JP2017530688A - 電気モータのモーメントに基づく車輪安定性制御 - Google Patents
電気モータのモーメントに基づく車輪安定性制御 Download PDFInfo
- Publication number
- JP2017530688A JP2017530688A JP2017533700A JP2017533700A JP2017530688A JP 2017530688 A JP2017530688 A JP 2017530688A JP 2017533700 A JP2017533700 A JP 2017533700A JP 2017533700 A JP2017533700 A JP 2017533700A JP 2017530688 A JP2017530688 A JP 2017530688A
- Authority
- JP
- Japan
- Prior art keywords
- electric motor
- acceleration
- deceleration
- angular velocity
- optimum
- 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
Links
- 230000001133 acceleration Effects 0.000 claims abstract description 94
- 238000012545 processing Methods 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000000926 separation method Methods 0.000 description 14
- 230000003068 static effect Effects 0.000 description 11
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000009022 nonlinear effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- B60L15/2009—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 for braking
-
- 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
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- 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
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
-
- 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
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/102—Indicating wheel slip ; Correction of wheel slip of individual wheels
-
- 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
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/104—Indicating wheel slip ; Correction of wheel slip by indirect measurement of vehicle speed
-
- 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
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
-
- 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
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- 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
-
- 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
- B60L3/12—Recording operating variables ; Monitoring of operating variables
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/427—Voltage
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/429—Current
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
電気モーメント≒C*Pelectric/n
電気モーメント≒Pelectric
Pelectric=√3*U*I*cosφ
102 駆動インバータ
104 電気モータ
106 モータ軸
108,108a,108b 駆動輪
110 ECU(電子制御ユニット)
202 EPU(電子処理ユニット)
204 コンピュータ可読式非一時的メモリ
206 入出力インタフェース
208 車両通信バス
210,210a,210b 車輪角速度センサ
214 車両加速度センサ
216 ブレーキ装置
300 最適加速度減速度曲線
302 上方分離点
304 下方分離点
306 上方不安定性エリア
406 差動装置
500 電気併用ブレーキモード
502 電気的補償ブレーキモード
504A,504B 変調電気モーメント
508 有効電気モーメント
Claims (16)
- 電気自動車の車輪安定性制御システムであって、
電気特性を有する電気モータを包含する動力システムであり、前記電気モータの角速度と、入力電流と、入力電圧と、前記入力電流と前記入力電圧との間の位相角とを判断するように構成されている動力システムと、
コンピュータ可読式非一時的メモリであって、前記車両の最適加速度減速度曲線と前記電気モータの前記電気特性とを含む情報を記憶するメモリと、電子処理ユニット(EPU)とを含む電子制御ユニット(ECU)であって、
前記動力システムにより提供される前記電気モータの前記角速度と前記入力電流と前記入力電圧と前記位相角と、前記電気モータの前記電気特性とに基づいて、前記電気モータの電気モーメントを計算し、
前記電気モータの前記角速度から前記電気モータの前記加速度または減速度を判断し、
前記電気モータの前記角速度に基づいて、また前記最適加速度減速度曲線に基づいて、前記電気モータの前記最適加速度および前記最適減速度を計算し、
前記電気モータの前記加速度または前記減速度が前記電気モータの前記最適加速度または前記最適減速度を超えているかどうかを判断し、
