JP3200885B2 - Battery-compatible electric vehicle controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle control device driven by a battery, and more particularly to a battery voltage-compatible electric vehicle control device capable of operating with a performance corresponding to the voltage even when the battery voltage is lowered.

[0002]

2. Description of the Related Art Conventionally, as an electric vehicle control device corresponding to a case where the battery voltage fluctuates, Japanese Patent Application Laid-Open No. 61-2620 discloses
The method described in Japanese Patent Publication No. 06 is known. This method detects a battery voltage and corrects an AC command signal based on the detected value so that the battery can always operate normally even when the battery voltage fluctuates. Therefore, when the battery voltage is high, the AC command signal is reduced,
When the battery voltage is reduced, by controlling the AC command signal to increase, there is a feature that the feeling of the accelerator can be kept constant and the adverse effect on safe driving can be eliminated.

[0003] As an example of a motor control device when the battery voltage fluctuates, there is a method described in Japanese Patent Publication No. 3-1918. In this method, even when the battery voltage V decreases, control is performed so as to reduce the magnetic flux of the induction motor, thereby always achieving good vector control. That is, when the battery voltage V decreases, the motor speed ω _M , or the ratio of the battery voltage V to the primary frequency ω ₁ , V / ω _M , or V / ω
_Since the generated magnetic flux is determined by the value of ₁ , there is a feature that good vector control can be maintained even when the battery voltage is reduced.

[0004]

However, each of the above prior arts has not been considered in the following points. First, in the former method, no consideration is given to the case where the battery voltage is further reduced in the electric vehicle.
In other words, when the battery voltage drops below a predetermined value,
Simply increasing the AC command signal does not allow the motor voltage to be applied to the motor to reach the predetermined value, so that the motor control system may become unstable or the acceleration may decrease. Therefore, a predetermined performance as an electric vehicle may not be ensured in some cases, and there is a problem that a driving sensation of a driver is different from normal. Next, in the latter method, when the battery voltage drops, the influence of the magnetic flux is considered, but the maximum torque that can be generated is not considered. Generally, the voltage applied to the motor is for flowing a current for generating a magnetic flux and a current for generating a torque.
In addition, when torque is required, the latter method lacks a voltage for generating torque. For this reason, similarly to the former method, the latter method has a problem that predetermined performance as an electric vehicle is not secured, and the driving sensation of the driver may be different from usual.

A first object of the present invention is to provide a stable control system even when the battery voltage falls below the range of the battery voltage for ensuring the rated performance of the electric vehicle,
The purpose is to ensure the performance of the electric vehicle according to the battery voltage.

A second object of the present invention is to provide a safe and reliable electric vehicle for a driver even when the performance of the electric vehicle changes.

[0007]

SUMMARY OF THE INVENTION It is an object of the present invention to provide an electric vehicle driven by a motor, a battery voltage detecting means for detecting a battery voltage, and a maximum speed setting value at which the battery voltage is inputted and the vehicle can run according to the battery voltage. Or by calculating a maximum torque set value and using a control means for controlling the traveling speed and the output torque so that the maximum speed set value or the maximum torque set value is limited. .

In order to achieve the second object,
By providing a means for inputting the maximum speed setting value and the maximum torque setting value obtained by the above-described means or the maximum climbing angle calculated from the battery voltage and notifying the driver of the input, the driver can use the electric vehicle. The operation according to the performance state at that time can be performed.

[0009]

First, the battery voltage is detected by the battery voltage detecting means and is input to the control means. In the control means, in addition to the battery voltage, the depression amounts of the accelerator pedal and the brake pedal operated by the driver, that is, the accelerator amount, the brake amount, and the like are input. Here, the vehicle speed command is calculated from the accelerator amount and the brake amount, and the maximum speed set value and the maximum torque set value are calculated from the battery voltage. If the speed command exceeds the maximum speed setting, the speed command is limited to the maximum speed setting. The motor speed is fed back to this speed command, and a torque command is calculated from the difference between the speed command and the motor speed. At this time, if the absolute value of the torque command is larger than the maximum torque set value obtained from the battery voltage, the torque command is limited so that the absolute value of the torque command becomes the maximum torque set value. Thus, speed control is performed. Further, current control for controlling the motor current based on a current command corresponding to the torque command is performed to give a voltage command. The control unit outputs a control pulse to the power conversion unit so that the voltage command is obtained. In this power conversion means, a motor voltage to be supplied to the motor is generated by a control pulse. As a result, an output torque is generated from the motor, and the tire is driven.

