JP2017169247A - Drive control device for wheel independent drive type vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive control device for a wheel independent drive type vehicle which can inspect all phases in a current sensor abnormality before travelling of a vehicle without addition of a circuit for inspection to a current sensor and addition of a current source or the like exclusively used for inspection.SOLUTION: A drive control device comprising a power circuit part 28 which flows electric current to each of plural motors 6, and a motor drive control part 30. The device comprises a reverse torque command part 36 which causes the motor drive control part 30 to output a command for flowing electric current such that torques, in which wheel rotational directions are opposite to each other, are applied onto left and right, or front and rear motors 6 during stop of a vehicle. The device comprises an abnormality detection part 34 which detects an abnormality of the current sensor 38 when said electric current in which torques in opposite direction are applied flows.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a drive control device for a wheel-independent drive vehicle that controls a wheel-independent drive vehicle such as a two-wheel drive or a four-wheel drive that can individually control a plurality of driving motors. Related to abnormality detection.

  In an inverter that drives a motor for traveling, a target current is set based on a command torque, a command rotation speed, and the like, and a feedback control is performed in which a current that actually flows through the motor is detected and followed by the target current. If an abnormality such as an offset or gain shift occurs in the current sensor for detecting the current, the target current cannot be passed and sufficient torque or rotation speed is not achieved. It is conceivable that an excessive current that greatly exceeds the current flows, resulting in an unintended excessive torque or high rotational speed. Therefore, it is desirable to inspect before the vehicle travels.

  In Patent Documents 1 and 2, it is proposed that the current sensor is inspected by passing an inspection winding or wiring through the current sensor and causing the inspection current to flow therethrough. Patent Document 3 proposes a method of detecting a system abnormality without generating torque by causing only vector-controlled d-axis current to flow when the vehicle is stopped.

JP 2006-145426 A JP 2006-352949 A Japanese Patent Laid-Open No. 11-341897

  In the configurations described in Patent Documents 1 and 2, a winding / wiring for inspection and a constant current source are required, and the number of parts increases, resulting in an increase in cost and weight. In the case of the configuration of Patent Document 3, the current flowing through each phase of the d-axis current varies depending on the rotor angle. Therefore, depending on the rotor angle, only a current that is zero or near zero can flow, and a phase that cannot be inspected is formed. Sometimes.

  The object of the present invention is to inspect all phases before the vehicle travels for abnormality of the current sensor without adding a circuit for inspection to the current sensor and without adding a current source dedicated to the inspection. It is to propose a drive control device for a wheel independent drive type vehicle.

The drive control apparatus for a wheel independent drive vehicle according to the present invention controls a wheel independent drive vehicle that controls a wheel independent drive vehicle having a plurality of traveling motors 6 capable of independently driving the wheels left and right or front and rear. In the device
A plurality of power circuit units 28 for supplying current to each of the plurality of motors 6, a motor drive control unit 30 for controlling currents flowing through the power circuit units 28, and a current sensor 38 for detecting currents flowing through the motors 6. And
And an inspection reverse torque command unit 36 that outputs a command to the motor drive control unit 30 to cause the motor drive control unit 30 to output a current that applies a torque in the direction opposite to the wheel rotation direction to the left and right or front and rear motors 6 of the motor 6 when the vehicle stops And an abnormality detection unit 34 for detecting an abnormality of the current sensor 38 when a current is applied with torque in the reverse direction.

  According to this configuration, a driving current is supplied to the motor 6, and during that time, a current is supplied to the current sensor 38 itself, that is, to the same part of the current sensor 38 that detects current flowing to each motor 6 during traveling. Since an abnormality is detected from the current 38, the abnormality can be detected without adding an inspection winding or wiring to the current sensor 38. In addition, a dedicated power source for inspection is not required. Thus, additional circuit components are not required, and cost and weight are not increased. Since the driving current is supplied to the motor 6, the movement of the vehicle becomes a problem. However, when the vehicle is stopped, the current is supplied to the motor 6 so that the left and right or front and rear motors 6 are applied with torques in opposite directions. While flowing, the current sensor 38 can be inspected without moving as a vehicle. For this reason, it can detect before vehicle travel. In addition, the reverse torque command unit for inspection 36 that causes current to flow so that the torque in the reverse direction is applied, and the abnormality detection unit 34 can be configured by a low-power logic circuit or the like, and constitute the motor drive control unit 30. It can be incorporated into an IC chip such as a microcomputer or a circuit board.

