JP4538850B2 - 電気自動車の制御装置 - Google Patents
電気自動車の制御装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/44—Series-parallel type
- B60K6/445—Differential gearing distribution type
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- 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
- B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
- B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
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- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- 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
- B60L2210/00—Converter types
- B60L2210/20—AC to AC converters
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- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/10—Electrical machine types
- B60L2220/14—Synchronous machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- 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
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- 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
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- 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
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- 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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- 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
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Description
まず、図1に基づいて電気自動車の駆動システムの概略構成を説明する。車輪11を駆動する動力源としてエンジン12(内燃機関)と第2の交流モータ14が搭載されている。エンジン12のクランク軸15の動力は、遊星ギヤ機構16で二系統に分割される。この遊星ギヤ機構16は、中心で回転するサンギヤ17と、このサンギヤ17の外周を自転しながら公転するプラネタリギヤ18と、このプラネタリギヤ18の外周を回転するリングギヤ19とから構成され、プラネタリギヤ18には図示しないキャリアを介してエンジン12のクランク軸15が連結され、リングギヤ19には第2の交流モータ14の回転軸が連結され、サンギヤ17には、主に発電機として使用する第1の交流モータ13が連結されている。
Claims (8)
- 直流電源の電圧を変換して電源ラインにシステム電圧を発生させる変換手段と、前記電源ラインに接続されたインバータ及び該インバータで駆動される交流モータからなる少なくとも1つのモータ駆動ユニット(以下「MGユニット」と表記する)とを備えた電気自動車の制御装置において、
少なくとも前記交流モータの電気角で所定角度毎に転流させる矩形波制御方式で前記交流モータを制御すると共に、前記矩形波制御方式で前記交流モータを制御する際に、前記交流モータに流れる電流と該交流モータのロータ回転位置とに基づいて演算した推定トルクと指令トルクとに基づいて矩形波の位相を演算して、該矩形波の位相と前記交流モータのロータ回転位置と回転速度とに基づいて矩形波指令信号を演算し、該矩形波指令信号を前記インバータに出力することで前記交流モータに前記指令トルクを発生させるモータ制御手段と、
前記システム電圧の目標値を設定する目標電圧設定手段と、
前記システム電圧を検出する電圧検出手段と、
前記目標電圧設定手段で設定したシステム電圧の目標値と前記電圧検出手段で検出したシステム電圧とに基づいて前記MGユニットの入力電力の操作量を演算する電力操作量演算手段と、
前記電力操作量演算手段で演算した入力電力の操作量に基づいて前記矩形波のデューティ比及び/又は位相の操作量を演算する矩形波操作量演算手段と、
前記矩形波操作量演算手段で演算した矩形波の操作量に基づいて前記矩形波のデューティ比及び/又は位相を操作することで前記MGユニットの入力電力を操作して前記システム電圧の変動を抑制するように制御するシステム電圧制御手段とを備え、
前記矩形波操作量演算手段は、前記矩形波のデューティ比と前記指令トルクとに基づいて前記矩形波の位相の操作量を演算することを特徴とする電気自動車の制御装置。 - 前記矩形波操作量演算手段は、前記矩形波のデューティ比の操作量及び位相の操作量を所定の限界値で制限するリミット手段を備えていることを特徴とする請求項1に記載の電気自動車の制御装置。
- 前記電圧検出手段で検出したシステム電圧のうちの所定の周波数以下の成分を通過させる第一の低域通過手段を備え、
前記電力操作量演算手段は、前記第一の低域通過手段を通過した所定の周波数以下のシステム電圧を用いて前記MGユニットの入力電力の操作量を演算することを特徴とする請求項1又は2に記載の電気自動車の制御装置。 - 前記変換手段の入力電力又は出力電力(以下「変換電力」という)の指令値を演算する変換電力指令値演算手段と、
前記変換電力を検出する変換電力検出手段と、
前記変換電力指令値演算手段で演算した変換電力の指令値と前記変換電力検出手段で検出した変換電力とに基づいて前記変換手段の入力電力又は出力電力を制御する変換電力制御手段とを備えていることを特徴とする請求項1乃至3のいずれかに記載の電気自動車の制御装置。 - 前記変換電力指令値演算手段は、前記電源ラインに接続された全てのMGユニットの入力電力の合計値を少なくとも含んだ電力に基づいて前記変換電力の指令値を演算することを特徴とする請求項4に記載の電気自動車の制御装置。
- 前記電源ラインに接続された全てのMGユニットの入力電力の合計値を少なくとも含んだ電力のうちの所定の周波数以下の成分を通過させる第二の低域通過手段を備え、
