JP6507603B2 - Motor controller - Google Patents

Description

  The present invention relates to a motor control device that controls regeneration of a motor.

Conventionally, in an electric motor vehicle that travels by driving a motor using power stored in a battery, regeneration suppression is performed to limit the original regenerative braking performance when the battery is in a predetermined state. Such regeneration suppression is performed, for example, when an increase in the state of charge (SOC) of the battery, a decrease in the battery temperature, or the like occurs.
More specifically, when the charging rate of the battery is large, if regenerative current generated by regenerative power generation is supplied to the battery, there is a possibility that the battery will be in an overcharged state, and regeneration suppression is performed.
When the battery temperature decreases, the battery resistance increases, and when the amount of regenerative current supplied to the battery increases, the battery voltage tends to increase. Such a rise in battery voltage accelerates the deterioration of the battery and regeneration is suppressed.

  For example, in Patent Document 1 below, when the temperature of the motor (regenerative electric machine) is equal to or higher than the regeneration suppression threshold temperature, the regeneration operation is suppressed even when the regeneration request traveling condition set in advance is satisfied. The regeneration suppression threshold temperature is set lower when the battery SOC is high than when the battery SOC is low.

JP, 2013-115937, A

  At the time of regeneration suppression, regenerative braking (regenerative braking) is harder to use compared to that at normal time, and the driving feeling link changes greatly from that at normal time. In the above-described prior art, even when there is a possibility that regeneration suppression may be performed, the driver is not notified that the regeneration suppression is performed until the driver actually uses the regenerative brake, because the driver is not notified of that. I can not know. Therefore, there is a problem that there is a possibility that the driver may feel discomfort with the suppression of regeneration.

  The present invention has been made in view of the above-described problems of the prior art, and an object of the present invention is to provide a motor control device capable of notifying in advance regeneration suppression of a motor.

In order to solve the problems described above and achieve the object, the motor control device according to the invention of claim 1 drives the drive wheels of the electric motor vehicle by the drive power supplied from the battery and the predetermined regenerative traveling conditions are satisfied. In this case, the motor control device controls a motor that generates regenerative current by regenerative power generation and applies regenerative braking force to the drive wheels, and generates an amount of regenerative current generated by the regenerative power generation based on the traveling state of the electric vehicle. Estimated regenerative current amount estimated by the regeneration current amount estimation means to be estimated, temperature detection means to detect the battery temperature of the battery, charge rate detection means to detect the charge rate of the battery, and Regenerating control means for controlling the amount of regenerative current generated by the motor based on the battery temperature and the charging rate; When the regeneration reduction to less than the regenerative current amount is likely to be performed by the regeneration control means, and an informing means for the regeneration reduction to notify the subject that could be performed, the regeneration control means Determining whether the battery temperature is less than or equal to a threshold temperature determined based on the charging rate, and performing the regeneration suppression when the battery temperature is less than or equal to the threshold temperature; In the case where the temperature falls below a predetermined notification temperature, a notification that there is a possibility that the regeneration suppression is performed is provided, and the notification temperature is set to a value higher than the threshold temperature .
The motor control device according to the invention of claim 2 drives the drive wheels of the electric vehicle by the drive power supplied from the battery and generates a regenerative current by regenerative power generation when a predetermined regenerative traveling condition is satisfied. A motor control device for controlling a motor that applies regenerative braking force to a wheel, the regenerative current amount estimation means estimating the regenerative current amount generated by the regenerative power generation based on the traveling state of the electric motor vehicle, and the battery of the battery A temperature detection means for detecting a temperature, a charging rate detection means for detecting a charging rate of the battery, an estimated amount of regenerative current estimated by the regenerative current amount estimating means, the battery temperature, and the charging rate And regeneration control means for controlling the amount of regeneration current generated by the motor, and regeneration suppression for reducing the amount of regeneration current to be smaller than the estimated amount of regeneration current. And notification means for notifying that there is a possibility that the regeneration suppression is performed when there is a possibility of being performed by the control means, and the regeneration control means determines the battery temperature based on the charging rate. The regeneration suppression is performed when the battery temperature is less than the threshold temperature, and the notification means performs the regeneration when the battery temperature becomes less than a predetermined notification temperature. Informing that there is a possibility that suppression will be performed, the notification temperature includes a first notification temperature set above the threshold temperature and a second notification temperature set below the threshold temperature. The informing means changes in informing contents in the case where the battery temperature becomes lower than the first informing temperature and the case in which the battery temperature becomes lower than the second informing temperature.
The motor control device according to the invention of claim 3 is characterized in that the threshold temperature is set to a higher temperature as the charging rate is higher.
In the motor control device according to the invention of claim 4, the regeneration control means has a threshold temperature map for determining the threshold temperature based on the battery temperature and the charging rate, and the threshold temperature map is used. It is determined whether the regeneration suppression is to be performed or not.
The motor control device according to the invention of claim 5 includes deterioration degree detection means for detecting the deterioration degree of the battery, and the regeneration control means together with the estimated amount of regenerative current, the battery temperature, and the charging rate. The amount of regenerative current is controlled based on the degree of deterioration.

