JP6048264B2 - 各輪独立駆動台車の制御装置 - Google Patents
各輪独立駆動台車の制御装置 Download PDFInfo
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- JP6048264B2 JP6048264B2 JP2013063645A JP2013063645A JP6048264B2 JP 6048264 B2 JP6048264 B2 JP 6048264B2 JP 2013063645 A JP2013063645 A JP 2013063645A JP 2013063645 A JP2013063645 A JP 2013063645A JP 6048264 B2 JP6048264 B2 JP 6048264B2
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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
- 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
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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
- B60L15/20—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
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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
- B60L2200/00—Type of vehicles
- B60L2200/36—Vehicles designed to transport cargo, e.g. trucks
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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
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
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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
- 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
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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
- 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
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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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
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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
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/142—Emission reduction of noise acoustic
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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
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
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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
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- 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)
Description
[実施形態]
本実施形態における各輪独立駆動台車の制御装置を図1に基づいて説明する。本実施形態における各輪独立駆動台車の制御装置は、各輪モータ制御装置1と、各車輪の駆動装置2a〜2dと、を備える。
2a,2b,2c,2d…各輪の駆動装置
3a〜3d…回転角速度検出器
4,14…回転角速度指令値変換部
5,15…回転角速度指令値補正部
6a〜6d,16a,16b…回転角速度制御器
7,17…空転検知システム
11…回転角速度制御システム
12,25…切換器
21…最大値選択部
22…平均値演算部
23…回転角加速度変換部
24…積分器
Claims (2)
- 各車輪をそれぞれ独立して駆動制御する各輪独立駆動台車の制御装置であって、
車輪の空転・滑走状態を検知する空転・滑走検知部と、
ノッチトルク指令から台車枠内における車輪の回転角速度指令値を算出する回転角速度指令値変換部と、
前記台車枠内における車輪の回転角速度指令値を曲線半径に基づいて各輪の回転角速度指令値に補正する回転角速度指令値補正部と、
前記各輪の回転角速度指令値と各輪の回転角速度検出値との偏差に基づき回転角速度制御を行い、トルク指令を出力する回転角速度制御器と、
台車枠内における車輪のうち少なくとも一つが空転・滑走状態の場合は、再粘着制御トルクをモータ入力トルク指令値として出力し、台車枠内における車輪が全て粘着状態の場合はトルク指令をモータ入力トルク指令値として出力する切換器と、を備え、
前記回転角速度指令値変換部は、台車枠内における車輪のうち少なくとも一つが空転・滑走状態の場合は、台車枠内における車輪の回転角速度検出値の平均値である回転角速度平均値を台車枠内の車輪の回転角速度指令値として出力し、台車枠内における車輪が全て粘着状態の場合は、ノッチトルク指令を回転角加速度に変換し、この回転角加速度を積分した値を台車枠内における車輪の回転角速度指令値として出力することを特徴とする各輪独立駆動台車の制御装置。 - 前記回転角速度制御器はPID制御器から成り、
台車枠内における車輪のうち少なくとも一つが空転・滑走状態の場合は、PID制御器の積分器をリセットすることを特徴とする請求項1記載の各輪独立駆動台車の制御装置。
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JP2013063645A JP6048264B2 (ja) | 2013-03-26 | 2013-03-26 | 各輪独立駆動台車の制御装置 |
PCT/JP2014/057692 WO2014156928A1 (ja) | 2013-03-26 | 2014-03-20 | 各輪独立駆動台車の制御装置 |
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JP2013063645A JP6048264B2 (ja) | 2013-03-26 | 2013-03-26 | 各輪独立駆動台車の制御装置 |
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JP2014192927A JP2014192927A (ja) | 2014-10-06 |
JP6048264B2 true JP6048264B2 (ja) | 2016-12-21 |
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WO (1) | WO2014156928A1 (ja) |
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JP6799275B2 (ja) * | 2016-10-27 | 2020-12-16 | 株式会社タダノ | 軌陸車の鉄輪の空転滑走検出システム |
JP6955865B2 (ja) * | 2016-12-27 | 2021-10-27 | キヤノン電子株式会社 | 被回転体の駆動制御方法及びリアクションホイール |
CN110341497B (zh) * | 2019-07-17 | 2021-01-08 | 东风汽车集团有限公司 | 用于提升四轮轮毂电机驱动操纵稳定性的系统和方法 |
CN112622604B (zh) * | 2020-12-30 | 2022-07-19 | 徐工集团工程机械股份有限公司 | 四轮独立驱动轮架可调姿车辆转向性能提升装置及方法 |
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JP2003348706A (ja) * | 1996-09-25 | 2003-12-05 | Hitachi Ltd | 車両用電力変換器の制御装置 |
JP2006191736A (ja) * | 2005-01-06 | 2006-07-20 | Fuji Electric Systems Co Ltd | 電気車の再粘着制御装置 |
JP4882308B2 (ja) * | 2005-08-12 | 2012-02-22 | 株式会社Ihi | 車両制御システム |
JP5079047B2 (ja) * | 2010-04-12 | 2012-11-21 | 株式会社日立製作所 | 電気車の制御装置及び電力変換装置の制御方法 |
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