For this reason, it is possible to detect abnormality of the current sensor 38 without adding a circuit for inspection to the current sensor 38 and without adding a current source dedicated for inspection. Further, the present invention is not limited to the d-axis current, and any phase can be inspected by flowing an arbitrary current, so that all phases can be inspected. In this way, it is possible to inspect all phases before the vehicle travels for abnormality of the current sensor 38 without adding a circuit for inspection to the current sensor 38 and without adding a current source dedicated to inspection. it can.
The inspection reverse torque command unit 36 and the abnormality detection unit 34 are started by, for example, turning on the starter switch 50 as a trigger, and as a part of a series of inspections of various accessory devices before traveling, the current The sensor 38 may be inspected.
When the motor 6 has three or more phases, the current sensor 38 may be provided for each phase or only one current sensor 38 may be provided.

In the present invention, the motor drive control unit 30 has a function of performing current feedback control based on a detection value of the current sensor 38, and the inspection reverse torque command unit 36 controls the motor drive control unit 30 to perform the reverse operation. In the control mode in which a current with a torque in the direction flows in an open loop, the abnormality detection unit 34 detects an abnormality if the current detection value when the current is flowing in the open loop is not within a specified range. You may make it do.
By controlling in an open loop, even if the detected current value is an abnormal value, the current to be supplied does not change, so that an equal reverse torque is applied and the vehicle can be inspected without moving.

In the present invention, each of the motors 6 is a three-phase AC motor, and the motor drive control unit 30 has a function of performing current feedback control based on a detection value of the current sensor 38, and the reverse torque command unit for inspection. 36, the motor drive control unit 30 is set to a control mode in which the current to which the torque in the reverse direction is applied flows in an open loop, and the abnormality detection unit 34 has each of the three phases when the current is flowing in the open loop. If the sum of the phase currents is not substantially zero, an abnormality detection may be adopted.
In the case of a three-phase AC motor, the sum of the currents of the three phases is zero. Therefore, if the sum of the currents of the three phases is not zero, abnormality detection may be performed. However, in consideration of an allowable error in the current sensor 38, the wiring, and the like, it is preferable that the current sensor 38 and the normal sensor be normal if they are substantially zero.

In the present invention, the reverse torque command unit for inspection 36 sends the reverse drive to the motor drive control unit 30 when each condition is satisfied under the condition that the main brake of the vehicle is maintaining the brake state. You may make it output the instruction | command which flows the electric current which the direction torque applies.
Although there is no difference between the left and right torques depending on whether or not the current sensor 38 is abnormal, the vehicle may move if the reverse torque is not equal due to an abnormality in the drive circuit or rotor angle detection circuit. In this case, by starting the inspection under one of the conditions that the main brake is being maintained in the brake state, the vehicle is prevented from moving unexpectedly during the inspection, and safety is improved.
The recognition that the main brake is being maintained in the brake state is a load sensor that detects whether the brake force is actually acting on the main brake even when the brake pedal 51 is depressed or the brake operation means is in the state. It is also possible to detect by such as.

In this invention, the reverse torque command unit for inspection 36 sends the reverse torque command to the motor drive control unit 30 when each condition is satisfied on the condition that the side brake of the vehicle is maintaining the brake state. You may make it output the instruction | command which flows the electric current which the direction torque applies.
The safety can be ensured even if the abnormality detection of the current sensor 38 is performed when the side brake is effective, not only the main brake. The recognition of whether or not the side brake is in the brake state may be performed by detecting whether or not the operation means such as the operation lever 52 of the side brake is being pulled.

In the present invention, the reverse torque command unit for inspection 36 sends the reverse drive to the motor drive control unit 30 when each condition is satisfied under the condition that the shift lever 53 of the vehicle is parked. You may make it output the instruction | command which flows the electric current which the direction torque applies.
When the shift lever is parked, the torque transmission system from the motor 6 to the wheels is not able to transmit or is locked, and the vehicle does not move even if the motor 6 tries to rotate unexpectedly. For this reason, even if the inspection is started under one of the conditions that the vehicle is in the parking area, the unexpected movement of the vehicle due to the application of the current for the inspection is avoided.