前記変換電力指令値演算手段は、前記第二の低域通過手段を通過した所定の周波数以下の電力に基づいて前記変換電力の指令値を演算することを特徴とする請求項5に記載の電気自動車の制御装置。 - 前記変換手段の出力電流を検出する電流検出手段を備え、
前記変換電力検出手段は、前記目標電圧設定手段で設定したシステム電圧の目標値又は前記電圧検出手段で検出したシステム電圧と、前記電流検出手段で検出した変換手段の出力電流とに基づいて前記変換電力を演算することを特徴とする請求項4乃至6のいずれかに記載の電気自動車の制御装置。 - 前記電流検出手段で検出した変換手段の出力電流のうちの所定の周波数以下の成分を通過させる第三の低域通過手段を備え、
前記変換電力検出手段は、前記第三の低域通過手段を通過した所定の周波数以下の出力電流を用いて前記変換電力を演算することを特徴とする請求項7に記載の電気自動車の制御装置。
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JP2005353075A JP4538850B2 (ja) | 2005-12-07 | 2005-12-07 | 電気自動車の制御装置 |
US11/606,061 US7586278B2 (en) | 2005-12-07 | 2006-11-30 | Control apparatus for electric vehicles |
EP06125076A EP1796261B1 (en) | 2005-12-07 | 2006-11-30 | Control apparatus for electric vehicles |
DE602006009208T DE602006009208D1 (de) | 2005-12-07 | 2006-11-30 | Steuergerät für Elektrofahrzeuge |
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JP2005353075A JP4538850B2 (ja) | 2005-12-07 | 2005-12-07 | 電気自動車の制御装置 |
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JP4538850B2 true JP4538850B2 (ja) | 2010-09-08 |
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ES2781771T3 (es) * | 2005-11-29 | 2020-09-07 | Denso Corp | Aparato y método de control para vehículos eléctricos |
EP1796262B1 (en) * | 2005-12-07 | 2009-11-04 | Denso Corporation | Control apparatus for electric vehicles |
JP4538850B2 (ja) | 2005-12-07 | 2010-09-08 | 株式会社デンソー | 電気自動車の制御装置 |
US7653466B2 (en) * | 2005-12-26 | 2010-01-26 | Denso Corporation | Control apparatus for electric vehicles |
EP1800934A3 (en) * | 2005-12-26 | 2018-01-10 | Denso Corporation | Control apparatus for electric vehicles |
JP4381408B2 (ja) * | 2006-02-17 | 2009-12-09 | 株式会社デンソー | 電気自動車の制御装置 |
JP4802849B2 (ja) * | 2006-05-09 | 2011-10-26 | トヨタ自動車株式会社 | モータ駆動装置 |
JP4479922B2 (ja) * | 2006-12-14 | 2010-06-09 | 株式会社デンソー | 電気自動車の制御装置 |
JP4984236B2 (ja) * | 2007-04-17 | 2012-07-25 | 株式会社デンソー | 電気自動車の制御装置 |
JP4844753B2 (ja) * | 2007-05-09 | 2011-12-28 | 株式会社デンソー | 電気自動車の制御装置 |
JP4957574B2 (ja) * | 2008-02-07 | 2012-06-20 | 株式会社デンソー | 回転機の制御装置及び回転機の制御システム |
US8065050B2 (en) * | 2008-04-25 | 2011-11-22 | GM Global Technology Operations LLC | Method and apparatus for detecting an insufficient phase current in a permanent magnet synchronous motor |
JP4984331B2 (ja) * | 2008-05-09 | 2012-07-25 | 株式会社デンソー | 電気自動車の制御装置 |
JP5233685B2 (ja) * | 2009-01-13 | 2013-07-10 | 株式会社デンソー | 回転機の制御装置及び制御システム |
JP5290048B2 (ja) * | 2009-05-15 | 2013-09-18 | トヨタ自動車株式会社 | 車両のモータ制御システム |
CN102834308B (zh) * | 2010-04-07 | 2015-07-22 | 丰田自动车株式会社 | 混合动力车辆的控制装置及具备该装置的混合动力车辆 |
CN102862494B (zh) * | 2012-09-21 | 2014-12-17 | 山推工程机械股份有限公司 | 一种混合动力推土机中回收电能的方法和整车控制器 |
JP2016020202A (ja) * | 2014-06-19 | 2016-02-04 | トヨタ自動車株式会社 | ハイブリッド車両用駆動システム |
JP6179494B2 (ja) * | 2014-09-26 | 2017-08-16 | 株式会社デンソー | 交流電動機の制御装置 |
CN107757340B (zh) * | 2017-09-12 | 2020-09-11 | 吉利汽车研究院(宁波)有限公司 | 一种分布式增程动力系统以及乘用车 |
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EP1796261B1 (en) | 2009-09-16 |
DE602006009208D1 (de) | 2009-10-29 |
US7586278B2 (en) | 2009-09-08 |
US20070126385A1 (en) | 2007-06-07 |
JP2007159307A (ja) | 2007-06-21 |
EP1796261A1 (en) | 2007-06-13 |
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