JP4216843B2 - 電動車両駆動制御装置及びその制御方法 - Google Patents
電動車両駆動制御装置及びその制御方法 Download PDFInfo
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- JP4216843B2 JP4216843B2 JP2005311608A JP2005311608A JP4216843B2 JP 4216843 B2 JP4216843 B2 JP 4216843B2 JP 2005311608 A JP2005311608 A JP 2005311608A JP 2005311608 A JP2005311608 A JP 2005311608A JP 4216843 B2 JP4216843 B2 JP 4216843B2
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- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/72—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously
- F16H3/727—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously with at least two dynamo electric machines for creating an electric power path inside the gearing, e.g. using generator and motor for a variable power torque path
- F16H3/728—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously with at least two dynamo electric machines for creating an electric power path inside the gearing, e.g. using generator and motor for a variable power torque path with means to change ratio in the mechanical gearing
-
- 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
- Y02T10/62—Hybrid vehicles
-
- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
- Structure Of Transmissions (AREA)
- Control Of Transmission Device (AREA)
Description
そして、前記補償トルク算出処理手段は、変速に伴う第2の電動機の回転速度の変化に基づいて第1の電動機の回転速度の変化を算出し、第1の電動機のイナーシャ及び前記算出された第1の電動機の回転速度の変化に基づいてイナーシャ補償トルクを算出する。
そして、前記補償トルク算出処理手段は、変速に伴う第2の電動機の回転速度の変化に基づいて第1の電動機の回転速度の変化を算出し、第1の電動機のイナーシャ及び前記算出された第1の電動機の回転速度の変化に基づいてイナーシャ補償トルクを算出する。
αg=Δωg/Δt
αm=Δωm/Δt
になる。そして、第1のリングギヤR1の歯数に対する第1のサンギヤS1の歯数の比をλとすると、
αm:αg=λ:1
になるので、次のように、角加速度αgを比λ及び角加速度αmで表すことができる。
したがって、前記イナーシャ補償トルクTgiは、
Tgi=Ig・αg
=Ig/λ・αm
になる。
TG* ′=TG* +Tgi
になる。
ステップS1 変速出力が発生させられたかどうかを判断する。変速出力が発生させられた場合はステップS2に進み、発生させられていない場合はリターンする。
ステップS2 変速制御を開始する。
ステップS3 発電機16のイナーシャ補償トルクTgiを算出する。
ステップS4 エンジン回転速度NEが変化しないように発電機16の制御を行う。
ステップS5 変速が終了したかどうかを判断する。変速が終了した場合はステップS6に、終了していない場合はステップS3に戻る。
ステップS6 変速制御を終了し、リターンする。
11 エンジン
13 プラネタリギヤユニット
14、15 伝動軸
16 発電機
18 変速機
25 モータ
57 発電機・モータ制御装置
CR1 第1のキャリヤ
R1 第1のリングギヤ
S1 第1のサンギヤ
Claims (5)
- 第1の電動機と、第2の電動機と、第1〜第3の回転要素を備え、第1の回転要素が前記第1の電動機に、第2の回転要素が伝動軸を介して前記第2の電動機に、第3の回転要素がエンジンにそれぞれ連結された差動装置と、駆動輪に連結された出力軸と、前記伝動軸に伝達された回転の変速を行い、変速が行われた回転を前記出力軸に出力する変速機と、該変速機による変速の前後でエンジン回転速度が変化することがないように、エンジン目標回転速度に基づいて第1の電動機の目標となる回転速度を算出し、前記第1の電動機の目標となる回転速度に基づいて第1の電動機の目標となるトルクを算出する手段と、前記変速機において変速が行われたときに発生するイナーシャによるエンジン回転速度の変動を補償するイナーシャ補償トルクを算出する補償トルク算出処理手段と、前記第1の電動機の目標となるトルクを前記イナーシャ補償トルクに従って修正する目標トルク修正処理手段とを有するとともに、前記補償トルク算出処理手段は、変速に伴う第2の電動機の回転速度の変化に基づいて第1の電動機の回転速度の変化を算出し、第1の電動機のイナーシャ及び前記算出された第1の電動機の回転速度の変化に基づいてイナーシャ補償トルクを算出することを特徴とする電動車両駆動制御装置。
- 前記補償トルク算出処理手段は、前記変速機において変速制御を開始するための変速開始指標が発生させられたときに、イナーシャ補償トルクを算出する請求項1に記載の電動車両駆動制御装置。
- 前記変速開始指標は、変速要求に従って発生させられた変速出力である請求項2に記載の電動車両駆動制御装置。
- 前記補償トルク算出処理手段は、変速中において、エンジン回転速度及びエンジントルクが変化しないようにイナーシャ補償トルクを算出する請求項1に記載の電動車両駆動制御装置。