In the present invention, the inspection reverse torque command unit 36 and the abnormality detection unit 34 are configured to detect the reverse direction when the rotor angle of each motor 6 that is passing a current to which the reverse direction torque is applied exceeds a set threshold value. The output of the command for flowing the current and the detection of the abnormality may be terminated.
In the unlikely event that the rotor angle fluctuates beyond a certain threshold, it is more preferable to improve the safety by determining that there is some abnormality and terminating the abnormality detection.

  The drive control device for a wheel independent drive vehicle according to the present invention is a drive control device for a wheel independent drive vehicle that controls a wheel independent drive vehicle having a plurality of traveling motors capable of independently driving the wheels left and right or front and rear. A plurality of power circuit units for supplying current to each of the plurality of motors, a motor drive control unit for controlling currents flowing through the power circuit units, and a current sensor for detecting current flowing through the motors. And an inspection reverse torque command unit that outputs to the motor drive control unit a command to cause the motors of the left and right or front and rear wheels of the motor to have a torque in which the rotation directions of the wheels are opposite to each other when the vehicle stops. A circuit for testing is added to the current sensor in order to provide an abnormality detection unit that detects an abnormality of the current sensor when a current to which a torque in the reverse direction is applied flows. And without and without adding a test dedicated current source or the like, regarding the current sensor abnormality, it is possible to inspect all the phases before the vehicle traveling.

It is a block diagram which shows the conceptual structure of the drive control apparatus of the wheel independent drive type vehicle which concerns on one Embodiment of this invention. It is a block diagram which shows the structural example of the motor drive control part. It is the block diagram which showed only the block used when operating with an open loop mode about the motor drive control part. It is a flowchart which shows the example of control of the reverse torque command part for a test | inspection in the drive control apparatus of the wheel independent drive type vehicle. It is a flowchart which shows other control examples, such as a test reverse torque command part in the drive control apparatus of the wheel independent drive type vehicle. It is explanatory drawing which shows the various wheel independent drive type vehicles carrying the drive control apparatus in a plane. It is explanatory drawing which shows the wheel rotation direction example at the time of the test | inspection in each wheel independent drive type vehicle of FIG. 6 (A)-(C). It is explanatory drawing which shows the motor current of each phase of a three-phase alternating current motor.

  An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a conceptual configuration of a drive control device for a wheel independent drive type vehicle. The wheel independent drive type vehicle to be controlled in this embodiment includes, for example, two electric motors 6 and 6 for driving the two driving wheels 1 and 1 as front wheels shown in FIG. It is a car. The rear wheels are driven wheels 2 and 2. The motors 6 and 6 are installed on the chassis 3 and connected to the drive wheels 1 and 1 via the drive shaft 4 and constant velocity joints 5a and 5b at both ends thereof. The driving wheels 1 and 1 which are front wheels are changed in direction via a steering mechanism (not shown) by operating the steering handle 7.

The vehicle to be controlled may be an electric vehicle in which the rear wheels are the driving wheels 1 and 1 and the front wheels are the driven wheels 2 and 2 shown in FIG. In addition, the present invention can also be applied to a four-wheel drive electric vehicle. FIG. 6 (C) shows an example of a four-wheel drive vehicle in which two front wheels are driven by a single motor 6 and two rear wheels are driven by a single motor 6 via a differential 8. In the case of four-wheel drive, a type having a motor 6 for each of the four wheels as shown in FIG. In the case of a four-wheel drive vehicle having a motor 6 for each of the four wheels, illustration of an embodiment of the drive control device is omitted, but for each individual motor 6, a power circuit unit 28 and a motor drive control unit 30 described later with reference to FIG. Is provided.
Each example in FIG. 6 is an on-board type in which the motors 6 and 6 are installed on the chassis 3, but may be an in-wheel motor type vehicle.

  In FIG. 1, the drive control device includes an ECU 21 that is an electric control unit that controls the entire automobile, and an inverter device 22 that controls the motors 6 and 6 for traveling in accordance with commands from the ECU 21. The ECU 21 and the inverter device 22 are connected to each other by in-vehicle communication means such as a controller area network (CAN). The ECU 21 includes a computer, a program executed by the computer, various electronic circuits, and the like. The ECU 21 includes a command torque calculation unit 47 and a torque distribution unit 48.