Here, the operation when the battery voltage drops will be described. In general, as the motor speed increases, a back electromotive force proportional to the magnetic flux and the motor speed is required, and the motor voltage to be applied to the motor must be increased. When torque is required, a voltage for generating torque is required, and it is necessary to further increase the motor voltage. Therefore, when the motor is operating at high speed, when torque is required, one of them,
Alternatively, in both cases, when the battery voltage decreases, the motor voltage that can be applied to the motor becomes insufficient. Therefore, when the battery voltage decreases, the control means decreases the maximum speed set value and the maximum torque set value according to the detected battery voltage. At that time, when the speed command is larger than the maximum speed set value, the speed command is reduced to the maximum speed set value, and calculation is performed so that the absolute value of the torque command is within the maximum torque set value. As a result, the motor is operated within the speed range and the output torque range where the motor voltage is not insufficient even when the battery voltage is reduced, and a stable control system can be secured.

When the battery voltage drops and the maximum speed set value or the maximum torque set value changes,
By notifying the driver of the value, the driver can determine the output performance of the electric vehicle at that time, so that safe driving according to the performance can be encouraged.

[0012]

An embodiment of the present invention will be described below with reference to FIG. FIG. 1 shows an embodiment in which front wheels 2 a and 2 b of an electric vehicle 1 are driven by an induction motor 3. The front wheels 2a, 2b are connected to the induction motor 3 via the differential device 4, and are driven by the inverter 5. The inverter 5 is controlled by PWM pulses P _u , P _v , and P _w output from the control device 6 and converts power supplied to the motor 3 using the battery 7 as a power supply. The control device 6 includes a motor drive control circuit 8 and a voltage correspondence limiting circuit 9. The motor drive control circuit 8 receives the accelerator pedal depression amount x _a and the brake pedal depression amount _xb obtained from the accelerator pedal 10 and the brake pedal 11, which are operation outputs of the driver. Other signals input to the motor drive control circuit 8 include the mode signal M _D , the vehicle speed ω _V , and the motor speed ω
_M , motor current i _u , i _v , i _w , maximum speed set value ω _MAX ,
There is a maximum torque setting value τ _MAX . Here, the mode signal M
_D is a signal from the operation mode lever 12 and is a signal from the electric vehicle 1
The driver instructs the driver to move forward, reverse, or park. The vehicle speed ω _V is obtained by measuring the rotation speeds of the rear wheels 13a and 13b, which are the follower wheels, with the wheel speed detectors 14a and 14b, respectively, and averaging them by the vehicle speed calculation circuit 15. Motor current i _u , _iv , i _w and motor speed ω _M
For the current detectors 16a, 16b, 1
6c, detected by the motor speed detector 17. further,
Maximum speed setting value omega _MAX, the maximum torque setpoint tau _MAX is the potential difference between the voltage terminal T ₁ of the battery 7 with the corresponding limiting circuit 9, T _2, that is, detects the battery voltage V _B, calculated from the battery voltage V _B are doing. The maximum speed set value ω _MAX and the motor speed ω _M are output to a speed display 18, and the maximum torque set value τ _MAX and a torque command τ * described later are output to a torque display 19, respectively. The performance of the car 1 is displayed. The details of this display will be described later.