前記電気モータの前記加速度または前記減速度が前記最適加速度または前記最適減速度を超えている時に、前記電気モータの前記加速度または前記減速度が前記最適加速度または前記最適減速度と一致するまで前記電気モータの前記電気モーメントを低下させる、
ように構成されているECUと、
を包含するシステム。 - 前記電気モータの前記加速度または前記減速度が前記電気モータの前記最適加速度または前記最適減速度を超えているかどうかを判断するように構成されている前記ECUがさらに、
加速時に前記電気モータの前記角速度が所定範囲を超えているかどうかを判断し、最適加速度曲線から前記所定範囲が判断されるとともに、
減速時に前記電気モータの前記角速度が所定範囲を下回っているかどうかを判断し、最適加速度曲線から前記所定範囲が判断される、
ように前記ECUを構成することを包含する、請求項1に記載のシステム。 - 前記車輪安定性制御システムが車輪角速度センサを備えていない、請求項1に記載のシステム。
- 前記車両の加速度を判断して前記車両の前記加速度の値を前記ECUに提供する加速度センサをさらに包含し、前記ECUが、前記加速度センサからの前記情報に応じて前記最適加速度減速度曲線を調節する、請求項1に記載のシステム。
- 前記電気モータが同期モータを包含する、請求項1に記載のシステム。
- 顧客への前記車両の納入に先立って、前記最適加速度減速度曲線が判断されて前記メモリにプリロードされる、請求項に記載1に記載のシステム。
- 第2電気モータをさらに包含し、前記電気モータが第1駆動輪に結合されて動力供給し、前記第2電気モータが第2駆動輪に結合されて動力供給する、請求項1に記載のシステム。
- さらに、
差動装置であって、前記電気モータから第1駆動輪および第2駆動輪へ動力を伝達する差動装置と、
前記第1駆動輪に近接して配置される第1車輪角速度センサと、前記第2駆動輪に近接して配置される第2車輪角速度センサであって、前記第1車輪角速度センサと前記第2車輪角速度センサとが前記ECUへ情報を伝達し、前記第1車輪角速度センサと前記第2車輪角速度センサとに基づいて前記ECUが前記第1駆動輪および前記第2駆動輪のタイヤスリップを判断する、第1車輪角速度センサおよび第2車輪角速度センサと、
を包含する、請求項1に記載のシステム。 - 前記電気モータの前記角速度と、前記入力電流と、前記入力電圧と、前記入力電流と前記入力電圧との間の前記位相角とを判断するように構成されている駆動インバータを前記動力システムが含む、請求項1に記載のシステム。
- 電気モータにより動力供給される車両において駆動輪安定性を制御するための方法であって、
前記電気モータの電気特性を判断することと、
前記電気モータの入力電流と、入力電圧と、前記入力電圧と前記入力電流との間の位相角と、角速度とを判断することと、
電子制御ユニット(ECU)による、
前記電気モータの前記入力電流と前記入力電圧と前記位相角と前記角速度と前記電気特性とに基づいて、前記電気モータの電気モーメントを計算するためと、
前記電気モータの前記角速度に基づいて前記電気モータの加速度または減速度を計算するためと、
前記電気モータの最適加速度減速度曲線と前記角速度とに基づいて前記電気モータの最適加速度または最適減速度を判断するためと、
前記電気モータの前記加速度または減速度を前記最適加速度または最適減速度と比較するためと、
前記電気モータの前記加速度または前記減速度が前記最適加速度または前記最適減速度を超えている時に、前記電気モータの前記電気モーメントを調節して前記加速度または前記減速度を前記最適加速度または前記最適減速度にするための、
使用を目的として、前記電気モータの前記入力電流と前記入力電圧と前記位相角と前記角速度と前記電気特性についての情報をコンピュータ可読式非一時的メモリに記憶することと、
を包含する方法。 - さらに、
加速時に前記電気モータの前記角速度が所定範囲を超えているかどうかを判断することであって、最適加速度曲線から前記所定範囲が判断されることと、
減速時に前記電気モータの前記角速度が所定範囲を下回っているかどうかを判断することであって、最適減速度曲線から前記所定範囲が判断されることと、
を包含する、請求項10の方法。 - 車輪角速度センサが設けられない方法である、請求項10の方法。
- さらに、
車両加速度センサを使用することにより前記車両の加速度を判断するステップと、
前記車両加速度センサからの情報を前記ECUへ伝達することであって、前記ECUが前記車両加速度センサに応じて前記最適加速度減速度曲線を調節するステップと、
を包含する、請求項10の方法。 - 前記電気モータが同期モータである、請求項10の方法。
- 顧客への前記車両の納入に先立って、前記最適加速度減速度曲線が判断されてコンピュータ可読式非一時的メモリへプリロードされる、請求項10の方法。
- さらに、
前記電気モータから差動装置を介して二つの駆動輪へ動力を伝送することと、
前記二つの駆動輪の各々に近接して配置された車輪角速度センサを使用することにより前記二つの駆動輪の各々について角速度を判断することと、
各車輪角速度センサから前記ECUへ情報を伝達することであって、前記ECUが前記二つの駆動輪の各々のタイヤスリップを判断することと、
を包含する、請求項10の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/487,956 | 2014-09-16 | ||
US14/487,956 US9248745B1 (en) | 2014-09-16 | 2014-09-16 | Wheel stability control based on the moment of an electrical motor |
PCT/EP2015/070032 WO2016041776A1 (en) | 2014-09-16 | 2015-09-02 | Wheel stability control based on the moment of an electrical motor |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017530688A true JP2017530688A (ja) | 2017-10-12 |
JP6832854B2 JP6832854B2 (ja) | 2021-02-24 |
Family
ID=54140409
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017533700A Active JP6832854B2 (ja) | 2014-09-16 | 2015-09-02 | 電気モータのモーメントに基づく車輪安定性制御 |
Country Status (5)
Country | Link |
---|---|
US (2) | US9248745B1 (ja) |
EP (1) | EP3194201B1 (ja) |
JP (1) | JP6832854B2 (ja) |