  The command torque calculation unit 47 calculates the command torque of the entire vehicle from an acceleration command output from an accelerator operating means (not shown) such as an accelerator pedal and a deceleration command output from a brake operating means such as the brake pedal 51. Means. The torque distribution unit 48 is a unit that sends the command torque calculated by the command torque calculation unit 47 to the inverter device 22 so as to be distributed to the motors 6 and 6. The torque distribution means 48 may have a function of changing the ratio of distribution to both the motors 6 and 6 in accordance with the steering amount of the steering handle 7 (see FIG. 6) in order to assist turning.

  The inverter device 22 includes a power circuit unit 28 provided for each motor 6 and a motor control unit 29 that controls the power circuit unit 28. Each power circuit unit 28 includes an inverter 31 that converts DC power of a battery (not shown) into three-phase AC power used for powering and regeneration of the motor 6, and a PWM driver 32 that controls the inverter 31. The motor 6 is a three-phase AC motor, and includes a synchronous motor or an induction motor. A single-phase motor may be used. The motor 6 is provided with a rotation angle sensor 33 that detects a rotation angle as an electrical angle of the rotor, and a current sensor 38 is provided in a power feeding circuit between the inverter 31 and the motor 6. The current sensor 38 is provided for each of the three phases as shown in FIG. 2, but in FIG. 1, a plurality of current sensors 38 are shown in one block for the sake of simplicity. The current sensor 38 is a target of abnormality detection by the drive control device of this embodiment. Note that the current sensor 38 may be provided only in two of the three phases.

  The inverter 31 is composed of a bridge circuit of a plurality of semiconductor switching elements, and the PWM driver 32 performs pulse width modulation on the input current command and gives an on / off command to each of the semiconductor switching elements.

  The motor control unit 29 includes a computer, a program executed on the computer, and an electronic circuit. The motor control unit 29 includes two motor drive control units 30 provided corresponding to each power circuit as a basic control unit. The motor drive control unit 30 performs various controls on the torque command distributed from the torque distribution unit 48 of the ECU 21 that is the host control unit to convert it into a current command, and sends the current command to the PWM driver 32 of the power circuit unit 28. It is a means to give. The current command is given as a voltage value for each phase.

  The motor drive control unit 30 is basically closed-loop control using a current feedback corresponding to the detected value of the current value of the motor 6 and a control loop corresponding to the detected value of the rotor rotation angle for motor efficiency. In this embodiment, the current control can be switched between an open loop control mode and a closed loop control (feedback control) mode.

As shown in FIG. 2, the motor drive control unit 30 is configured to perform vector control in this embodiment. The motor drive control unit 30 includes a current command unit 40, a current PI control unit 41, and a two-phase / three-phase conversion unit 42. In addition, as a part of the motor drive control unit 30,
Or, independently, a three-phase / two-phase converter 43, a speed calculator 44, and a rotation angle calculator 33b of the rotation angle detector 33 are provided.

The current command unit 40 detects the drive current applied to the motor 6 from the detected value detected by the rotation angle detection unit 33 and converted into the angular velocity ω, and the command torque given from the torque distribution unit 48. Using a torque table (not shown) set in the control unit 29, a corresponding two-phase command current (O id, O iq).
The rotation angle detection means 33 includes a detection unit 33a that detects the rotor angle of the electrical angle of the motor 6, and a rotation angle calculation unit 33b that calculates the rotation angle of the electrical angle from the detected signal. The rotation angle θ calculated by the rotation angle calculation unit 33 b is converted into an angular velocity ω by the speed calculation unit 44 and input to the current command unit 40.

The current PI control unit 41 includes a current command (O id, O iq) is a means for performing PI (proportional integral) feedback control so that no deviation occurs in the current value of each phase by the current sensor 38. The three-phase current values Iu, Iv, and Iw detected by the current sensor 38 are converted into two-phase current commands id and iq by the three-phase / two-phase converter 43 and input to the current PI controller 41. .

  The two-phase / three-phase conversion unit 42 sets the two-phase voltage command values Vd and Vq output from the current PI control unit 41 to appropriate values according to the rotation angle θ detected by the rotation angle detection means 33. This is means for converting the converted three-phase voltage commands Vu, Vv, and Vw.