According to the present invention, there is a possibility that the regeneration suppression is performed when there is a possibility that the regeneration suppression for reducing the amount of regeneration current generated by the regeneration generation to be smaller than the estimated amount of regeneration current which is the regeneration generation amount at normal times Report that there is a Therefore, the driver can be made aware that the regenerative braking may be difficult to be applied before the regenerative suppression is actually performed, and the discomfort caused by the regenerative suppression can be reduced.
According to the present invention, regeneration suppression is performed when the battery temperature is equal to or lower than the threshold temperature. In general, the battery has a high resistance at low temperatures, and high current may lead to deterioration. For this reason, deterioration of the battery can be prevented by performing regeneration suppression at low temperatures.
According to the present invention, the threshold temperature is increased as the battery charging rate is higher. Therefore, it is possible to easily shift to the regeneration suppression in a situation where the battery charging rate is high and there is a concern overcharging.
According to the present invention, the threshold temperature is specified using the threshold temperature map, and it is determined whether or not regeneration suppression is to be performed. Therefore, the processing of the motor control device is compared with the case where the threshold temperature is calculated using a formula or the like. The load can be reduced.
According to the present invention, since the possibility that regeneration suppression is performed is notified when the battery temperature falls below the notification temperature set to the threshold temperature or more, the operation can be performed before the state where regeneration suppression can be actually performed. Can be notified to the person, and the effectiveness of the notification can be further improved.
According to the present invention, a plurality of notification temperatures are set, and the content of the notification is changed when each notification temperature becomes lower or equal. Therefore, notification can be performed interlocking with the degree of regeneration suppression, and the effectiveness of the notification It can be improved.
According to the present invention, since regeneration is controlled based on the degree of deterioration of the battery in addition to the battery temperature and the charging rate, control reflecting the state of the battery can be performed with higher accuracy.

It is an explanatory view showing composition of motor control device 10 concerning an embodiment. It is an example of the regeneration determination map which the regeneration control means 128 hold | maintains. It is an explanatory view showing typically the amount of regeneration currents at the time of regeneration suppression. It is a map which shows the relationship between alerting | reporting temperature TA and threshold temperature TL. 5 is a flowchart showing processing of a motor control device 10; It is an example of the threshold degree of degradation map which regeneration control means 128 holds.

  Hereinafter, preferred embodiments of a motor control device according to the present invention will be described in detail with reference to the accompanying drawings.

Embodiment 1
FIG. 1 is an explanatory view showing a configuration of a motor control device 10 according to the embodiment.
In the present embodiment, it is assumed that the motor control device 10 is mounted on an electric vehicle such as an electric vehicle or a hybrid vehicle which uses the motor 30 and uses electric power as at least a part of motive power.
The motor control device 10 according to the embodiment drives the drive wheels of the electric vehicle by the drive power supplied from the battery 20 and generates regenerative current by regenerative power generation when a predetermined regenerative traveling condition is satisfied, and the drive wheels Control the motor 30 that applies regenerative braking force to the motor.

The battery 20 is a high voltage assembled battery in which a plurality of battery cells are connected in series, and is charged by receiving supply of external power from a charging port (not shown), and regeneration generated when the motor 30 performs regenerative power generation. It is also charged by the current.
The power stored in the battery 20 is supplied to the motor 30 via the power line L. Battery 20 may also supply power to other load devices (for example, an air conditioner of a motor vehicle, etc.) in addition to motor 30.
Moreover, although illustration is abbreviate | omitted, between the battery 20 and the motor 30, the inverter which converts a direct current and an alternating current is provided.

A temperature sensor 112, a voltage sensor 114, and a current sensor 116 are connected to the battery 20.
The temperature sensor 112 measures the battery temperature T of the battery 20. The temperature sensor 112 measures, for example, a cell temperature which is a temperature of each battery cell constituting the battery 20, a temperature of a cell unit constituted by a predetermined number of battery cells, and the like. Temperature sensor 112 may also measure the temperature at one or more representative points within battery 20.
Voltage sensor 114 measures battery voltage V of battery 20. Voltage sensor 114 measures a cell voltage which is a voltage of each battery cell constituting battery 20, for example.
The current sensor 116 measures the current supplied from the battery 20 to the motor 30 and the regenerative current supplied from the motor 30 to the battery 20.

The motor control device 10 includes a CPU, a ROM for storing and storing control programs and the like, a RAM as an operation area of the control programs, an EEPROM for rewritably holding various data, and an interface unit for interfacing with peripheral circuits and the like. It is comprised by the process part comprised by.
The motor control device 10 is, for example, an MCU (Motor Control Unit) that controls the motor 30 or an ECU that controls the entire electric vehicle. Further, the motor control device 10 may not be an MCU alone or an ECU alone, and may cooperate with each other to realize processing to be described later.

The motor control device 10 includes a regenerative current amount estimation unit 120, a battery temperature detection unit 122, a charging rate detection unit 124, a deterioration degree detection unit 126, a regeneration control unit 128, and a notification unit 130.
The regenerative current amount estimation means 120 estimates the amount of regenerative current generated by regenerative power generation based on the traveling state of the electric motor vehicle. The amount of regenerative current estimated by the amount of regenerative current estimation means 120 is taken as an estimated amount of regenerative current IE.
The traveling state of the electric vehicle includes the traveling speed and weight of the electric vehicle, the inclination of the road on which the vehicle is traveling, and the like.
Further, in the case where the electric motor vehicle is provided with a mechanism by which the driver can arbitrarily set the magnitude of the regenerative braking force, the amount of regenerative power generation also changes depending on the setting in the mechanism.
The regenerative current amount estimation means 120 estimates the amount of regenerative current generated by the motor 30 when a predetermined regenerative traveling condition is satisfied at each estimation time based on the information.
The predetermined regenerative traveling condition is mainly a decelerating operation or an acceleration releasing operation, for example, when depression of the accelerator pedal 24 is released while traveling at a predetermined speed or more, or when the brake pedal 22 is depressed. Refers to the case where

The battery temperature detection means 122 detects the battery temperature T of the battery 20.
The battery temperature detection means 122 acquires, for example, the cell temperature (or unit temperature) detected by the temperature sensor 112 and detects an average value of each cell temperature (or unit temperature) as the battery temperature T. The calculation of the battery temperature T from the cell temperature may be performed by the temperature sensor 112. In this case, the battery temperature detection unit 122 acquires the value of the battery temperature T calculated by the temperature sensor 112.

The charging rate detection means 124 detects the charging rate S (SOC) of the battery 20.
The charging rate detection means 124 stores, for example, an SOC map showing the relationship between the charging rate of the battery 20 and the battery voltage, reads out the value of the charging rate corresponding to the battery voltage measured by the voltage sensor 114 from the SOC map and charges Let the rate S be. In addition, when the cell voltage is measured by the voltage sensor 114, the charging rate detection means 124 makes the average value of each cell voltage the battery voltage. The calculation of the battery voltage V from the cell voltage may be performed by the voltage sensor 114. In this case, the charging rate detection unit 124 calculates the charging rate S of the battery 20 by obtaining the value of the battery voltage V calculated by the voltage sensor 114.