CN (1) | CN107074115B (ja) |
WO (1) | WO2016041776A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021066302A (ja) * | 2019-10-23 | 2021-04-30 | トヨタ自動車株式会社 | 制動制御装置 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9248745B1 (en) * | 2014-09-16 | 2016-02-02 | Robert Bosch Gmbh | Wheel stability control based on the moment of an electrical motor |
JP2018098868A (ja) * | 2016-12-12 | 2018-06-21 | Ntn株式会社 | 車両制御装置 |
US11091149B2 (en) | 2017-11-09 | 2021-08-17 | Robert Bosch Gmbh | Vehicle electronic stability control system including improved wheel speed detection |
US10913449B2 (en) | 2017-11-09 | 2021-02-09 | Robert Bosch Gmbh | Vehicle electronic stability control system including back-up wheel speed detection |
US10882527B2 (en) | 2017-11-14 | 2021-01-05 | Neapco Intellectual Property Holdings, Llc | Torque modulation to linearize tire slip characteristics |
CN110126807B (zh) * | 2019-03-19 | 2021-09-14 | 北京车和家信息技术有限公司 | 车速控制方法、车速控制系统和车辆 |
EP4090548B1 (en) * | 2020-01-15 | 2023-12-13 | Volvo Truck Corporation | A differential electrical drive arrangement for heavy duty vehicles |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02262806A (ja) * | 1989-03-31 | 1990-10-25 | Shikoku Sogo Kenkyusho:Kk | 電気自動車 |
JP2003274508A (ja) * | 2002-03-12 | 2003-09-26 | Toyota Motor Corp | 車 両 |
JP2006142902A (ja) * | 2004-11-17 | 2006-06-08 | Nissan Motor Co Ltd | 車両のヒルホールド制動力制御装置 |
JP2009077460A (ja) * | 2007-09-18 | 2009-04-09 | Toyota Motor Corp | 駆動制御装置 |
JP2013110927A (ja) * | 2011-11-24 | 2013-06-06 | Ntn Corp | 電気自動車のモータ制御装置 |
Family Cites Families (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61264407A (ja) | 1985-05-20 | 1986-11-22 | Matsushita Electric Ind Co Ltd | 角加速度制御方法 |
JP3453269B2 (ja) | 1997-03-14 | 2003-10-06 | 株式会社日立ユニシアオートモティブ | 車両用自動変速機の変速制御装置 |
US6267189B1 (en) | 1999-03-04 | 2001-07-31 | Case Corporation | Power take-off engagement control system |
US6304809B1 (en) | 2000-03-21 | 2001-10-16 | Ford Global Technologies, Inc. | Engine control monitor for vehicle equipped with engine and transmission |
JP4608839B2 (ja) * | 2002-12-24 | 2011-01-12 | 日立化成工業株式会社 | 接着材テープリール及び接着装置 |
US7004018B2 (en) * | 2002-08-27 | 2006-02-28 | Nissan Motor Co., Ltd. | Vehicle driving force control apparatus |
JP3991983B2 (ja) | 2003-12-19 | 2007-10-17 | 日産自動車株式会社 | 車両の駆動制御装置 |
JP4155236B2 (ja) * | 2004-07-09 | 2008-09-24 | トヨタ自動車株式会社 | 車両用駆動装置の制御装置 |
JP4635530B2 (ja) | 2004-09-14 | 2011-02-23 | トヨタ自動車株式会社 | 車両用駆動装置の制御装置 |
JP4188348B2 (ja) * | 2005-08-10 | 2008-11-26 | 株式会社日立製作所 | 電動車両の走行制御装置および電動走行制御システム |
KR20070018706A (ko) * | 2005-08-10 | 2007-02-14 | 가부시끼가이샤 히다치 세이사꾸쇼 | 전동 차량의 주행 제어장치 및 전동 주행 제어시스템 |
EP2172359B1 (en) | 2005-09-20 | 2012-12-19 | Atlet AB | Improved control system for an industrial truck |
EP2144794B1 (de) * | 2007-04-05 | 2013-01-02 | Continental Teves AG & Co. oHG | Verfahren zum betrieb einer fahrzeugbremsanlage sowie fahrzeugbremsanlage |
US8903577B2 (en) * | 2009-10-30 | 2014-12-02 | Lsi Industries, Inc. | Traction system for electrically powered vehicles |
