JP2013110926A - モータの制御装置 - Google Patents
モータの制御装置 Download PDFInfo
- Publication number
- JP2013110926A JP2013110926A JP2011256140A JP2011256140A JP2013110926A JP 2013110926 A JP2013110926 A JP 2013110926A JP 2011256140 A JP2011256140 A JP 2011256140A JP 2011256140 A JP2011256140 A JP 2011256140A JP 2013110926 A JP2013110926 A JP 2013110926A
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- Prior art keywords
- inverter
- temperature
- motor
- dtc
- detected
- 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.)
- Granted
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/003—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to inverters
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
- B60K17/046—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel with planetary gearing having orbital motion
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- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
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- H—ELECTRICITY
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- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- 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
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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
- H02P29/68—Controlling or determining the temperature of the motor or of the drive based on the temperature of a drive component or a semiconductor component
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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
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- 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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02M1/00—Details of apparatus for conversion
- H02M1/32—Means for protecting converters other than automatic disconnection
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Abstract
【解決手段】 インバータ31に、このインバータ31の温度Tcを検出する温度センサSaを設ける。この温度センサ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インバータ31に与える電流指令に制限を加えるインバータ制限手段95を設けた。
【選択図】 図2
Description
なお、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)。
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、インバータ31の温度Tcを検出し、インバータ31の過熱による異常、例えば、半導体スイッチング素子が過熱することに起因する熱暴走等を常時監視することで、インバータ31に与える電流指令を適切に制限する制御を行うことができる。
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。モータ6が高速回転状態のとき、インバータ31の損傷等を防止し、モータ駆動の制御特性の変化や、モータ駆動の不能を防止できるため、車両が急激に走行不能に陥ることを回避することができる。
した。このため、車両の運転を急激に妨げることなく、インバータの過熱による特性変化および損傷を防止すると共にインバータ寿命の低下を防止することができ、適切な対処が迅速に行える。
この例では、図2および図4に示すように、サーミスタで検出された検出値はアンプApで増幅され、この増幅値が判定部39にて判定される。
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の上限値を超えたか否かを常時判定する。前記各閾値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、インバータ温度の時間変化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、使用する半導体スイッチング素子31aの動作保証温度に幅を持たせて閾値T1〜T4の数に応じて区分けしても良いし、実験、シミュレーション等により、インバータ31の特性変化を生じさせる、インバータ31の温度および時間の関係に基づいて適宜に求められる。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。
インバータ31の温度は、急には下がらず、温度がある程度下がるまでインバータ31への電流指令を制限し、モータ電流を低減すると、モータ6の急激な駆動制限によって車両の運転が妨げられることがあるが、上記のように温度低下の兆候をとらえてインバータ31への電流制限を解除することで、モータ6に流すモータ電流の制限が解除されるため、モータ6の急激な駆動制限による問題も回避される。
インバータ制限手段95の制御解除によって、インバータ温度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、再度インバータ31への電流指令を制限する制御を行う。
ECU21に設けられた異常表示手段42は、異常報告手段41から出力されたインバータ31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、インバータ31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、インバータ31の温度Tcが上昇すると共に、モータコイル78の温度が上昇する。温度センサSaによるインバータ31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、各閾値で区分け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、電流制限条件を強く規制つまりdTc/dtの上限値を強く規制する。
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におけるインバータ制御手段95により、インバータ31の温度異常を検出したとき、ECU21にインバータ31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11に示すように、インバータ制限手段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
95…インバータ制限手段
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、
前記電気自動車は、車両全般を制御する電気制御ユニットであるECUと、バッテリの直流電力を前記モータの駆動に用いる交流電力に変換するインバータを含むパワー回路部および前記ECUの制御に従って少なくとも前記パワー回路部を制御するモータコントロール部を有するインバータ装置とを備え、
前記インバータに、このインバータの温度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インバータに与える電流指令に制限を加えるインバータ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、前記インバータ制限手段は、温度Tcを時間tで微分したインバータ温度の時間変化dTc/dtが正のとき、区分された各温度領域に応じて、インバータ温度の時間変化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、前記インバータ制限手段は、温度Tcを時間tで微分したインバータ温度の時間変化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、前記インバータ制限手段は、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、前記インバータ制限手段は、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、ECUにインバ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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Also Published As
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JP5893361B2 (ja) | 2016-03-23 |
US9321353B2 (en) | 2016-04-26 |
EP2783896B1 (en) | 2020-10-14 |
CN103958259B (zh) | 2016-02-03 |
CN103958259A (zh) | 2014-07-30 |
US20140330471A1 (en) | 2014-11-06 |
WO2013077408A1 (ja) | 2013-05-30 |
EP2783896A1 (en) | 2014-10-01 |
EP2783896A4 (en) | 2016-04-20 |
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