JP2013135501A - Device and method for controlling motor drive vehicle - Google Patents

Device and method for controlling motor drive vehicle Download PDF

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JP2013135501A
JP2013135501A JP2011283316A JP2011283316A JP2013135501A JP 2013135501 A JP2013135501 A JP 2013135501A JP 2011283316 A JP2011283316 A JP 2011283316A JP 2011283316 A JP2011283316 A JP 2011283316A JP 2013135501 A JP2013135501 A JP 2013135501A
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motor
motors
wheels
abnormality
torque
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Shota Hirose
祥多 廣瀬
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Aisin Corp
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Aisin Seiki Co Ltd
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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
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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Abstract

PROBLEM TO BE SOLVED: To provide a fail-safe device and method for controlling an electric drive vehicle, which are capable of detecting various abnormalities by a simple composition.SOLUTION: The control device 1 of a motor drive vehicle 10 has: left and right rotation speed sensors (detecting means) 5a, 5b for detecting the rotation speeds of left and right wheels 2a, 2b or left and right motors 3a, 3b; a determining part 6 for comparing detected results which the left and right rotation speed sensors (detecting means) 5a, 5b respectively output to determine whether an abnormality occurs in one of left and right sides in the left and right wheels 2a, 2b, the left and right motors 3a, 3b or left and right shafts 4a, 4b; and a control part 7 for making torque which the left wheel drive motor 3a outputs to low or zero when the abnormality occurs in the side determined that abnormality occurs in one of left and right sides, namely, the left side, for example, on the basis of the determination when abnormality occurs and making torque which the normal side in the left and right sides, namely, the right wheel drive motor 3b outputs to be braking torque.

Description

本発明は、モータ駆動車両の制御装置及び制御方法に関し、特に、モータ駆動車両の制御装置におけるフェイルセーフ装置及びフェイルセーフ方法に関する。   The present invention relates to a control device and a control method for a motor-driven vehicle, and particularly relates to a fail-safe device and a fail-safe method in a control device for a motor-driven vehicle.

特許文献１には、各タイヤに空気圧センサ、トルクセンサ等のパンクセンサが設けられた電気自動車であって、車両の左右にそれぞれ設けられた少なくとも一対の車輪をそれぞれ駆動する走行駆動用の電動機と、前記パンクセンサが出力する検出信号に基づいて、これらの電動機により駆動される前記各車輪のパンクを判断するパンク判定部と、前記各車速の車輪速をそれぞれ検出する車輪速検出部と、前記パンク判定部により前記車輪のパンクが検出されたとき、パンクした車輪を駆動する前記電動機の駆動力を増加させる駆動制御部と、を備えることを特徴とする電気自動車が提案されている。   Patent Document 1 discloses an electric vehicle in which puncture sensors such as an air pressure sensor and a torque sensor are provided on each tire, and an electric motor for traveling driving that drives at least a pair of wheels respectively provided on the left and right sides of the vehicle; A puncture determining unit that determines a puncture of each wheel driven by these electric motors based on a detection signal output by the puncture sensor, a wheel speed detecting unit that detects a wheel speed of each vehicle speed, and There has been proposed an electric vehicle comprising: a drive control unit that increases a driving force of the electric motor that drives a punctured wheel when a puncture of the wheel is detected by a puncture determination unit.

特開２００５一１３７１６１JP2005-137161

特許文献１の駆動制御方式は、パンクセンサの設置を前提としており、パンクセンサがない電気自動車には適用することができないという問題がある。また、特許文献１の駆動制御方式は、パンク検出時、パンクした車輪の走行抵抗の増加に対抗するため、同車輪に供与する駆動力を増加させるため、必ずしも、フェイルセーフな制御方法とはいえないという問題がある。さらに、特許文献１の駆動制御方式は、パンクという異常のみに対応しているが、他の異常、例えば、タイヤと電動機を接続するシャフトの折れ、という異常には対応することができないという問題がある。   The drive control system of Patent Document 1 is premised on the installation of a puncture sensor, and has a problem that it cannot be applied to an electric vehicle without a puncture sensor. Further, the drive control method of Patent Document 1 is not necessarily a fail-safe control method because it increases the driving force to be given to the wheel in order to counter the increase in running resistance of the punctured wheel when puncture is detected. There is no problem. Furthermore, although the drive control system of Patent Document 1 supports only an abnormality called puncture, there is a problem that it cannot cope with other abnormality, for example, an abnormality such as breakage of a shaft connecting a tire and an electric motor. is there.