  In the motor control unit 29 of FIG. 1 including the motor drive control unit 30 having such a configuration, in this embodiment, the following reverse torque command unit for inspection 36 and an abnormality detection unit 34 are provided.

The inspection reverse torque command unit 36 sends a command (command torque) to cause the motors 6 and 6 to flow currents having the same torque in the opposite directions of the wheel rotation direction when the vehicle stops. 30 and 30.
For example, in the case of front wheel drive as shown in FIG. 6 (A), as shown in FIG. 7 (A), one of the two drive wheels 1 and 1 as the front wheels (left in the figure). A forward torque (ANm) is generated in the drive wheel 1 and a backward torque (BNm) is generated in the other (right in the figure) drive wheel 1. Both torques A and B have the same magnitude.
In the case of rear wheel drive as shown in FIG. 6 (B), as shown in FIG. 7 (B), one of the two drive wheels 1 and 1 as the rear wheels (left in the figure) A forward torque (CNm) is generated in the drive wheel 1 and a backward torque (DNm) is generated in the other (right in the figure) drive wheel 1. Both torques C and D have the same magnitude.
In the case of the four-wheel drive shown in FIGS. 6 (C) and 6 (D), as shown in FIG. 7 (C), one of the front and rear, for example, the two drive wheels 1, 1 that are front wheels is forward-facing. Torque (ANm, BNm) is generated so as to generate rearward torque (CNm, DNm) in the two driving wheels 1, 1 as rear wheels. In this case, the magnitudes of the torques A to D are the torques of the front wheels. The sum (A + B) of the rear wheel and the sum of the rear wheel torque (C + D) are made the same.

  The abnormality detection unit 34 detects an abnormality of the current sensor 38 when a current to which torque in the reverse direction is applied flows. For example, whether the test reverse torque command unit 36 outputs the reverse torque command to the motor drive control units 30 and 30 is when the current to which the reverse torque is applied flows. Recognize with.

More specifically, the test reverse torque command unit 36 sets the motor drive control unit 30 to a control mode in which the current to which the torque in the reverse direction is applied flows in an open loop without current feedback. In this case, the abnormality detection unit 34 outputs a detection signal indicating an abnormality if the current detection value when the current is flowing in the open loop is not within a specified range.
Specifically, as described above with reference to FIG. 2, the motor drive control unit 30 has the current loop 49 that is PI-controlled by the current PI control unit 41 based on the detection value of the current sensor 38, but is caused to flow in the open loop. When the control mode is set, the current loop 49 is not used, and instead of the current PI control unit 41, the voltage calculation unit 41A is used instead of the current PI control unit 41 as shown in FIG. The voltage values Vd and Vq serving as current commands are output. In this case, the voltage calculation unit 41A calculates the voltage values Vd and Vq using the angular velocity obtained by the rotation angle detection unit 33 and calculated by the velocity calculation unit 44.
The current PI control unit 41 and the voltage calculation unit 41A are both provided in the motor drive control unit 30, and are used by switching.

  More specifically, the abnormality detection unit 34 detects an abnormality if the current detection value of the current sensor 38 when the current flows in an open loop is not within a specified range. In this case, when the motor 6 is a three-phase AC motor as in this embodiment, the sum of the motor currents of the three phases when the current is flowing in the open loop is not substantially zero. It is good also as abnormality detection. The motor current (phase current) of each phase of the three-phase AC motor is out of phase by 120 degrees as shown in FIG. 8, but the sum of the motor currents of each phase is zero. Therefore, if the sum of the currents of the three phases is not zero, it can be determined that there is an abnormality. However, in consideration of an allowable error in the current sensor 38, the wiring, and the like, the value is not limited to zero and is normal if it is substantially zero.

  In addition, the inspection reverse torque command unit 38 outputs a command for causing a current to be applied with the torque in the reverse direction, in addition to the time when the vehicle is stopped, to output a main brake (not shown) of the vehicle. The brake condition is maintained, the side brake (not shown) is maintained in the brake condition, or the shift lever 53 (see FIG. 1) is parked. When the above conditions are satisfied, the motor drive control unit 30 is caused to output a command for causing a current to be applied with the torque in the reverse direction.