Next, a control calculation method performed by the motor drive control circuit 8 and the voltage correspondence limiting circuit 9 in the control device 6 will be described with reference to FIG. The motor drive control circuit 8 performs the following control calculation. First, the reference motor speed calculation unit 20 calculates the accelerator depression amount x _a and the brake depression amount x.
_b, the mode signal M _D, the vehicle speed omega _V, calculates a reference motor speed omega _R corresponding to the vehicle speed command. The reference motor speed ω _R is input to the speed limiter 21 and compared with a maximum speed set value ω _MAX obtained by a method described later, and is calculated so as to be within the maximum speed set value ω _MAX . This result is output as the motor speed command ω *. Speed calculator 22
In, the reference torque τ _R is calculated by performing a proportional / integral calculation from the difference between the motor speed command ω * and the motor speed ω _R. Next, when the absolute value of the reference torque τ _R exceeds the maximum torque set value τ _MAX , the torque limiter 23 performs an operation to limit the reference torque τ _{R to} the maximum torque set value τ _MAX .
The torque command τ * obtained as a result is converted into a current command calculation unit 2
4 is output. Here, torque command tau *, performs vector control calculation from motor speed omega _M, U induction motor, V, and current command W-phase i _u *, i _v *, and outputs the i _w *. In the current control calculation unit 25, the current commands i _u *, _iv *,
By comparing the motor currents i _u , i _v , and i _w with i _w * and performing a current control operation from the difference, U,
V, each voltage of the W-phase command V _u *, V _v *, seeking V _w *.
Thus, the PWM signals P _u , P _v , and P _w are generated by the PWM generation unit 26, respectively.

Next, the voltage corresponding limiting circuit 9 which is a feature of the present invention will be described. In the voltage detector 27 of the voltage corresponding limiting circuit 9, the terminal T _1, T ₂ of the potential difference of the battery 7, that is, detects the battery voltage V _B. At the highest speed calculator 28, the maximum speed setting value from the battery voltage V _B omega
_MAX is calculated. FIG. 3 shows the relationship between the battery voltage V _B and the maximum speed set value ω _MAX . Here, V ₀ > V ₁ > ...
...> and V _4. Further, the rated voltage fluctuation range indicates a range of a battery voltage in which a predetermined performance (hereinafter, referred to as a rated performance) of an electric vehicle can be secured, and the voltage is generally reduced below this range. when,
There is a method that does not operate electric vehicles. On the other hand, in the present invention, the following processing is performed. FIG.
In (when it becomes the V _B <V ₀₎ the battery voltage V _B may falls below the rated voltage fluctuation range, the highest against the V _B V _0, V _1, ......, drops V ₄ The speed setting value ω _MAX is set so as to gradually decrease. Also, the maximum torque calculation unit 29, and calculates the maximum torque setting tau _MAX from the battery voltage V _B. The calculation has characteristics as shown in the table of FIG. That is, when the battery voltage V _B decreases to V ₃ below, in which gradually reduces the maximum torque setting tau _MAX. This method will be described with reference to the characteristics of the induction motor shown in FIG. The motor speed omega _M, indicating the maximum output torque that can be output from the motor by a thick line. Normally, if the battery voltage V _B is within the rated voltage fluctuation range, that is, if V _B ≧ V ₀ , the motor can generate this maximum output torque, so that the rated performance of the electric vehicle can be satisfied. Therefore, the maximum speed of the electric vehicle is determined by the motor speed ω ₀ at the point where the thick line intersects the constant running load determined by the running resistance. However, when the battery voltage V _B decreases to V ₁ , the voltage that can be applied to the induction motor in the high-speed region becomes insufficient, so that the output torque decreases as shown in FIG. Therefore, the motor speed ω _{M at the} point where the characteristic line intersects the constant running load decreases from ω ₀ to ω ₁ . As a result, the rated performance of the electric vehicle cannot be satisfied, and a process of stopping the electric vehicle has been conventionally performed. However, in the present invention, by lowering the maximum speed set value itself omega _1, the battery voltage is also reduced below the rated voltage fluctuation range, there are features that can be driven electric vehicles. Similarly, when the battery voltage V _B falls to V ₂ and V ₃ , the electric vehicle can run at a speed within that range if the maximum speed setting value is ω ₂ or ω ₃ . Further, when the battery voltage V _B decreases to V _4, so drops torque tau ₄ can output as shown in Figure 5, it may be set to tau ₄ also maximum torque setting tau _MAX as shown in Figure 4. For the above reasons, if the characteristics for the battery voltage as shown in FIGS. 3 and 4 are set, stable running can be performed without insufficient motor applied voltage.