本発明の目的は、簡素な構成により、種々の異常を検出することができ、フェイルセーフな電気駆動車の制御装置及び制御方法を提供することである。   An object of the present invention is to provide a fail-safe electrically driven vehicle control device and control method that can detect various abnormalities with a simple configuration.

本発明は、第１の視点において、左右の車輪と、前記左右の車輪をそれぞれ駆動する左右のモータと、前記左右のモータがそれぞれ出力するトルクを前記左右の車輪にそれぞれ伝達する左右のシャフトと、を有する、モータ駆動車両の制御装置であって、前記左右の車輪又は前記左右のモータの回転数を検出する左右の検出手段と、前記左右の検出手段がそれぞれ出力する検出結果を対照して、前記左右の車輪、前記左右のモータ又は前記左右のシャフトにおいて、左右いずれの側に異常が発生したかを判定する判定部と、前記異常の発生時、前記判定に基づいて、左右いずれか異常と判定された側の前記モータが出力するトルクを低下又はゼロにし、左右いずれか正常である側の前記モータが出力するトルクを制動トルクとする制御部と、を有する、モータ駆動車両の制御装置を提供する。   In the first aspect, the present invention relates to left and right wheels, left and right motors for driving the left and right wheels, and left and right shafts for transmitting torques respectively output from the left and right motors to the left and right wheels, respectively. A control device for a motor-driven vehicle, wherein the left and right detection means for detecting the number of rotations of the left and right wheels or the left and right motors are compared with the detection results output by the left and right detection means, respectively. The left and right wheels, the left and right motors, or the left and right shafts, a determination unit that determines whether an abnormality has occurred on the left or right side; A controller that lowers or zeros the torque output by the motor on the side determined to be, and sets the torque output by the motor on the right or left side to be braking torque, It has to provide a control apparatus for a motor driven vehicle.

本発明は、第２の視点において、左右の車輪と、前記左右の車輪をそれぞれ駆動する左右のモータと、前記左右のモータがそれぞれ出力するトルクを前記左右の車輪にそれぞれ伝達する左右のシャフトと、を有する、モータ駆動車両の制御方法であって、前記左右の車輪又は前記左右のモータの回転数を検出し、検出された前記左右の車輪又は前記左右のモータの回転数を対照して、前記左右の車輪、前記左右のモータ又は前記左右のシャフトにおいて、左右いずれの側に異常が発生したかを判定し、前記異常の発生時、前記判定に基づいて、左右いずれか異常と判定された側の前記モータが出力するトルクを低下又はゼロにし、左右いずれか正常である側の前記モータが出力するトルクを制動トルクとする、モータ駆動車両の制御方法を提供する。   In a second aspect, the present invention relates to left and right wheels, left and right motors that respectively drive the left and right wheels, and left and right shafts that respectively transmit torques output from the left and right motors to the left and right wheels, respectively. A method for controlling a motor-driven vehicle, wherein the number of rotations of the left and right wheels or the left and right motors is detected, and the detected number of rotations of the left and right wheels or the left and right motors is compared, In the left and right wheels, the left and right motors, or the left and right shafts, it is determined whether an abnormality has occurred on the left or right side. A control method for a motor-driven vehicle is proposed in which the torque output by the motor on the side is reduced or zeroed, and the torque output by the motor on the right or left side is the braking torque. To.

本発明によれば、前記検出手段として、既存のセンサ、例えば、モータに付設されている回転数センサを活用することができるため、簡素な構成により、左右車輪又は左右モータの回転数異常として現れる種々の異常を検出することができる。   According to the present invention, an existing sensor, for example, a rotational speed sensor attached to the motor can be used as the detection means, and therefore, it appears as a rotational speed abnormality of the left and right wheels or the left and right motors with a simple configuration. Various abnormalities can be detected.

本発明によれば、左右車輪又は左右モータの回転数異常として現れる、前記シャフトの折れ、パンク、モータ故障などの種々の異常を検出することができる。   According to the present invention, it is possible to detect various abnormalities such as broken shafts, punctures, and motor failures that appear as abnormal rotation speeds of left and right wheels or left and right motors.

