2013077407A1/ja active Application Filing
- 2012-11-22 CN CN201280057378.4A patent/CN103947103B/zh not_active Expired - Fee Related
- 2012-11-22 EP EP12851684.6A patent/EP2784930B1/en not_active Not-in-force
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WO2015045903A1 (ja) * | 2013-09-26 | 2015-04-02 | Ntn株式会社 | 車輪用駆動装置 |
JP2015063266A (ja) * | 2013-09-26 | 2015-04-09 | Ntn株式会社 | 車輪用駆動装置 |
CN105579270A (zh) * | 2013-09-26 | 2016-05-11 | Ntn株式会社 | 车轮用驱动装置 |
CN104175863A (zh) * | 2014-08-27 | 2014-12-03 | 北京新能源汽车股份有限公司 | 一种轮毂驱动系统及其控制方法 |
JP2017028886A (ja) * | 2015-07-23 | 2017-02-02 | 三菱自動車工業株式会社 | モータ制御装置 |
WO2019004062A1 (ja) * | 2017-06-28 | 2019-01-03 | Ntn株式会社 | インホイールモータシステムおよび電気自動車 |
WO2019054321A1 (ja) * | 2017-09-15 | 2019-03-21 | Ntn株式会社 | 車両動力補助システム |
JP2019054651A (ja) * | 2017-09-15 | 2019-04-04 | Ntn株式会社 | 車両動力補助システム |
JP2018046742A (ja) * | 2017-10-19 | 2018-03-22 | Ntn株式会社 | インホイールモータ駆動装置 |
JP2020125996A (ja) * | 2019-02-05 | 2020-08-20 | 日本電産モビリティ株式会社 | 制御装置および制御方法 |
JP2019134670A (ja) * | 2019-03-01 | 2019-08-08 | Ntn株式会社 | 車両動力補助システム |
Also Published As
Publication number | Publication date |
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EP2784930A1 (en) | 2014-10-01 |
US9126500B2 (en) | 2015-09-08 |
CN103947103B (zh) | 2017-03-08 |
EP2784930B1 (en) | 2019-04-10 |
EP2784930A4 (en) | 2016-05-18 |
US20140324265A1 (en) | 2014-10-30 |
JP5985178B2 (ja) | 2016-09-06 |
WO2013077407A1 (ja) | 2013-05-30 |
CN103947103A (zh) | 2014-07-23 |
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