JP4874192B2 (ja) | 2007-08-10 | 2012-02-15 | 株式会社デンソー | 車両用制御装置及び制御システム |
DE102009004023B4 (de) * | 2009-01-08 | 2018-07-12 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Verfahren zum Steuern eines Start-Stop-Betriebs eines Fahrzeugs mit Hybridantrieb und ein entsprechendes Fahrzeug |
US8453770B2 (en) * | 2009-01-29 | 2013-06-04 | Tesla Motors, Inc. | Dual motor drive and control system for an electric vehicle |
US7739005B1 (en) * | 2009-02-26 | 2010-06-15 | Tesla Motors, Inc. | Control system for an all-wheel drive electric vehicle |
DE102009020794A1 (de) | 2009-05-07 | 2010-11-11 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | Verfahren zur Koordination des Triebstranges eines Kraftfahrzeuges |
WO2011048660A1 (ja) * | 2009-10-19 | 2011-04-28 | トヨタ自動車株式会社 | スタンバイ四輪駆動車両の駆動制御装置 |
FR2960405B1 (fr) * | 2010-05-25 | 2013-01-18 | Cie Mediterraneenne Des Cafes | Dispositif d'infusion a variation de pression |
JP5336447B2 (ja) * | 2010-09-02 | 2013-11-06 | 日立建機株式会社 | 電気駆動車両 |
JP5120435B2 (ja) * | 2010-09-30 | 2013-01-16 | ブラザー工業株式会社 | モータ制御装置 |
DE102011011443A1 (de) * | 2011-02-16 | 2012-08-16 | Voith Patent Gmbh | Verfahren zum Betreiben eines schienengebundenen Fahrzeuges |
DE102011081709A1 (de) * | 2011-08-29 | 2013-02-28 | Robert Bosch Gmbh | Verfahren zum sicheren Betreiben eines Kraftfahrzeugs mit einem Antriebsaggregat |
GB2505022B (en) * | 2012-08-16 | 2015-01-14 | Jaguar Land Rover Ltd | Speed control system and method for operating the same |
KR101786126B1 (ko) * | 2012-10-26 | 2017-10-17 | 현대자동차주식회사 | 변속기 장착 ev차량의 모터토크 제어방법 |
US9248745B1 (en) * | 2014-09-16 | 2016-02-02 | Robert Bosch Gmbh | Wheel stability control based on the moment of an electrical motor |
-
2014
- 2014-09-16 US US14/487,956 patent/US9248745B1/en active Active
-
2015
- 2015-09-02 EP EP15763515.2A patent/EP3194201B1/en active Active
- 2015-09-02 JP JP2017533700A patent/JP6832854B2/ja active Active
- 2015-09-02 WO PCT/EP2015/070032 patent/WO2016041776A1/en active Application Filing
- 2015-09-02 US US15/501,639 patent/US10166871B2/en active Active
- 2015-09-02 CN CN201580049680.9A patent/CN107074115B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02262806A (ja) * | 1989-03-31 | 1990-10-25 | Shikoku Sogo Kenkyusho:Kk | 電気自動車 |
JP2003274508A (ja) * | 2002-03-12 | 2003-09-26 | Toyota Motor Corp | 車 両 |
JP2006142902A (ja) * | 2004-11-17 | 2006-06-08 | Nissan Motor Co Ltd | 車両のヒルホールド制動力制御装置 |
JP2009077460A (ja) * | 2007-09-18 | 2009-04-09 | Toyota Motor Corp | 駆動制御装置 |
JP2013110927A (ja) * | 2011-11-24 | 2013-06-06 | Ntn Corp | 電気自動車のモータ制御装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021066302A (ja) * | 2019-10-23 | 2021-04-30 | トヨタ自動車株式会社 | 制動制御装置 |
JP7211330B2 (ja) | 2019-10-23 | 2023-01-24 | トヨタ自動車株式会社 | 制動制御装置 |
Also Published As
Publication number | Publication date |
---|---|
EP3194201B1 (en) | 2021-03-10 |
CN107074115B (zh) | 2020-03-10 |
US20170217314A1 (en) | 2017-08-03 |
JP6832854B2 (ja) | 2021-02-24 |
WO2016041776A1 (en) | 2016-03-24 |
US9248745B1 (en) | 2016-02-02 |
CN107074115A (zh) | 2017-08-18 |
US10166871B2 (en) | 2019-01-01 |