The deterioration degree detection means 126 detects the deterioration degree X of the battery 20.
Deterioration degree detection means 126 determines the internal resistance and open circuit voltage of battery 20 based on, for example, battery voltage V measured by voltage sensor 114 and the current measured by current sensor 116, and based on these values battery 20 Calculate the current maximum output of Then, the calculated current maximum output is compared with the maximum output of the initial state (at 0 degree of deterioration) of the battery 20 to calculate the degree of deterioration X.
It is known that deterioration of the battery 20 is aged deterioration proportional to the age from the start of use and use deterioration proportional to the frequency of use, and the deterioration degree detecting means 126 integrates these deteriorations to deteriorate the battery 20. Detect degree X

The regeneration control means 128 controls the amount of regeneration current generated by the motor 30 based on the estimated amount of regeneration current IE, the battery temperature T, and the charging rate S.
Specifically, regeneration control means 128 determines whether battery temperature T is less than threshold temperature TL determined based on charging rate S, and performs regeneration suppression when battery temperature T is less than threshold temperature TL. .
The regeneration suppression is to reduce the amount of regenerative current of the motor 30 less than the estimated amount of regenerative current IE.
Further, the regeneration control means 128 does not perform regeneration suppression when the battery temperature T is equal to or higher than the threshold temperature TL. In this case, the amount of regenerative current ≒ the estimated amount of regenerative current IE. Such a state in which the regeneration suppression is not performed is hereinafter referred to as "normal regeneration".
The amount of regenerative current does not completely coincide with the estimated amount of regenerative current IE because the actual amount of regenerative current may not become the estimated amount of regenerative current IE due to various conditions.

Here, conventionally, when the charging rate S of the battery 20 is high, it is known to perform regeneration suppression in order to prevent deterioration of the battery 20 due to overcharging.
It is also known to perform regeneration suppression in order to prevent deterioration of the battery 20 even when the battery temperature T is low. This is because the resistance value in the battery 20 increases when the battery temperature T is low, and the battery voltage tends to increase when the amount of regenerative current increases.
For this reason, the regeneration control means 128 compares the threshold temperature TL determined based on the charging rate S with the battery temperature T, and performs regeneration suppression when the battery temperature T is less than the threshold temperature TL. It prevents deterioration.

FIG. 2 is an example of the threshold temperature map MP held by the regeneration control means 128.
The regeneration control means 128 has a threshold temperature map MP for determining the threshold temperature TL based on the battery temperature T and the charging rate S, and determines whether or not to perform regeneration suppression based on the threshold temperature map MP. .
In FIG. 2, the vertical axis is the battery temperature T, and the horizontal axis is the charging rate S (SOC).
As shown in FIG. 2, the threshold temperature TL is set to a higher temperature as the charging rate S is higher.
That is, when the charging rate S is high and the possibility of being overcharged due to regenerative power generation is high, the threshold temperature TL at which regeneration suppression is started becomes high temperature (temperature close to normal temperature compared to the extremely low temperature condition), Regeneration suppression is more easily performed.
Further, the right end of the graph of FIG. 2 is a high SOC suppression area where the charging rate S is close to 100%, and in this region, regeneration suppression is performed regardless of the battery temperature T.
Further, the lower end of the graph of FIG. 2 is a low temperature suppression area in which the battery temperature T is very low, and the regeneration suppression is performed regardless of the charging rate S in this area as well.
In the example of FIG. 2, the line of the threshold temperature TL is set to a charge rate lower than the lower limit charge rate of the high SOC suppressed area and to a temperature higher than the upper limit temperature of the low temperature suppressed area. Instead, the line of the threshold temperature TL may be matched with the lower limit charging rate of the high SOC suppression area or the upper limit temperature of the low temperature suppression area.

The regeneration control means 128 specifies the threshold temperature TL on the threshold temperature map MP based on the charging rate S, and determines whether the battery temperature T is less than or equal to the threshold temperature TL. When the battery temperature T is equal to or lower than the threshold temperature TL, regeneration suppression is performed such that the amount of regeneration current in the motor 30 <the estimated amount of regeneration current IE corresponding to the regeneration suppression area of the threshold temperature map MP.
When the battery temperature T exceeds the threshold temperature TL, normal regeneration is performed such that the amount of regeneration current in the motor 30 モ ー タ the estimated amount of regeneration current IE, corresponding to the normal regeneration area of the threshold temperature map MP.
That is, the regeneration control means 128 plots a point at which the charge rate S of the battery 20 and the battery temperature T intersect on the threshold temperature map MP shown in FIG. 2, and the plot point is in the normal regeneration area or in the regeneration suppression area. Whether or not regeneration suppression is to be performed is determined depending on whether it is present.
Note that even if FIG. 2 is replaced with a graph of the threshold charge ratio of the charge ratio S, the threshold charge ratio is specified based on the battery temperature T, and it is determined whether the charge ratio S of the battery 20 is equal to or higher than the threshold charge ratio SL. Of course it is good. In this case, regeneration suppression is performed when the charging rate S of the battery 20 is equal to or higher than the threshold charging rate SL, and normal regeneration is performed when the charging rate S is less than the threshold charging rate SL.