  Moreover, in this embodiment, the said reverse torque command part 30 for a test | inspection starts with the trigger of ON of the specific switch 50 (refer FIG. 1) operated while a vehicle stops, and determines satisfaction of each condition. When the condition is satisfied, a command for causing the current to be applied with the torque in the reverse direction is output. The specific switch 50 is, for example, a starter switch, and inspects the current sensor 38 by the inspection reverse torque command unit 36 and the abnormality detection unit 34 as part of a series of inspections of various accessory devices before traveling. Like to do.

  The condition is, for example, that a main brake (not shown) is maintaining the brake state, or that the side brake is maintaining the brake state. For the main brake, it is detected that the brake pedal 51 (see FIG. 1) is stepped on, and for the side brake, the operation lever 52 (see FIG. 1) is pulled to detect that the brake state is being maintained. To do. In addition to this, it may be added that the shift lever 53 is in parking.

The control operation of the above configuration will be described with reference to FIG. When the switch 50 such as a starter switch of the vehicle is turned on, the inspection reverse torque command unit 36 starts the process shown in FIG.
First, as a condition determination, it is determined whether the side brake is applied, whether the brake pedal 51 of the main brake is depressed, or whether the shift lever 53 is in the parking position (step S1). When both are N0, the drive of the motor 6 is prohibited (step S6). That is, the inspection reverse torque command unit 36 prevents the motor drive control unit 30 from issuing a reverse torque application command.
If the condition is satisfied, the process proceeds to step S2, and as described above with reference to FIGS. 7A to 7C, the reverse torque having the same magnitude is generated in the left and right or front and rear drive wheels 1, 1. The left and right motors 6 and 6 are energized in an open loop for the current loop shown in FIG. 3 (step S2).

While driving in this open loop, the abnormality detection unit 34 determines whether or not the current detection value of the current sensor 38 is within a specified range (step S3). In this determination process, it may be detected for each phase whether or not the motor current, which is the phase current, is within the range of the respective regulations, and the motor 6 is a three-phase AC motor as in this embodiment. In some cases, as in step S3 ′ of FIG. 5, whether or not the sum of currents of the three phases is within a specified range may be determined based on whether or not the sum of the currents of the three phases is substantially zero. FIG. 5 differs from FIG. 4 only in step S3 ′.
If it is within a specified range (for example, if the sum of the currents of the three phases is substantially zero), the abnormality detection unit 34 determines that the current sensor 38 is normal (step S3: Yes), and performs motor drive control. The unit 30 shifts to normal control by the signal of the determination result (step S4). That is, according to the command torque from the torque distribution means 48 of the ECU 21, the current feedback control described with reference to FIG.

  If it is not within the specified range, the abnormality detection unit 34 determines that it is abnormal (step S3: No), and shifts to control at the time of abnormality (step S5). For example, when the determination result that the abnormality determination unit 34 is abnormal is sent to the motor drive control unit 30, the motor drive control unit 30 performs the control by the open loop described above with reference to FIG. 3 in response to the determination result. Do. However, in this case, control is performed according to the command torque output from the torque distribution means 48 of the ECU 21.

  In this embodiment, in the vehicle in which the wheels can be independently driven on the left and right or front and rear sides, a current that causes reverse torque to be applied to the left and right or front and rear driving wheels 1 and 1 at the same time when the vehicle is stopped is applied. An abnormality in the detection circuit is detected. For example, a current that causes reverse torque is passed in an open loop, and abnormality detection is performed based on whether or not the current detection value at that time falls within a specified range. Alternatively, a current that causes reverse torque is passed in an open loop, and abnormality detection is performed based on whether the sum of the three-phase currents is zero or a value close to zero.

When such abnormality detection is performed, an equal reverse torque is applied, so that the current detection circuit can be inspected without moving as a vehicle. In addition, since it is not limited to the d-axis current, an arbitrary current can be passed through each phase. In addition, a circuit added to the current sensor 38 and a dedicated power source are not required, and the cost and weight are not increased.
Further, by controlling in an open loop, even if the current sensor 38 is abnormal and the detected current value is an abnormal value, the current to be supplied does not change, and therefore, an equal reverse torque is applied and the vehicle does not move. Inspection can be done as it is.
However, although there is no difference in the left and right or front and rear torque depending on whether or not the current sensor 38 is abnormal, the vehicle may move if the reverse torque is not equal due to an abnormality in the drive circuit or rotor angle detection circuit. . Therefore, whether the brake pedal 51 is depressed, whether the side brake operation lever 52 is pulled, and whether the shift lever 53 is in parking may be used as a condition for detecting an abnormality. Thereby, unexpected movement of the vehicle can be prevented.
In addition, if a fluctuation occurs that exceeds a threshold value at the rotor angle, the abnormality detection unit 34 may determine that there is some abnormality and terminate the abnormality detection performed by applying the reverse torque.

  As mentioned above, although the form for implementing this invention based on the Example was demonstrated, embodiment disclosed here is an illustration and restrictive at no points. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

DESCRIPTION OF SYMBOLS 1 ... Drive wheel 2 ... Drive wheel 6 ... Motor 28 ... Power circuit part 30 ... Motor drive control part 33 ... Rotation angle detection means 34 ... Abnormality detection part 36 ... Reverse torque command part 38 for test | inspection ... Current sensor 41 ... Current P1 control Unit 41A ... Voltage calculation unit 49 ... Current loop

Claims (7)

In a drive control device for a wheel independent drive vehicle for controlling a wheel independent drive vehicle having a plurality of traveling motors capable of independently driving the wheel left and right or front and rear,
A plurality of power circuit units for supplying current to each of the plurality of motors, a motor drive control unit for controlling currents flowing through the power circuit units, and a current sensor for detecting currents flowing through the motors. A reverse torque command unit for inspection that causes the motor drive control unit to output a command to cause a current to be applied to the motors of the left and right or front and rear wheels of the motor, the torques being opposite to each other in the wheel rotation direction. A drive control device for a wheel-independent drive vehicle, comprising: an abnormality detection unit that detects an abnormality of the current sensor when a current to which a torque is applied flows.   The wheel independent drive type vehicle drive control device according to claim 1, wherein the motor drive control unit has a function of performing current feedback control based on a detection value of the current sensor, and the inspection reverse torque command unit includes: The motor drive control unit is set to a control mode in which a current to which a reverse torque is applied flows in an open loop, and the abnormality detection unit is within a range defined by a current detection value when the current is flowing in the open loop. A drive control device for a wheel independent drive type vehicle that detects an abnormality if it is not present.   2. The drive control device for a wheel independent drive vehicle according to claim 1, wherein each of the motors is a three-phase AC motor, and the motor drive control unit has a function of performing current feedback control based on a detection value of the current sensor. The inspection reverse torque command unit sets the motor drive control unit to a control mode in which a current that is applied with the reverse torque flows in an open loop, and the abnormality detection unit receives a current in the open loop. A wheel independent drive type vehicle drive control device that detects an abnormality unless the sum of the currents of the three phases is substantially zero.   4. The drive control device for a wheel independent drive vehicle according to claim 1, wherein the inspection reverse torque command unit is on condition that a main brake of the vehicle is maintaining a brake state. 5. As one of the above, a drive control device for a wheel independent drive type vehicle that outputs a command for causing the motor drive control unit to flow a current to which the reverse torque is applied when each condition is satisfied.   5. The drive control device for a wheel independent drive type vehicle according to claim 1, wherein the inspection reverse torque command unit is on condition that a side brake of the vehicle is maintaining a brake state. As one of the above, a drive control device for a wheel independent drive type vehicle that outputs a command for causing the motor drive control unit to flow a current to which the reverse torque is applied when each condition is satisfied.   The wheel independent drive type vehicle drive control device according to any one of claims 1 to 5, wherein the inspection reverse torque command unit is based on a condition that a shift lever of the vehicle is in a parking space. One of these is a drive control device for a wheel-independent drive vehicle that outputs a command for causing the motor drive control unit to flow a current that is applied with the reverse torque when each condition is satisfied.   The wheel independent drive type vehicle drive control device according to any one of claims 1 to 6, wherein the inspection reverse torque command unit and the abnormality detection unit flow a current to which a torque in the reverse direction is applied. When the rotor angle of each motor exceeds a set threshold value, an output of a command for flowing a current in the reverse direction and a drive control device for a wheel independent drive vehicle that ends the detection of the abnormality.

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