EP3194201A1 (en) | 2017-07-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6832854B2 (ja) | 電気モータのモーメントに基づく車輪安定性制御 | |
EP3347228B1 (en) | Electric vehicle with and method, controller and computer programm for a braking system | |
US10093308B2 (en) | Electronic stability control system for vehicle | |
US9840165B2 (en) | Electric vehicle traction control system and method | |
US9156358B2 (en) | Regenerative braking in the presence of an antilock braking system control event | |
US8342618B2 (en) | Traction control device for vehicle | |
US9403446B2 (en) | Driving-force controller for electric vehicle | |
US11007880B2 (en) | Method and apparatus for controlling electric machines | |
EP2923877A1 (en) | Vehicle control device | |
US9174549B2 (en) | Driving force control device for electric vehicle | |
RU168142U1 (ru) | Способ управления процессом трогания в рельсовом транспортном средстве | |
US20160075237A1 (en) | Slip control device for electric vehicle | |
JP2016111834A (ja) | 車両の制駆動力制御装置 | |
US9555721B2 (en) | Slip control device for electric vehicle | |
KR20210014821A (ko) | 차량의 휠 슬립 제어 방법 | |
KR20120024170A (ko) | 인휠 모터 차량의 구동력 제어 시스템 | |
KR102326629B1 (ko) | 전기 구동 시스템의 트랙션 제어를 위한 제어 장치 및 방법 | |
US10351003B2 (en) | Electric motorcycle with wheel anti-lock system | |
US20200198475A1 (en) | Control Apparatus for Vehicle, Control System for Vehicle, and Control Method for Vehicle | |
CN103879305A (zh) | 用于四轮独立驱动电动车的最大转矩估计驱动防滑算法 | |
KR20210018652A (ko) | 차량의 휠 슬립 제어 방법 | |
JP7149713B2 (ja) | スリップ制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20170315 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20180131 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20180207 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20180420 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20180626 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180806 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20180918 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20181207 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20190215 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20190717 |
|
C60 | Trial request (containing other claim documents, opposition documents) |
Free format text: JAPANESE INTERMEDIATE CODE: C60 Effective date: 20191115 |
|
C22 | Notice of designation (change) of administrative judge |
Free format text: JAPANESE INTERMEDIATE CODE: C22 Effective date: 20200428 |
|
C13 | Notice of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: C13 Effective date: 20200708 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20201006 |
|
C23 | Notice of termination of proceedings |
Free format text: JAPANESE INTERMEDIATE CODE: C23 Effective date: 20201203 |
|
C03 | Trial/appeal decision taken |
Free format text: JAPANESE INTERMEDIATE CODE: C03 Effective date: 20210108 |
|
C30A | Notification sent |
Free format text: JAPANESE INTERMEDIATE CODE: C3012 Effective date: 20210108 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20210202 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6832854 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |