JP6443425B2 - 車両 - Google Patents
車両 Download PDFInfo
- Publication number
- JP6443425B2 JP6443425B2 JP2016204363A JP2016204363A JP6443425B2 JP 6443425 B2 JP6443425 B2 JP 6443425B2 JP 2016204363 A JP2016204363 A JP 2016204363A JP 2016204363 A JP2016204363 A JP 2016204363A JP 6443425 B2 JP6443425 B2 JP 6443425B2
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- JP
- Japan
- Prior art keywords
- front wheel
- vehicle
- motors
- right front
- left front
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- 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
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/12—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor characterised by three-wheeled construction
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
-
- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
-
- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
-
- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
-
- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/36—Temperature of vehicle components or parts
-
- 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
- B60L2240/429—Current
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Description
左右の駆動輪をそれぞれ駆動する2つのモータと、
前記2つのモータをそれぞれ駆動する2つのインバータと、
前記2つのインバータを介して前記2つのモータと電力をやりとりする蓄電装置と、
前記2つのモータが該2つのモータにおける特定の相に電流が集中して流れるロック状態になったときには、前記2つのモータにおける電流が集中して流れる相が切り替わるように前記2つのモータを回転させるロック保護制御を実行する制御装置と、
を備える車両であって、
前記制御装置は、前記ロック保護制御として、前記車両が旋回するように前記2つのモータを回転させる、
ことを要旨とする。
Fgb=-M・g・Gb・sin(θrd)・cos(φb) (2)
Fgc=-M・g・Gc・sin(θrd)・cos(φc) (3)
Fwa=Fma-Fga (4)
Fwb=Fmb-Fgb (5)
Claims (7)
- 左右の駆動輪をそれぞれ駆動する2つのモータと、
前記2つのモータをそれぞれ駆動する2つのインバータと、
前記2つのインバータを介して前記2つのモータと電力をやりとりする蓄電装置と、
前記2つのモータが該2つのモータにおける特定の相に電流が集中して流れるロック状態になったときには、前記2つのモータにおける電流が集中して流れる相が切り替わるように前記2つのモータを回転させるロック保護制御を実行する制御装置と、
を備える車両であって、
前記制御装置は、前記ロック保護制御として、前記車両が旋回するように前記2つのモータを回転させる、
車両。 - 請求項1記載の車両であって、
前記制御装置は、前記ロック保護制御として、前記2つのモータを互いに異なる回転量だけ回転させる、
車両。 - 請求項2記載の車両であって、
前記制御装置は、前記ロック保護制御として、前記左右の駆動輪を前記車両の左右方向に貫く第1直線における所定位置を旋回中心として前記車両が旋回するように、前記2つのモータを互いに異なる回転量だけ回転させる、
車両。 - 請求項3記載の車両であって、
前記所定位置は、前記第1直線と前記車両の左右方向の中心を前記車両の前後方向に貫く第2直線との交点の位置であり、
前記制御装置は、前記ロック保護制御として、前記2つのモータを、互いに反対方向で且つ絶対値が同一の回転量だけ回転させる、
車両。 - 請求項3記載の車両であって、
前記所定位置は、前記第1直線における前記車両の外側の位置であり、
前記制御装置は、前記ロック保護制御として、前記2つのモータを、同一方向で且つ絶対値が前記左右の駆動輪のそれぞれと前記所定位置との距離の比に応じた回転量だけ回転させる、
車両。 - 請求項3記載の車両であって、
前記所定位置は、前記第1直線における、前記車両の左右方向の中心を前記車両の前後方向に貫く第2直線との交点と、前記左右の駆動輪のうちの一方と、の間の位置であり、
前記制御装置は、前記ロック保護制御として、前記2つのモータを、互いに反対方向で且つ絶対値が前記左右の駆動輪のそれぞれと前記所定位置との距離の比に応じた回転量だけ回転させる、
車両。 - 請求項1ないし6のいずれか1つの請求項に記載の車両であって、
前記制御装置は、前記ロック保護制御として、前記車両が旋回中心に対して一方側に旋回するように前記2つのモータを回転させた後に、前記車両が旋回中心に対して他方側に旋回するように前記2つのモータを回転させる、