前記異常発生時、異常発生側の車輪にはモータの駆動力が伝達されなくなるため、左右輪のトルクのバランスが崩れ、車両がスピンしようとする。本発明によれば、異常発生側のモータトルク及び同反対側のモータトルクを、少なくとも減少方向に制御することにより、フェイルセーフな制御が実現でき、又車両スピンを抑制することができる。   When the abnormality occurs, the driving force of the motor is not transmitted to the wheel on which the abnormality has occurred, so the torque balance between the left and right wheels is lost and the vehicle tries to spin. According to the present invention, by controlling the motor torque on the abnormality occurrence side and the motor torque on the opposite side at least in a decreasing direction, fail-safe control can be realized and vehicle spin can be suppressed.

本発明の一実施例に係るモータ駆動車両の制御装置の構成図である。It is a block diagram of the control apparatus of the motor drive vehicle which concerns on one Example of this invention. 図１に示したモータ駆動車両の制御装置の動作を説明するフローチャートである。2 is a flowchart for explaining the operation of the motor-driven vehicle control device shown in FIG. 1.

本発明の好ましい実施の形態において、前記検出手段は、前記モータの回転数を検出する回転数センサである。この形態によれば、既存のホールセンサを利用して、複数の異常を検出することができる。   In a preferred embodiment of the present invention, the detection means is a rotation speed sensor that detects the rotation speed of the motor. According to this aspect, a plurality of abnormalities can be detected using an existing Hall sensor.

本発明の好ましい実施の形態において、前記判定部は、左右の前記回転数差に基づいて、左右いずれの側に異常が発生したかを判定する。   In a preferred embodiment of the present invention, the determination unit determines whether an abnormality has occurred on the left or right side based on the difference between the left and right rotation speeds.

本発明の好ましい実施の形態においては、前記制御部は、前記異常の発生時、前記判定に基づいて、左右いずれか正常である側の前記モータが出力するトルクを制動トルクとする。   In a preferred embodiment of the present invention, when the abnormality occurs, the control unit sets a torque output from the motor on the right or left side as a braking torque based on the determination.

本発明の好ましい実施の形態においては、前記検出手段として、モータに付随するホールセンサ等の角度センサを用い、前記判定部は、左右の角度センサが出力する回転数に関する情報に基づいて、異常判定を行う。   In a preferred embodiment of the present invention, an angle sensor such as a Hall sensor attached to a motor is used as the detection unit, and the determination unit determines abnormality based on information on the number of rotations output by the left and right angle sensors. I do.

本発明の好ましい実施の形態においては、左右の検出手段がそれぞれ検出した回転数の差の絶対値が所定の値、すなわち、閾値異常である場合、大きな回転数を検出した側に、異常、例えば、シャフト折れが発生したと判定する。シャフト折れと判定した場合、好ましくは、シャフト折れと判定した側の車輪駆動力、すなわち、モータトルクを０にし、反対側の車輪駆動力、すなわち、モータトルクを制動方向に出力する。   In a preferred embodiment of the present invention, if the absolute value of the difference between the rotational speeds detected by the left and right detection means is a predetermined value, that is, a threshold abnormality, an abnormality such as It is determined that shaft breakage has occurred. When it is determined that the shaft is broken, preferably, the wheel driving force on the side determined to be shaft broken, that is, the motor torque is set to 0, and the wheel driving force on the opposite side, that is, the motor torque is output in the braking direction.

本発明の好ましい実施の形態においては、シャフトとはモータトルクをタイヤに伝達するシャフトの折れが、左右いずれの側に発生した判定することができる。   In a preferred embodiment of the present invention, it can be determined that a shaft breakage that transmits motor torque to the tire occurs on either the left or right side of the shaft.

以下、図面を参照して、本発明の一実施例を説明する。図１は、本発明の一実施例に係るモータ駆動車両の制御装置の構成図である。   An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram of a motor-driven vehicle control apparatus according to an embodiment of the present invention.

図１を参照すると、モータ駆動車両１０は、左右の車輪２ａ，２ｂと、左右の車輪２ａ，２ｂをそれぞれ駆動する左右のモータ３ａ，３ｂと、左右のモータ３ａ，３ｂがそれぞれ出力するトルクを前記左右の車輪２ａ，２ｂにそれぞれ伝達する左右のシャフト４ａ，４ｂと、を有している。   Referring to FIG. 1, a motor-driven vehicle 10 has left and right wheels 2a and 2b, left and right motors 3a and 3b that respectively drive left and right wheels 2a and 2b, and torques output by left and right motors 3a and 3b, respectively. Left and right shafts 4a and 4b are respectively transmitted to the left and right wheels 2a and 2b.