By the way, the speed indicator 18 shown in FIG.
An embodiment of the torque indicator 19 will be described with reference to FIGS. When the motor speed ω _M is input to the speed display 18 in FIG.
Is driven to display the current vehicle speed of the electric vehicle 1 to the driver. Further, a maximum speed instruction unit 31 driven according to the maximum speed set value ω _MAX is arranged on the display surface.
The maximum speed instruction section 31 has a lighting portion 31a and a light-off portion 3
1b, and the boundary is the maximum speed set value ω _MAX
Is displayed to indicate to the driver the electric vehicle 1
The current maximum speed at which the vehicle can run can be notified. Similarly, in the torque display 19, a torque instruction unit 32 for displaying a torque command τ * corresponding to the motor torque and a maximum torque instruction unit 33 for displaying a maximum torque set value τ _MAX (lighting portion 33a, light-off portion 33b). Is displayed on the same display surface, the driver can easily understand how much the current output torque is relative to the maximum torque that can be generated. Therefore, according to this embodiment, the speed indicator 1
8. By arranging the torque indicator 19 in a place visible from the driver's seat, the driver can check the current performance of the electric vehicle. Therefore, even when the battery voltage is reduced, the driver can operate according to the performance. Can be. Also, if the instruction of the maximum speed and the maximum torque is reduced, the driver is notified that the performance of the battery is reduced.
This will prompt the driver to charge the battery.
In this way, there is also a feature that the vehicle can travel with peace of mind without stopping on the road.

FIG. 8 shows another embodiment in which a function for displaying the climbing performance is added to FIG. 8 differs from FIG. 1 in that an inclinometer 34 and an incline indicator 35 are provided. The inclinometer 34 measures the inclination of the electric vehicle 1 in the front-rear direction (pitching direction), and indicates the inclination θ of the road on which the vehicle is currently traveling. In other words, the slope has a large positive value when the vehicle is going uphill, and has a negative value when the vehicle is going downhill. This inclination θ is input to the inclination angle display 35. The maximum inclination angle θ _MAX calculated by the voltage limit corresponding circuit 9 is also input to the inclination angle display 35. Here, a method of calculating the maximum climbing angle θ _MAX will be described with reference to FIGS. In the voltage limit corresponding circuit 9 of FIG.
When the maximum climbing angle calculation unit 36 is the battery voltage V _B is input, reference is table shown in FIG. 10, the maximum climbing angle theta _MAX is calculated. The table which was determined from the characteristics shown in FIG. 11, a predetermined motor speed (for example, omega ₃ in FIG. 11) has a tilt angle can electric vehicle climbing in the maximum climbing angle theta _MAX. It should be noted that the predetermined motor speed should generally be set so that the vehicle speed does not hinder the traffic of other vehicles on the road. FIG.
In FIG. 1, the curve using the climbing angles θ ₀ and θ ₂ as parameters is a running load curve when climbing at that angle. Here, when the battery voltage V _B becomes V ₁ below, since the lack of climbing angle theta ₀ in the motor output torque, must the maximum climbing angle theta _MAX is reduced from theta _0. For example, when the battery voltage V _B becomes V ₂ or V ₃ , the maximum climbing angle θ _MAX becomes θ ₂ or 0 ° (steady-state traveling), respectively. FIG. 10 shows this characteristic in a table. FIG. 12 shows the inclination angle display 35 for inputting the maximum climbing angle θ _MAX and the inclination θ obtained in this manner. When the inclination θ is input, the inclination instructing section 37 is driven according to the size, and displays the current inclination θ to the driver. Also, the maximum climbing angle θ
_{For MAX} , the lighting part 3 of the maximum climbing angle display section 38
8a and the light-off portion 38b are displayed. That is, the display is made such that the boundary line between the light-on portion 38a and the light-off portion 38b becomes the maximum slope angle θ _MAX . This makes it easy to read how far uphill the vehicle can travel at the predetermined vehicle speed, and the difference from the current running inclination angle. Can be determined by the driver. Further, when it is necessary to drive on such an uphill, the driver is prompted to charge the battery, so that it is possible to prevent the electric vehicle from being stopped due to the inability to climb on the uphill. .