- 第1の電動機、第2の電動機、第1〜第3の回転要素を備え、第1の回転要素が前記第1の電動機に、第2の回転要素が伝動軸を介して前記第2の電動機に、第3の回転要素がエンジンにそれぞれ連結された差動装置、駆動輪に連結された出力軸、及び前記伝動軸に伝達された回転の変速を行い、変速が行われた回転を前記出力軸に出力する変速機を有する電動車両駆動制御装置の制御方法において、前記変速機による変速の前後でエンジン回転速度が変化することがないように、エンジン目標回転速度に基づいて第1の電動機の目標となる回転速度を算出し、前記第1の電動機の目標となる回転速度に基づいて第1の電動機の目標となるトルクを算出し、前記変速機において変速が行われたときに発生するイナーシャによるエンジン回転速度の変動を補償するイナーシャ補償トルクを算出し、前記第1の電動機の目標となるトルクを前記イナーシャ補償トルクに従って修正するとともに、該イナーシャ補償トルクは、第1の電動機のイナーシャ、及び変速に伴う第2の電動機の回転速度の変化に基づいて算出された第1の電動機の回転速度の変化に基づいて算出されることを特徴とする電動車両駆動制御装置の制御方法。
Priority Applications (10)
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JP2005311608A JP4216843B2 (ja) | 2005-10-26 | 2005-10-26 | 電動車両駆動制御装置及びその制御方法 |
PCT/JP2006/321380 WO2007049701A1 (ja) | 2005-10-26 | 2006-10-26 | 電動車両駆動制御装置及びその制御方法 |
EP06822355.1A EP1902919B1 (en) | 2005-10-26 | 2006-10-26 | Device and method for controlling drive of electric vehicle |
EP06822389A EP1944526B1 (en) | 2005-10-26 | 2006-10-26 | Hybrid drive device |
CN2006800275366A CN101233005B (zh) | 2005-10-26 | 2006-10-26 | 混合动力驱动装置 |
US11/586,597 US7492114B2 (en) | 2005-10-26 | 2006-10-26 | Electric vehicle drive control device and control method therefor |
PCT/JP2006/321420 WO2007049720A1 (ja) | 2005-10-26 | 2006-10-26 | ハイブリッド駆動装置 |
US11/586,581 US7632201B2 (en) | 2005-10-26 | 2006-10-26 | Hybrid drive apparatus |
KR1020087002492A KR100940855B1 (ko) | 2005-10-26 | 2006-10-26 | 하이브리드 구동장치 |
CN2006800275440A CN101233033B (zh) | 2005-10-26 | 2006-10-26 | 电动车辆驱动控制装置及其控制方法 |
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JP2005311608A JP4216843B2 (ja) | 2005-10-26 | 2005-10-26 | 電動車両駆動制御装置及びその制御方法 |
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EP (1) | EP1902919B1 (ja) |
JP (1) | JP4216843B2 (ja) |
CN (2) | CN101233033B (ja) |
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-
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- 2005-10-26 JP JP2005311608A patent/JP4216843B2/ja not_active Expired - Fee Related
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2006
- 2006-10-26 CN CN2006800275440A patent/CN101233033B/zh not_active Expired - Fee Related
- 2006-10-26 WO PCT/JP2006/321380 patent/WO2007049701A1/ja active Application Filing
- 2006-10-26 US US11/586,597 patent/US7492114B2/en not_active Expired - Fee Related
- 2006-10-26 EP EP06822355.1A patent/EP1902919B1/en not_active Expired - Fee Related
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Publication number | Publication date |
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CN101233005B (zh) | 2012-07-18 |
EP1902919A4 (en) | 2012-07-18 |
US20070103106A1 (en) | 2007-05-10 |
US7492114B2 (en) | 2009-02-17 |
EP1902919A1 (en) | 2008-03-26 |
JP2007118696A (ja) | 2007-05-17 |
CN101233033B (zh) | 2012-05-30 |
CN101233033A (zh) | 2008-07-30 |
EP1902919B1 (en) | 2013-07-24 |
WO2007049701A1 (ja) | 2007-05-03 |
CN101233005A (zh) | 2008-07-30 |
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