モータ駆動車両１０の制御装置１は、左右の車輪２ａ，２ｂ又は左右のモータ３ａ，３ｂの回転数を検出する左右の回転数センサ（検出手段）５ａ，５ｂと、左右の回転数センサ（検出手段）５ａ，５ｂがそれぞれ出力する検出結果を対照して、左右の車輪２ａ，２ｂ、左右のモータ３ａ，３ｂ又は左右のシャフト４ａ，４ｂにおいて、左右いずれの側に異常が発生したかを判定する判定部６と、前記異常の発生時、前記判定に基づいて、左右いずれか異常と判定された側の、例えば、左側に異常が発生したとすると、左輪駆動モータ３ａが出力するトルクを低下又はゼロにし、左右いずれか正常である側の、すなわち、右輪駆動モータ３ｂが出力するトルクを制動トルクとする制御部７と、を有している。   The control device 1 of the motor-driven vehicle 10 includes left and right rotation speed sensors (detection means) 5a and 5b that detect rotation speeds of the left and right wheels 2a and 2b or the left and right motors 3a and 3b, and left and right rotation speed sensors (detection). Means) Contrast the detection results output by 5a and 5b, respectively, to determine which side of the left and right wheels 2a and 2b, left and right motors 3a and 3b or left and right shafts 4a and 4b is abnormal. When the abnormality occurs, if the abnormality occurs on the left side, for example, the left side based on the determination, for example, on the left side, the torque output by the left wheel drive motor 3a is reduced. Alternatively, the control unit 7 is set to zero and the right or left side is normal, that is, the control unit 7 uses the torque output from the right wheel drive motor 3b as the braking torque.

左右の回転数センサ（検出手段）５ａ，５ｂには、モータ制御に用いられるホールセンサ等を利用することができる。判定部６及び制御部７は、所定のプログラムを実行するマイクロコンピュータ上で実現することができる。判定部６は、回転数センサ５ａ，５ｂが出力する回転数検出信号から左右の回転数をそれぞれ算出する回転数検出部と、回転数検出部によって検出された左右の回転数に基づいて異常判定をする異常判定部と、から構成してもよい。   Hall sensors and the like used for motor control can be used for the left and right rotational speed sensors (detection means) 5a and 5b. The determination unit 6 and the control unit 7 can be realized on a microcomputer that executes a predetermined program. The determination unit 6 determines abnormality based on the rotation speed detection unit that calculates the left and right rotation speeds from the rotation speed detection signals output from the rotation speed sensors 5a and 5b, and the left and right rotation speeds detected by the rotation speed detection unit. And an abnormality determination unit that performs the operation.

以上説明した本発明の一実施例に係るモータ駆動車両の制御装置の動作を説明する。本実施例においては、特に、モータと車輪を接続するシャフトの折れが左右いずれに発生したかを、左右の回転数差に基づいて判定する場合を例にとって説明する。図２は、図１に示したモータ駆動車両の制御装置の動作を説明するフローチャートである。   The operation of the motor-driven vehicle control device according to the embodiment of the present invention described above will be described. In the present embodiment, a case will be described as an example in which whether the shaft connecting the motor and the wheel is broken is determined based on the difference between the left and right rotational speeds. FIG. 2 is a flowchart for explaining the operation of the control device for the motor-driven vehicle shown in FIG.

図１及び図２を参照すると、モータ駆動車両１０の運転時、ステップＳ１で、左右の回転数センサ（検出手段）５ａ，５ｂは、左右のモータ３ａ，３ｂの回転数ＮＬ，ＮＲをそれぞれ検出し出力している。ステップＳ２で、判定部６は、左右のモータ３ａ，３ｂの回転数ＮＬ，ＮＲから左右の回転数差ΔＮを算出している。ステップＳ３で、判定部６は、シャフト折れ判定閾値Ｘを読み込む。ステップＳ４で、判定部６は、左右の回転数差ΔＮとシャフト折れ判定閾値Ｘを比較し、前者が大きい場合には処理がステップＳ５に移行し、そうでない場合には処理がステップＳ７に移行する。   Referring to FIGS. 1 and 2, when driving the motor-driven vehicle 10, in step S1, the left and right rotational speed sensors (detecting means) 5a and 5b detect the rotational speeds NL and NR of the left and right motors 3a and 3b, respectively. And output. In step S2, the determination unit 6 calculates the left and right rotational speed difference ΔN from the rotational speeds NL and NR of the left and right motors 3a and 3b. In step S3, the determination unit 6 reads the shaft breakage determination threshold value X. In step S4, the determination unit 6 compares the left / right rotational speed difference ΔN and the shaft breakage determination threshold value X. If the former is large, the process proceeds to step S5. If not, the process proceeds to step S7. To do.