Therefore, according to the present embodiment, even when the battery voltage is lowered, it is possible to ensure the hill climbing performance corresponding thereto and notify the driver of the hill climbing performance. Can be given to.

FIG. 13 shows another embodiment in which the characteristic of the maximum torque calculator 28 in FIG. 2 or FIG. 9 is different from that in FIG. Compared to the characteristic of FIG. 4 in which the maximum torque set value τ _MAX is reduced when the battery voltage V _B falls below V ₃ , the characteristic of FIG. 13 shows that the battery voltage V _B is V ₀ (V ₀ >
V ₃ ), the maximum torque set value τ _MAX is gradually reduced. Originally, battery voltage V _B
It is clear from FIG. 5 that the output torque can be generated up to τ ₀ if the motor speed ω _M is low even if the motor speed falls to V ₀ or less. However, when the battery voltage V _B falls below V ₀ , which indicates that the remaining capacity of the battery is considerably reduced, it is better to save energy and extend the mileage per charge. Good. Therefore, as shown in the characteristic of FIG.
_B is intended to control the maximum value of the output torque in a controlled manner. For example, if the battery voltage V _B is V ₁ ,
If V ₂ , V ₃ , V ₄ , the maximum torque setting values τ ₁ , τ ₂ ,
τ ₃ and τ ₄ are suppressed. FIG. 13 shows this as a table. As a result, when the battery voltage decreases, rapid acceleration cannot be performed, and the driver does not perform rapid deceleration as much as possible, so that energy consumption can be suppressed. When the battery is low, the maximum torque set value is smaller than the characteristic shown in FIG.
Since the performance of electric vehicles will be reduced, the rate at which drivers will charge faster will increase.

From the above, if this embodiment is used,
The travel distance per charge after the battery voltage drops can be improved.

FIG. 15 shows another embodiment different from FIG.
15 in addition to the battery current i _B of the battery voltage V _B
Is detected using the battery current detector 39 and is input to the voltage corresponding limiting circuit 9. In the remaining capacity calculation unit 40 of the voltage corresponding limiting circuit 9, the power is consumed from the battery voltage V _B and the battery current i _B, or discharge the power charged efficiency temporally integrating consideration of charging efficiency etc. by, and calculates the remaining capacity W _B. The remaining capacity W _B and the battery voltage V _B the maximum speed calculation unit 28, the maximum torque calculation unit 29, is input to the maximum climbing angle calculation unit 36, the maximum speed set value omega _MAX respectively, the maximum torque setting value tau _MAX, the maximum The climbing angle θ _MAX is calculated. Accordingly, if the battery voltage V _B is decreased, can be detected more precisely operable state by the value of the remaining capacity can be controlled so as to further extend the travel distance per charge.

FIG. 16 shows another embodiment different from FIGS. 9 and 15 in which the limit value can be switched by a driver's instruction. In FIG. 16, an economy switch 41 is provided, and this signal SW is input to the voltage corresponding limiting circuit 9. Thus, the tables of the maximum speed calculation unit 28, the maximum torque calculation unit 29, and the maximum climbing angle calculation unit 36 can be switched. When the driver turns off the economy switch 41, each limit value is set so that the motor can output the most with respect to the battery voltage at that time.
That is, switching to the maximum speed setting value ω _MAX and the maximum torque setting value τ _MAX as shown in the tables of FIGS. Next, when the driver selects the economy switch 41 to be on, the table is set so that one charge traveling distance is obtained. For example, as shown in FIG. 13, the maximum torque setting value τ _M is set. Thus, even when the battery voltage of the electric vehicle decreases, the driver can select the performance as the vehicle, and it is possible to provide a vehicle that meets the driver's preference.