FIG. 3 is an explanatory view schematically showing the amount of regenerative current at the time of regeneration suppression.
In FIG. 3, the vertical axis represents the upper limit current I that can be supplied to the battery 20, and the horizontal axis represents the battery temperature or the charging rate S.
As shown on the left side of the graph, when the battery temperature T exceeds the threshold temperature TL (or the charge rate S is less than the threshold charge rate SL), the upper limit current I has a constant value (normal upper limit current In). It has become. The upper limit current I is set to be equal to or higher than the upper limit value of the regenerative current that can be generated by the motor 30 in the normal traveling state.
On the other hand, as shown on the right side of the graph, when the battery temperature T becomes lower than the threshold temperature TL (or the charging rate S becomes higher than the threshold charging rate SL), the upper limit current I becomes smaller than the normal upper limit current In . More specifically, the upper limit current I decreases as the battery temperature T decreases or as the charging rate S increases.
When the regenerative current generated by the motor 30 is equal to or lower than the upper limit current I (estimated regenerative current amount IE ≦ upper limit current I), the regenerative current can be supplied to the battery 20 as it is. When the regenerative current is larger than the upper limit current I (estimated regenerative current amount IE> upper limit current I), the regenerative current can not be supplied to the battery 20 as it is. In this case, regeneration suppression is performed to suppress the regeneration current to the upper limit current I or less.
As described above, the upper limit current I decreases as the battery temperature T decreases or as the charging rate S increases. Therefore, the degree of regeneration suppression increases as the battery temperature T decreases or as the charging rate S increases.

The regeneration control means 128 may control the regeneration of the motor 30 based on the battery temperature T and the charging rate S as well as the degree of deterioration of the battery 20.
In this case, the regeneration control means 128 determines whether or not regeneration suppression is to be performed using a threshold degree of deterioration map as shown in FIG.
FIG. 6 is an example of the threshold degree-of-deterioration degree map which the regeneration control means 128 holds.
In FIG. 6, the vertical axis represents the degree of deterioration X of the battery 20, and the horizontal axis represents the charging rate S (SOC). The degree of deterioration X on the vertical axis is shown as a percentage, being smaller toward the upper side of the vertical axis (close to 0%) and larger (close to 100%) lower the vertical axis. That is, the degree of deterioration 0% indicates that the battery 20 is in a new state, and the degree of deterioration 100% indicates that the battery 20 is most deteriorated.
The regeneration control means 128 specifies the threshold deterioration degree XL on the threshold deterioration degree map based on the charging rate S, and determines whether the deterioration degree X of the battery 20 is equal to or higher than the threshold deterioration degree XL.
As shown in FIG. 6, the threshold deterioration degree XL has a smaller value as the charging rate S is larger. That is, the regeneration suppression is started while the deterioration degree X is lower as the charging rate S is larger.

When the deterioration degree X of the battery 20 is less than the threshold deterioration degree XL, normal regeneration is performed such that the amount of regeneration current of the motor 30 モ ー タ the estimated amount of regeneration current, corresponding to the normal regeneration area of the threshold degree of degradation map. On the other hand, when the degree of deterioration X of the battery 20 is equal to or higher than the threshold degree of deterioration XL, regeneration suppression is performed such that the amount of regeneration current of the motor 30 <estimated amount of regeneration current.
That is, the regeneration control means 128 plots a point at which the charging rate S and the degradation degree X of the battery 20 intersect on the threshold degradation degree map shown in FIG. 6, and the plot is in the normal regeneration area or in the regeneration suppression area. It is determined whether or not regeneration suppression is to be performed.
Note that FIG. 6 is read as a graph of the threshold charge ratio SL of the charge ratio S, and the threshold charge ratio SL is specified based on the battery degradation degree X, and whether the charge ratio S of the battery 20 is equal to or higher than the threshold charge ratio SL It is a matter of course that it may be judged.