ステップＳ５では、判定部６は、左輪駆動モータ３ａの回転数ＮＬが超過であるから、左輪シャフト４ａに折れが発生したと判定して当該判定結果を出力し、ステップＳ６で、制御部７は、左輪駆動モータ２ａのトルクを低下又はゼロにすると共に、右輪駆動モータ３ｂのトルクを制動トルクにする。   In step S5, the determination unit 6 determines that the left wheel shaft 4a is broken because the rotational speed NL of the left wheel drive motor 3a is excessive, and outputs the determination result. In step S6, the control unit 7 The torque of the left wheel drive motor 2a is reduced or made zero, and the torque of the right wheel drive motor 3b is made a braking torque.

ステップＳ７では、判定部６は、左右の回転数差ΔＮとシャフト折れ判定閾値Ｘを負にした値とを比較し、前者が小さい場合には処理がステップＳ８に移行し、そうでない場合、すなわち、異常がない場合には、制御部７は、通常のモータ制御を実行する。   In step S7, the determination unit 6 compares the left / right rotational speed difference ΔN with a value obtained by setting the shaft breakage determination threshold value X to be negative. If the former is small, the process proceeds to step S8; If there is no abnormality, the control unit 7 executes normal motor control.

ステップＳ８では、判定部６は、右輪駆動モータ３ｂの回転数ＮＲが超過であるから、右輪シャフト４ｂに折れが発生したと判定して当該判定結果を出力し、ステップＳ９で、制御部７は、右輪駆動モータ２ｂのトルクを低下又はゼロにすると共に、左輪駆動モータ３ａのトルクを制動トルクにする。
一連の動作は終了する。 In step S8, the determination unit 6 determines that the right wheel shaft 4b is broken because the rotational speed NR of the right wheel drive motor 3b is excessive, and outputs the determination result. In step S9, the control unit No. 7 lowers or makes the torque of the right wheel drive motor 2b zero, and also makes the torque of the left wheel drive motor 3a a braking torque.
A series of operations ends.

以上、異常がシャフト折れである場合について本発明の一実施例を説明したが、本実施例の制御装置及び制御方法によれば、左右の回転数差に基づいて、モータ異常、ホイール異常が左右いずれの側に発生したのかを判定し、フェイルセーフな車両駆動制御を実行できることも明らかである。   As mentioned above, although one Example of this invention was described about the case where abnormality is a shaft break, according to the control apparatus and control method of a present Example, motor abnormality and wheel abnormality are right-and-left based on the left-right rotation speed difference. It is also clear that it can be determined on which side it has occurred and fail-safe vehicle drive control can be executed.

本発明は、車両の左右にそれぞれ設けられた少なくとも一対の車輪をそれぞれ駆動する走行駆動用のモータを有するモータ駆動車両に好適に適用される。本発明は、モータがホイールと一体化されたホイールインモータを有するモータ駆動車両に好適に適用される。本発明は、モータがシャフトを介してホイール軸に直結されたモータ駆動車両に好適に適用される。また、本発明は、パンクセンサを有していないモータ駆動車両にも適用することができる。   The present invention is suitably applied to a motor-driven vehicle having a driving motor for driving at least a pair of wheels provided on the left and right sides of the vehicle, respectively. The present invention is suitably applied to a motor-driven vehicle having a wheel-in motor in which a motor is integrated with a wheel. The present invention is preferably applied to a motor-driven vehicle in which a motor is directly connected to a wheel shaft via a shaft. The present invention can also be applied to a motor-driven vehicle that does not have a puncture sensor.