FIG. 17 shows the current command calculator 24 in FIG.
In a further embodiment in which type the battery voltage V _B. FIG. 17 shows a portion where a so-called vector control operation of the induction motor 3 is performed. Field control is performed weakened for normal motor speed the magnetic flux calculation unit 42 omega _M. However, if the battery voltage V _B has decreased, to further reduce the magnetic flux, operation is performed with respect to the battery voltage, and outputs the magnetic flux command phi _M. By this magnetic flux command φ _M ,
The magnetic flux current calculation unit 43 obtains a current for generating a magnetic flux, that is, a magnetic flux component current i _M. Further, the torque current calculation unit 44 calculates a torque component current i _T that generates the torque of the induction motor 3. The torque current i _T is obtained by dividing the torque command τ * by the magnetic flux command φ _M. The slip angle frequency command ω _S can also be obtained from the torque command τ * and the magnetic flux command φ _M, and is calculated by the slip angle frequency calculation unit 45. Next, a vector calculator 46 for calculating the vector sum of the magnetic flux component current i _M and the torque component current i _T.
Output the primary current command i ₁ and the phase angle θ _S.
The integrator 47 determines the motor speed ω _M and the slip angular frequency command ω _S
To integrate the primary angular frequency ω ₀ which is the sum of
Phase angle command of the output θ ₀ and the primary current by the sum of the phase angle θ _S instruction i ₁ θ * is obtained. Based on this, the primary current command calculation unit 48 outputs current commands i _u *, i for each phase of the induction motor.
_v *, _iw * are obtained. According to this method, when the battery voltage V _B has decreased, not only the torque current, the magnetic flux component current can also be reduced, it is possible to further extend the travel distance per charge.

The embodiment of the present invention has been described above, and the case of driving by an induction motor has been described. However, the present invention may be applied to the case of driving by another motor. Also limit the maximum speed,
The maximum torque may be variable depending on the type, performance, temperature, etc. of the battery. Although the description has been given of the speed control method of calculating the speed command from the accelerator and the brake, the present invention can be applied to the case where the driving is performed by the torque control method of calculating the torque command. Note that these embodiments can be configured by using a vehicle speed equivalent to the motor speed instead of the motor speed. Further, it goes without saying that the display method may be a digital type, a bar graph type, or the like.

[0024]

According to the present invention, even when the battery falls below a predetermined value, the maximum speed and the maximum torque are limited in accordance with the limitation, and these are displayed to the driver.
There is an effect that a stable control system and the performance of the electric vehicle according to the battery voltage can be secured, and safe driving according to the performance can be performed.

[Brief description of the drawings]

FIG. 1 is a block diagram of an electric vehicle control device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a control method of a control device in FIG.

FIG. 3 is a characteristic diagram showing a relationship between a battery voltage and a set value of a maximum speed indicating a content of a calculation performed by a maximum speed calculation unit of the present invention.

FIG. 4 is a characteristic diagram showing a relationship between a battery voltage and a set value of a maximum torque indicating a content of a calculation performed by a maximum torque calculation unit of the present invention.

FIG. 5: Using the battery voltage of the present invention as a parameter
FIG. 4 is a characteristic diagram illustrating a relationship between a motor speed of an induction motor and an output torque.

FIG. 6 is a front view of a speed indicator displayed to a driver according to the present invention.

FIG. 7 is a front view of the torque indicator displayed to the driver of the present invention.

FIG. 8 is a block diagram of an electric vehicle control device showing another embodiment of the present invention.

FIG. 9 is a block diagram of a control device in which a block for calculating a maximum climbing angle is added in the embodiment of FIG. 8;

FIG. 10 is a characteristic diagram showing a relationship between a battery voltage and a maximum climbing angle.

FIG. 11 is a characteristic diagram illustrating a relationship between a motor speed and an output torque of the induction motor for explaining the contents of the table in FIG. 10;

FIG. 12 is a plan view of a tilt angle display used in the present invention.

FIG. 13 is a characteristic diagram showing a relationship between a battery voltage and a maximum torque set value in another embodiment of the present invention.

14 is a characteristic diagram illustrating the relationship between the motor speed and the output torque of the induction motor for explaining the contents of the table in FIG.

FIG. 15 is a block diagram showing another embodiment of the voltage corresponding limiting circuit in consideration of the remaining capacity.

FIG. 16 is a block diagram showing another embodiment of the voltage corresponding limiting circuit provided with the economy switch by the driver.