Returning to the explanation of FIG. 1, the notification means 130 notifies that there is a possibility that the regeneration suppression is to be performed, if the regeneration suppression may be performed.
Specifically, the notification unit 130 is an output control unit that controls an interface, such as the display 26 and the speaker 28, and a warning light (not shown) in the instrument panel. When there is a possibility that the regeneration suppression may be performed, the notification unit 130 causes the display 26 to display a message indicating that the regeneration suppression may be performed, an icon, or the like. Or turn on a warning light.
In this manner, driving can be suppressed even when the driver's intended deceleration can not be achieved by regeneration suppression by informing the driver in advance that regeneration suppression may be performed and that regeneration braking may not be used. People are more likely to be calm and able to drive.

Here, the notification means 130 notifies that there is a possibility that the regeneration suppression may be performed when the battery temperature T becomes lower than or equal to a predetermined notification temperature TA. The notification temperature TA is set, for example, to the threshold temperature TL or more.
As described above, the regeneration suppression is actually performed when the battery temperature T is lower than or equal to the threshold temperature TL and the estimated amount of regenerative current IE exceeds the upper limit current I. Therefore, when battery temperature T is equal to or lower than threshold temperature TL, regeneration suppression can actually occur, but when battery temperature T exceeds threshold temperature TL, regeneration suppression can occur. Absent.
On the other hand, even if the battery temperature T exceeds the threshold temperature TL, if the temperature is close to the threshold temperature TL, regeneration suppression may occur in the near future.
Therefore, the effectiveness of the notification can be improved by performing the notification early when the battery temperature T becomes equal to or lower than the notification temperature TA higher than the threshold temperature TL.
In addition, when it is the alerting | reporting temperature TA = threshold value temperature TL, it becomes the alerting | reporting from becoming in the state which regeneration suppression can produce actually. Even in this case, the driver's sense of discomfort can be alleviated by performing the notification before the regeneration suppression actually occurs (before the regeneration traveling condition is established).
Further, as shown in FIG. 3, the upper limit current I is a value close to the normal upper limit current In immediately after the battery temperature T becomes lower than the threshold temperature TL, and the degree of regeneration suppression is small. Therefore, the notification temperature TA may be lower than the threshold temperature TL and may be a temperature near the threshold temperature TL.

Further, the notification temperature TA may be set to two types of a first notification temperature TA1 set to the threshold temperature TL or more and a second notification temperature TA2 set to less than the threshold temperature TL.
In this case, the notification means 130 changes the notification content depending on whether the battery temperature T is lower than the first notification temperature TA1 or lower than the second notification temperature TA2.
More specifically, as shown in FIG. 3, the upper limit current I decreases as the battery temperature T decreases, and the degree of regeneration suppression increases. Therefore, compared with the case where the battery temperature T becomes equal to or less than the first notification temperature TA1, the degree of notification is made stronger when the battery temperature T becomes equal to or less than the second notification temperature TA2.
In order to intensify the degree of notification, for example, the size of the display of a message or icon on the display 26 is increased, the display color is changed to a color that is easy to view such as primary colors, etc. Methods such as making the output sound at the speaker 28 larger, making the sound to be output a dissonance, and so on.

FIG. 4 is a map showing the relationship between the notification temperature TA and the threshold temperature TL, in which the notification temperature TA (TA1, TA2) is added to the threshold temperature map MP of FIG.
As shown in FIG. 4, the first notification temperature TA is set to the threshold temperature TL or higher (the first notification temperature TA> the threshold temperature TL in FIG. 4), and the battery temperature T is also in the normal regeneration area. The driver is notified of the possibility of regeneration suppression.
The second notification temperature TA is set to be lower than the threshold temperature TL, and is in a state where regeneration suppression can actually occur, and close to the high SOC suppression area and the low temperature suppression area, and the state of regeneration suppression is large. Therefore, when the battery temperature T becomes lower than the second notification temperature TA2, the degree of notification is made stronger than when the battery temperature T becomes lower than the first notification temperature TA1, and the driver is strongly warned. Try to urge.
As a result, the driver can be reliably notified of the possibility that the regeneration suppression occurs, and the effectiveness of the notification can be improved.
The number of notification temperatures TA is not limited to two, and it is needless to say that three or more may be set.