１ モータ駆動車両の制御装置
２ａ 左輪
３ａ 左輪駆動モータ（左モータ）
４ａ 左輪シャフト（左シャフト）
５ａ 左回転数センサ
２ｂ 右輪
３ｂ 右輪駆動モータ（右モータ）
４ｂ 右輪シャフト（右シャフト）
５ｂ 右回転数センサ
６ 判定部
７ 制御部
１０ モータ駆動車両 DESCRIPTION OF SYMBOLS 1 Control apparatus of motor drive vehicle 2a Left wheel 3a Left wheel drive motor (left motor)
4a Left wheel shaft (left shaft)
5a Left rotation speed sensor 2b Right wheel 3b Right wheel drive motor (right motor)
4b Right wheel shaft (right shaft)
5b Right rotation speed sensor 6 Determination unit 7 Control unit 10 Motor-driven vehicle

Claims (4)

左右の車輪と、前記左右の車輪をそれぞれ駆動する左右のモータと、前記左右のモータがそれぞれ出力するトルクを前記左右の車輪にそれぞれ伝達する左右のシャフトと、を有する、モータ駆動車両の制御装置であって、
前記左右の車輪又は前記左右のモータの回転数を検出する左右の検出手段と、
前記左右の検出手段がそれぞれ出力する検出結果を対照して、前記左右の車輪、前記左右のモータ又は前記左右のシャフトにおいて、左右いずれの側に異常が発生したかを判定する判定部と、
前記異常の発生時、前記判定に基づいて、左右いずれか異常と判定された側の前記モータが出力するトルクを低下又はゼロにし、左右いずれか正常である側の前記モータが出力するトルクを制動トルクとする制御部と、
を有する、ことを特徴とするモータ駆動車両の制御装置。 A motor-driven vehicle control device comprising left and right wheels, left and right motors for driving the left and right wheels, and left and right shafts for transmitting torques respectively output from the left and right motors to the left and right wheels, respectively. Because
Left and right detection means for detecting the number of rotations of the left and right wheels or the left and right motors;
In contrast to the detection results output by the left and right detection means, respectively, a determination unit that determines whether an abnormality has occurred on either side of the left and right wheels, the left and right motors, or the left and right shafts;
When the abnormality occurs, based on the determination, the torque output by the motor on the side determined to be abnormal on either the left or right side is reduced or zeroed, and the torque output on the motor on the right or left side is braked A control unit for torque;
And a motor-driven vehicle control device. 前記判定部は、左右の前記回転数差に基づいて、左右いずれの側に異常が発生したかを判定する、ことを特徴とする請求項１記載のモータ駆動車両の制御装置。   The control device for a motor-driven vehicle according to claim 1, wherein the determination unit determines whether an abnormality has occurred on the left or right side based on the difference between the left and right rotation speeds. 左右の車輪と、前記左右の車輪をそれぞれ駆動する左右のモータと、前記左右のモータがそれぞれ出力するトルクを前記左右の車輪にそれぞれ伝達する左右のシャフトと、を有する、モータ駆動車両の制御方法であって、
前記左右の車輪又は前記左右のモータの回転数を検出し、
検出された前記左右の車輪又は前記左右のモータの回転数を対照して、前記左右の車輪、前記左右のモータ又は前記左右のシャフトにおいて、左右いずれの側に異常が発生したかを判定し、
前記異常の発生時、前記判定に基づいて、左右いずれか異常と判定された側の前記モータが出力するトルクを低下又はゼロにし、左右いずれか正常である側の前記モータが出力するトルクを制動トルクとする、
ことを特徴とするモータ駆動車両の制御方法。 A method for controlling a motor-driven vehicle, comprising: left and right wheels; left and right motors that respectively drive the left and right wheels; and left and right shafts that respectively transmit torques output by the left and right motors to the left and right wheels, respectively. Because
Detecting the number of rotations of the left and right wheels or the left and right motors;
In contrast to the detected rotation speed of the left and right wheels or the left and right motors, in the left and right wheels, the left and right motors or the left and right shafts, it is determined whether an abnormality has occurred on either side.
When the abnormality occurs, based on the determination, the torque output by the motor on the side determined to be abnormal on either the left or right side is reduced or zeroed, and the torque output on the motor on the right or left side is braked Torque,
A method for controlling a motor-driven vehicle. 左右の前記回転数差に基づいて、左右いずれの側に異常が発生したかを判定する、ことを特徴とする請求項３記載のモータ駆動車両の制御方法。   4. The method for controlling a motor-driven vehicle according to claim 3, wherein whether the abnormality has occurred on the left or right side is determined based on the difference between the left and right rotational speeds.
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