JP5325370B2 - 電気駆動部を持つ車両を制動及び停止させる方法 - Google Patents
電気駆動部を持つ車両を制動及び停止させる方法 Download PDFInfo
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- JP5325370B2 JP5325370B2 JP2005242386A JP2005242386A JP5325370B2 JP 5325370 B2 JP5325370 B2 JP 5325370B2 JP 2005242386 A JP2005242386 A JP 2005242386A JP 2005242386 A JP2005242386 A JP 2005242386A JP 5325370 B2 JP5325370 B2 JP 5325370B2
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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
-
- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
-
- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
-
- 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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/58—Combined or convertible systems
- B60T13/585—Combined or convertible systems comprising friction brakes and retarders
- B60T13/586—Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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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
-
- 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
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/947—Characterized by control of braking, e.g. blending of regeneration, friction braking
Description
20 駆動輪
30 アクセル・ペダル及びブレーキ・ペダル
Claims (9)
- 電気モーターにより駆動される駆動輪を少なくとも一つもつ車両を制動及び停止させる方法であって、
上記車両の速度に関連する速度パラメーターを検出する工程と、
命令された制動率を検出する工程と、
所望の制動動作を得るためのモーター制御信号を発生させる工程と、
上記電気モーターを用いて、負トルクを発生させる工程と、
上記電気モーターにより発生させられた上記負トルクを用いて、上記駆動輪へ制動力を作用させる工程と、
上記命令された制動率を得るために、上記モーター制御信号を用いて、上記電気モーターにより発生させられた上記負トルクの量を制御する工程とを含み、
上記モーター制御信号を発生させる工程は、
上記車両が予め選択された速度まで減速するまで、上記モーターを制御するために用いられるトルク命令信号を発生させる工程と、
上記車両が上記予め選択された速度まで減速した後で、上記モーターを制御するために用いられる速度制御信号を発生させる工程とを含み、
上記制動力を作用させる工程は、摩擦ブレーキにより供給される制動トルクを用いることなしに、上記電気モーターによる負トルクを用いて、車両を速度ゼロとなるまで減速させる方法。 - 上記モーター制御信号は、検出された上記速度パラメーター及び命令された上記制動率を用いて発生させられる請求項1に記載の方法。
- 上記制動力を作用させる工程は、上記車両が停止するまで継続される請求項1又は2に記載の方法。
- 上記モーター制御信号を発生させる工程は、上記車両のブレーキ・ペダル及びアクセル・ペダルの位置に基づき、トルク制御信号を発生させる工程を含む請求項1乃至3のいずれか1つに記載の方法。
- 上記モーター制御信号を発生させる工程は、
上記検出させられた速度パラメーターが予め選択された値に到達するまで、上記電気モーターにより発生される負トルクの量を制御するための負トルク制御信号を発生させる工程と、
上記検出された速度パラメーターが上記予め選択された値に到達した後で、上記電気モーターの速度を制御するために用いられる速度制御信号を発生させる工程とを含む請求項1の方法。 - 上記速度パラメーターを検出する工程は、
上記モーターの速度を検出する工程と、
上記車両の少なくとも一つの車輪の速度を検出する工程とを含む請求項1乃至5のいずれか1つに記載の方法。 - 上記命令された制動率を検出する工程は、ブレーキ・ペダルの作動に関するパラメーターを検出する工程を含む請求項1乃至6のいずれか1つに記載の方法。
- 上記モーター制御信号を発生させる工程は、
トルク命令信号を発生させる工程と、
速度命令信号を発生させる工程と、
上記トルク命令信号を用いて上記速度命令信号を補正する工程とを含む請求項1の方法。 - 上記速度パラメーターを検出する工程は、上記電気モーターの速度を表わすモーター速度信号を発生させる工程を含み、
上記モーター制御信号を発生させる工程は、モーター制御フィードバック・ループにおいて上記モーター速度信号をフィードバックする工程と、そのフィードバックされた信号及び上記補正された速度命令信号を用いて上記モーターを制御する工程とを含む請求項8の方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/927,195 US20060047400A1 (en) | 2004-08-25 | 2004-08-25 | Method and apparatus for braking and stopping vehicles having an electric drive |
US10/927,195 | 2004-08-25 |
Publications (2)
Publication Number | Publication Date |
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JP2006067790A JP2006067790A (ja) | 2006-03-09 |
JP5325370B2 true JP5325370B2 (ja) | 2013-10-23 |
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Application Number | Title | Priority Date | Filing Date |
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JP2005242386A Expired - Fee Related JP5325370B2 (ja) | 2004-08-25 | 2005-08-24 | 電気駆動部を持つ車両を制動及び停止させる方法 |
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US (2) | US20060047400A1 (ja) |
JP (1) | JP5325370B2 (ja) |
DE (1) | DE102005039788A1 (ja) |
GB (1) | GB2417532A (ja) |
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Cited By (1)
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KR101533312B1 (ko) * | 2013-02-07 | 2015-07-03 | 국방과학연구소 | 무인원격차량의 재출발 밀림방지방법 |
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US20070124052A1 (en) | 2007-05-31 |
GB2417532A (en) | 2006-03-01 |
DE102005039788A1 (de) | 2006-03-02 |
US20060047400A1 (en) | 2006-03-02 |
US7698044B2 (en) | 2010-04-13 |
JP2006067790A (ja) | 2006-03-09 |
GB0514459D0 (en) | 2005-08-17 |
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