FIG. 5 is a flowchart showing the processing of the motor control device 10.
The flowchart of FIG. 5 shows a process of determining whether or not regeneration suppression is to be performed using the battery temperature T and the charging rate S without using the degree of deterioration X.
First, the motor control device 10 detects the charging rate S of the battery 20 by the charging rate detection means 124 (step S500).
Next, the regeneration control means 128 reads out the threshold temperature TL and the notification temperature TA corresponding to the charging rate S from the threshold temperature map (FIGS. 2 and 4) (step S502). In addition, when several alerting | reporting temperature TA is set, several alerting | reporting temperature TA is each read.
Subsequently, the battery temperature detection unit 122 detects the battery temperature T (step S504).
The notification means 130 determines whether the battery temperature T is less than or equal to the notification temperature TA (step S506), and in the case of less than the notification temperature TA (step S506: Yes), it is indicated that regeneration suppression may be performed. Informing (step S508). In addition, when multiple alerting | reporting temperature TA is set, the content (degree of alerting | reporting) of alerting | reporting is changed by whether it is less than which alerting | reporting temperature TA.
If the battery temperature T is not equal to or lower than the notification temperature TA (step S506: No), the process directly proceeds to step S510.

Next, the regeneration control means 128 determines, based on the depression amount of the accelerator pedal 24 and the brake pedal 22, etc., whether or not the regeneration traveling condition is satisfied (step S510). When the regenerative traveling condition is not satisfied (step S510: No), the process returns to step S500, and the subsequent processes are repeated.
On the other hand, when the regenerative traveling condition is satisfied (step S510: Yes), the regeneration control means 128 determines whether the battery temperature T is less than or equal to the threshold temperature TL (step S512). Step S512: Yes) Make the regeneration current amount estimation means 120 calculate the estimated regeneration current amount IE based on the current traveling condition of the electric motor vehicle (step S514).
Then, the regeneration control means 128 determines whether the estimated amount of regeneration current IE exceeds the upper limit current I corresponding to the current battery temperature T (step S516).
If the estimated regeneration current amount IE exceeds the upper limit current I (step S516: Yes), regeneration suppression is performed to make the regeneration current amount equal to or less than the upper limit current I (step S518).
When the estimated regeneration current amount IE does not exceed the upper limit current I (step S516: No), the normal regeneration operation is performed without performing the regeneration suppression (step S520).
Even when battery temperature T is not lower than threshold temperature TL at step S512 (step S512: No), upper limit current I is normal upper limit current In (a value equal to or higher than the upper limit of regenerative current that can be generated by motor 30) Therefore, the normal regeneration operation is performed without performing the regeneration suppression (step S520).

As described above, in the motor control device 10 according to the embodiment, regeneration suppression may be performed in which the amount of regenerative current generated by the regenerative power generation is smaller than the estimated amount of regenerative current which is the amount of regenerative power at normal times. If there is, then it is informed that regeneration suppression may be performed.
Therefore, the driver can be made aware that the regenerative braking may be difficult to be applied before the regenerative suppression is actually performed, and the discomfort caused by the regenerative suppression can be reduced.
Motor control device 10 performs regeneration suppression, when battery temperature T is below threshold temperature TL. In general, the battery 20 has a high resistance value at low temperature, and may cause deterioration when a high current flows. For this reason, deterioration of the battery 20 can be prevented by performing regeneration suppression at low temperatures.
Further, since the threshold temperature TL is increased as the charging rate S of the battery 20 is higher, the motor control device 10 makes the transition to the regeneration suppression easy in a situation where the charging rate S of the battery 20 is high and there is a concern overcharging. be able to.
Further, since motor control device 10 specifies threshold temperature TL using threshold temperature map MP and determines whether or not regeneration suppression is to be performed, the motor is compared to the case where threshold temperature is calculated using a mathematical expression or the like. The processing load of the control device can be reduced.
In addition, since motor control device 10 reports the possibility that regeneration suppression will be performed when battery temperature T falls below notification temperature TA set to threshold temperature TL or more, a state in which regeneration suppression can actually be performed It is possible to notify the driver before the time is reached, and to improve the effectiveness of the notification.
Further, in the motor control device 10, when the notification temperature TA is set in a plurality and the content of the notification is changed when the notification temperature TA becomes lower than each, notification performed in conjunction with the degree of regeneration suppression may be performed. It is possible to improve the effectiveness of the notification.
Further, in the motor control device 10, if regeneration is controlled based on the degree of deterioration X of the battery 20 in addition to the battery temperature T and the charging rate S, control reflecting the state of the battery 20 is performed with higher accuracy. be able to.

