JP2016507209A - 異なるモータで作動される2駆動輪を備える車両の機械トルク制御システム - Google Patents
異なるモータで作動される2駆動輪を備える車両の機械トルク制御システム Download PDFInfo
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Abstract
Description
I_ref1=Icommon+ΔI/2
I_ref2=Icommon−ΔI/2
Claims (9)
- 第1のモータ(3′)に対応する第1の駆動輪(2′)と第2のモータ(3″)に対応する第2の駆動輪(2″)と操舵部(4)とアクセル部(6)を備え車両ユーザーにより操作される車両(1)の機械トルクを制御するシステムであって、前記制御システムは、
前記ユーザーによる前記システムの制御のためのユーザーインターフェース装置(13)と、
操舵角度を示す信号を生成するのに適した、前記操舵部(4)に結びついて前記操舵角度(δ)を検出する手段(7)と、
前記アクセル部のスロットルレベルを示す信号を生成するのに適した前記アクセル部(6)の前記スロットルレベル(θ)を検出する手段(8)と、
前記車両のヨー率を示す信号を生成するのに適した前記車両の前記ヨー率(ψ)を検出する手段(9)と、
前記車両の速度を示す信号を生成するのに適した前記車両の前記速度(v)を検出する手段(10)と、
駆動部モジュール(11)であって、
少なくとも前記アクセル部の前記スロットルレベル(θ)を示す前記信号に基づいて前記第1(3′)と前記第2のモータ(3″)間に共通する参照トルクを示す共通参照駆動信号(Icommon)を決定するモジュール(15)と、
前記ユーザーインターフェース装置(13)を通して前記ユーザーにより定義される所定の関係に対応する少なくとも前記操舵角度(δ)と前記車両速度(v)を示す前記信号に基づいて参照ヨー率(ψref)を決定するモジュール(21)と、
少なくとも前記車両のヨー率(ψ)を示す前記信号と前記参照ヨー率(ψref)に基づいて前記第1(3′)と前記第2のモータ(3″)間の参照トルクの差分を示す差分参照駆動信号(ΔI)を決定するモジュール(18)と
を備える駆動モジュール(11)と
を備える制御システム。 - 前記差分参照信号(ΔI)を決定する前記モジュール(18)は、前記車両の前記ヨー率を示す前記信号から決定される前記車両の前記ヨー率(ψ)と前記参照ヨー率(ψref)間の誤差の閉ループ制御を作動することにより前記差分参照駆動信号(ΔI)を決定するよう構成される、請求項1に記載のシステム。
- 前記差分参照信号(ΔI)を決定する前記モジュール(18)は、前記車両の前記速度(v)を示す前記信号に基づいて前記閉ループ制御のパラメータを修正するよう構成される、請求項2に記載のシステム。
- 前記駆動モジュール(11)は、前記操舵角度(δ)を示す前記信号に基づいて前記差分参照駆動信号(ΔI)を修正するように構成されるフィードフォワード制御モジュール(19)をさらに備える、請求項1〜3のいずれか一項に記載のシステム。
- 前記共通参照駆動信号(Icommon)を決定する前記モジュール(15)は、さらに前記車両の前記操舵角度(δ)を示す前記信号に基づいて前記共通参照駆動信号(Icommon)を決定するよう構成される、請求項1〜4のいずれか一項に記載のシステム。
- 前記共通参照駆動信号(Icommon)を決定する前記モジュール(15)は、前記車両の前記所望の加速度(a)と前記操舵角度(δ)と前記車両の前記速度(v)と前記アクセル部の前記スロットルレベル(θ)との間の前記ユーザーにより修正可能な所定の関係に基づいて前記共通参照駆動信号(Icommon)を決定するよう構成される、請求項1〜5のいずれか一項に記載のシステム。
- 前記ユーザーインターフェース装置(13)は、前記ユーザーによる前記制御システムの遠隔制御のために無線タイプであり、前記システムは、前記駆動モジュール(11)と前記ユーザーインターフェース装置(13)の通信に挿入するに適した通信モジュール(12)を備える、請求項1〜6のいずれか一項に記載のシステム。
- 前記駆動モジュール(11)は、前記車両(1)の使用中に前記第1(3′)と前記第2のモータ(3″)により使用可能な最大のパワーに基づいて、前記共通参照駆動信号(Icommon)及び/又は前記差分参照駆動信号(ΔI)の値を制限するように構成される、請求項1〜7のいずれか一項に記載のシステム。
- 請求項1〜8のいずれか一項に記載の制御システムを備える車両。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IT000146A ITMI20130146A1 (it) | 2013-02-01 | 2013-02-01 | Sistema per il controllo della coppia motrice di un veicolo avente due ruote motrici azionate da motori distinti |
ITMI2013A000146 | 2013-02-01 | ||
PCT/IB2014/058692 WO2014122562A1 (en) | 2013-02-01 | 2014-01-31 | System for controlling the machine torque of a vehicle having two drive wheels actuated by distinct motors |
Publications (2)
Publication Number | Publication Date |
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JP2016507209A true JP2016507209A (ja) | 2016-03-07 |
JP6334567B2 JP6334567B2 (ja) | 2018-05-30 |
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JP2015555834A Active JP6334567B2 (ja) | 2013-02-01 | 2014-01-31 | 異なるモータで作動される2駆動輪を備える車両の機械トルク制御システム |
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US (1) | US9522612B2 (ja) |
EP (1) | EP2951051B1 (ja) |
JP (1) | JP6334567B2 (ja) |
IT (1) | ITMI20130146A1 (ja) |
WO (1) | WO2014122562A1 (ja) |
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PL4235628T3 (pl) * | 2015-06-08 | 2024-04-29 | Battlekart Europe | System tworzenia środowiska |
CN105946625B (zh) * | 2016-04-28 | 2018-06-08 | 范永建 | 一种双电机拖动低速行走机构的机械式协同控制系统 |
CN108528269B (zh) | 2017-02-21 | 2021-05-14 | 丰田自动车株式会社 | 驱动力控制装置 |
JP6841078B2 (ja) | 2017-02-21 | 2021-03-10 | トヨタ自動車株式会社 | 駆動力制御装置 |
US10589739B2 (en) * | 2017-04-13 | 2020-03-17 | GM Global Technology Operations LLC | Automated driving commands interpretation for stability control |
US11247561B2 (en) * | 2019-04-10 | 2022-02-15 | Akrus Inc. | Systems and methods for controlling driving dynamics in a vehicle |
CN112477982B (zh) * | 2019-09-12 | 2022-05-24 | 宇通客车股份有限公司 | 一种车辆及其差动转向的扭矩分配控制方法与系统 |
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EP2951051A1 (en) | 2015-12-09 |
JP6334567B2 (ja) | 2018-05-30 |
US9522612B2 (en) | 2016-12-20 |
WO2014122562A1 (en) | 2014-08-14 |
ITMI20130146A1 (it) | 2014-08-02 |
EP2951051B1 (en) | 2016-11-23 |
US20150336473A1 (en) | 2015-11-26 |
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