車両。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016204363A JP6443425B2 (ja) | 2016-10-18 | 2016-10-18 | 車両 |
CN201710964953.3A CN107953799B (zh) | 2016-10-18 | 2017-10-17 | 车辆 |
US15/785,607 US10195960B2 (en) | 2016-10-18 | 2017-10-17 | Vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016204363A JP6443425B2 (ja) | 2016-10-18 | 2016-10-18 | 車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018068006A JP2018068006A (ja) | 2018-04-26 |
JP6443425B2 true JP6443425B2 (ja) | 2018-12-26 |
Family
ID=61903002
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016204363A Active JP6443425B2 (ja) | 2016-10-18 | 2016-10-18 | 車両 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10195960B2 (ja) |
JP (1) | JP6443425B2 (ja) |
CN (1) | CN107953799B (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7006628B2 (ja) * | 2019-01-24 | 2022-01-24 | 株式会社デンソー | モータ制御装置 |
EP3689646A1 (en) * | 2019-02-04 | 2020-08-05 | KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH | Drive unit of a vehicle and a method for levelling a vehicle |
US11230294B2 (en) * | 2020-03-19 | 2022-01-25 | Toyota Motor Engineering & Manufacturing North America, Inc. | Vehicle speed estimation system |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3106853B2 (ja) | 1994-06-06 | 2000-11-06 | トヨタ自動車株式会社 | 電気自動車の駆動制御装置 |
JP4232338B2 (ja) * | 2001-01-29 | 2009-03-04 | パナソニック電工株式会社 | 動力車 |
JP4450201B2 (ja) * | 2004-10-15 | 2010-04-14 | 三菱自動車工業株式会社 | 電気自動車 |
JP2007062624A (ja) * | 2005-08-31 | 2007-03-15 | Equos Research Co Ltd | 制御装置及び車両 |
JP4956962B2 (ja) * | 2005-10-31 | 2012-06-20 | トヨタ自動車株式会社 | 走行装置及びその制御方法 |
JP4665809B2 (ja) * | 2006-03-24 | 2011-04-06 | トヨタ自動車株式会社 | 電動機駆動制御システム |
JP5150881B2 (ja) * | 2007-01-15 | 2013-02-27 | 株式会社 神崎高級工機製作所 | 乗用型芝刈り車両 |
CN103201927B (zh) * | 2010-11-05 | 2016-02-10 | 丰田自动车株式会社 | 车辆的电源系统及具备该电源系统的车辆 |
JP5660309B2 (ja) * | 2011-01-14 | 2015-01-28 | スズキ株式会社 | 車両駆動用モータ制御装置 |
JP6111516B2 (ja) * | 2011-12-21 | 2017-04-12 | スズキ株式会社 | 電動車両のモータ制御装置 |
JP5919012B2 (ja) | 2012-02-08 | 2016-05-18 | 本田技研工業株式会社 | 車両駆動用電動機の制御装置 |
JP6050089B2 (ja) | 2012-11-02 | 2016-12-21 | Ntn株式会社 | 電気自動車の制御装置およびその電気自動車 |
JP5731593B2 (ja) | 2013-08-01 | 2015-06-10 | Ntn株式会社 | 電気自動車 |
JP5880518B2 (ja) * | 2013-10-17 | 2016-03-09 | トヨタ自動車株式会社 | 電動車両 |
-
2016
- 2016-10-18 JP JP2016204363A patent/JP6443425B2/ja active Active
-
2017
- 2017-10-17 US US15/785,607 patent/US10195960B2/en active Active
- 2017-10-17 CN CN201710964953.3A patent/CN107953799B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN107953799B (zh) | 2019-05-21 |
US10195960B2 (en) | 2019-02-05 |
CN107953799A (zh) | 2018-04-24 |
JP2018068006A (ja) | 2018-04-26 |
US20180105065A1 (en) | 2018-04-19 |
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