FIG. 17 is a block diagram showing another embodiment in which a battery voltage is input to the current command calculation unit in FIG. 2;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Electric vehicle, 2a, 2b ... Front wheel, 3 ... Induction motor,
4 ... Differential device, 5 ... Inverter, 6 ... Control device, 7 ... Battery, 8 ... Motor drive control circuit, 9 ... Voltage correspondence limiting circuit, 10 ... Accelerator pedal, 11 ... Brake pedal,
12: operation mode lever, 13a, 13b: rear wheel, 14
a, 14b: wheel speed detector, 15: vehicle speed calculation circuit, 1
6a, 16b, 16c: current detector, 17: motor speed detector, 18: speed indicator, 19: torque indicator, 20
... Reference motor speed calculation unit, 21 ... Speed limiter, 22 ...
Speed calculator 23, Torque limiter 24, Current command calculator 25, Current control calculator 26, PWM generator 2,
7: Voltage detection unit, 28: Maximum speed calculation unit, 29: Maximum torque calculation unit, 30: Speed instruction unit, 31: Maximum speed instruction unit, 32: Torque instruction unit, 33: Maximum torque instruction unit, 3
4 ... Inclinometer, 35 ... Inclination angle display, 36 ... Maximum climbing angle calculation unit, 37 ... Inclination instruction unit, 38 ... Maximum climbing angle display unit, 39 ... Battery current detector, 40 ... Remaining capacity calculation unit ... Economy switch, 42 ... Flux calculation unit, 4
3: magnetic flux current calculation unit, 44: torque current calculation unit, 45:
Slip angle frequency calculator, 46 ... vector calculator, 47 ...
Integrator, 48... Primary current command calculator.

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-60-16102 (JP, A) JP-A-62-250803 (JP, A) JP-A-5-38003 (JP, A) JP-A-4- 207908 (JP, A) JP-A-4-285409 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B60L ^7/ 00-13/00 B60L 3/00-3/12 B60L 15/00-15/42 H02P 21/00

Claims (5)

(57) [Claims] 1. A motor for driving an automobile, and a motor for driving the automobile.
Battery for storing driving energy, and the battery
A motor that converts the battery voltage of
Power conversion means for generating a motor voltage;
According to the driver's instructions and the traveling speed of the vehicle.
Vehicle control provided with control means for controlling motor voltage
The apparatus, wherein the vehicle is responsive to the battery voltage
Change the maximum speed setting value at which the
So that the motor voltage is within the maximum speed setting value.
Control the maximum speed set value and the driver
And the travel speed and the maximum speed set value are notified.
Battery voltage characterized by being displayed on the same scale
Compatible electric vehicle controller. 2. A motor for driving an automobile, and a motor for driving the automobile.
Battery for storing driving energy, and the battery
A motor that converts the battery voltage of
Power conversion means for generating a motor voltage;
According to the driver's instructions and the traveling speed of the vehicle.
Vehicle control provided with control means for controlling motor voltage
The apparatus, wherein the vehicle is responsive to the battery voltage
The maximum torque set value that can be output by
Output torque within the maximum torque setting value
Controlling the motor voltage and setting the maximum torque
A battery for notifying a constant value to the driver
-Electric vehicle controller for voltage. 3. The battery voltage-compatible power supply according to claim 2,
The output torque and the maximum
The torque setting value is displayed on the same scale.
Battery voltage compatible electric vehicle controller. 4. A motor for driving an automobile, and a motor for driving the automobile.
Battery for storing driving energy, and the battery
A motor that converts the battery voltage of
Power conversion means for generating a motor voltage;
According to the driver's instructions and the traveling speed of the vehicle.
Electric vehicle control and a control means for controlling the over data voltage
In the device, the battery voltage causes the vehicle to
Calculate the maximum climbing angle that can be climbed, and calculate the maximum climbing angle
Notifying the driver of a battery voltage pair
Adaptive electric vehicle control device. 5. The battery voltage-compatible battery according to claim 4,
In the vehicle control system, the current uphill angle of the vehicle
Degree and the maximum climbing angle are displayed on the same scale.
Characteristic electric vehicle control device compatible with battery voltage.