  DESCRIPTION OF SYMBOLS 10 ...... Motor control apparatus, 20 ...... Battery 22, 22 ...... Brake pedal, 24 ...... Acceleration pedal, 26 ...... Display 28: Speaker 30, 30 Motor 112, Temperature sensor 114 Voltage sensor , 116 ... current sensor, 120 ... regeneration current amount estimation means, 122 ... battery temperature detection means, 124 ... charge ratio detection means, 126 ... deterioration degree detection means, 128 ... regeneration control means, 130 ... Informing means, In: normal upper limit current, IE: estimated regenerative current, MP: threshold temperature map, S: charging rate, SL: threshold charging rate, T: battery temperature, TA (TA1, TA2 Notification temperature, TL: threshold temperature, V: battery voltage, X: deterioration degree, XL: threshold deterioration degree.

Claims (5)

A motor that drives the drive wheels of the electric vehicle with drive power supplied from a battery and generates regenerative current by regenerative power generation when predetermined regenerative traveling conditions are satisfied, and controls a motor that applies regenerative braking force to the drive wheels A control device,
Regenerative current amount estimating means for estimating a regenerative current amount generated by the regenerative power generation based on a traveling state of the electric motor vehicle;
Temperature detection means for detecting the battery temperature of the battery;
Charging rate detection means for detecting the charging rate of the battery;
An estimated amount of regenerative current estimated by the amount of regenerative current estimation means, and the battery temperature;
Regenerative control means for controlling the amount of regenerative current generated by the motor based on the charging rate;
Notification means for notifying that the regeneration suppression may be performed when there is a possibility that the regeneration control means may perform the regeneration suppression to make the regeneration current amount smaller than the estimated regeneration current amount; provided,
The regeneration control means determines whether the battery temperature is equal to or lower than a threshold temperature determined based on the charging rate, and performs the regeneration suppression if the battery temperature is equal to or lower than the threshold temperature.
The notification means indicates that the regeneration suppression may be performed when the battery temperature falls below a predetermined notification temperature,
The notification temperature is set to a value larger than the threshold temperature.
A motor control device characterized in that. A motor that drives the drive wheels of the electric vehicle with drive power supplied from a battery and generates regenerative current by regenerative power generation when predetermined regenerative traveling conditions are satisfied, and controls a motor that applies regenerative braking force to the drive wheels A control device,
Regenerative current amount estimating means for estimating a regenerative current amount generated by the regenerative power generation based on a traveling state of the electric motor vehicle;
Temperature detection means for detecting the battery temperature of the battery;
Charging rate detection means for detecting the charging rate of the battery;
An estimated amount of regenerative current estimated by the amount of regenerative current estimation means, and the battery temperature;
Regenerative control means for controlling the amount of regenerative current generated by the motor based on the charging rate;
Notification means for notifying that the regeneration suppression may be performed when there is a possibility that the regeneration control means may perform the regeneration suppression to make the regeneration current amount smaller than the estimated regeneration current amount; Equipped
The regeneration control means determines whether the battery temperature is equal to or lower than a threshold temperature determined based on the charging rate, and performs the regeneration suppression if the battery temperature is equal to or lower than the threshold temperature.
The notification means indicates that the regeneration suppression may be performed when the battery temperature falls below a predetermined notification temperature,
The notification temperature includes a first notification temperature set to the threshold temperature or more and a second notification temperature set to less than the threshold temperature.
The notification means changes the notification content depending on whether the battery temperature is lower than the first notification temperature or lower than the second notification temperature.
A motor control device characterized by The threshold temperature is set to a higher temperature as the charging rate is higher.
The motor control device according to claim 1 or 2, characterized in that: The regeneration control means has a threshold temperature map for determining the threshold temperature based on the battery temperature and the charging rate, and determines whether to perform the regeneration suppression based on the threshold temperature map. ,
The motor control device according to any one of claims 1 to 3 , characterized in that: And a deterioration degree detection unit that detects the deterioration degree of the battery;
The regeneration control means controls the amount of regenerative current based on the estimated amount of regenerative current, the battery temperature, the charging rate, and the degree of deterioration.
The motor control device according to any one of claims 1, wherein 4 to that.

Images