JP6694405B2 - 輸送機器の制御装置 - Google Patents
輸送機器の制御装置 Download PDFInfo
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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
- 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
- B60W30/18118—Hill holding
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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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- 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
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- B60K6/448—Electrical distribution type
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- 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
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- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
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- 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
- B60L15/2018—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 for braking on a slope
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- 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
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
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- B60W10/115—Stepped gearings with planetary gears
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
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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
- 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
- B60W30/184—Preventing damage resulting from overload or excessive wear of the driveline
- B60W30/1843—Overheating of driveline components
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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
- B60L2240/429—Current
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
- B60L2250/28—Accelerator pedal thresholds
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Description
電動機(例えば、後述の実施形態での電動機157)が出力する駆動力によって走行可能な輸送機器の制御装置(例えば、後述の実施形態でのECU105)であって、
前記輸送機器が前記電動機の駆動力によって駆動されているときに、前記輸送機器の走行速度に関するパラメータが第1しきい値未満であり、前記パラメータが前記第1しきい値未満の状態が所定時間以上継続したとの条件を満たした場合には、前記輸送機器の静止摩擦係数に基づいて前記電動機の駆動力を低減する駆動力制限制御を行い、
前記駆動力制限制御による低減後の前記電動機の駆動力と、重力に由来する前記輸送機器に作用する力と、を合計した総駆動力の絶対値と、
前記輸送機器の静止摩擦係数に基づく、制動されていない前記輸送機器が停止した状態から動き出す際に前記輸送機器に作用する駆動力である乗り越え駆動力と、を比較して、前記総駆動力の絶対値の方が小さく前記条件を満たせば、前記駆動力制限制御を行う、輸送機器の制御装置である。
また、請求項2に記載の発明は、
電動機(例えば、後述の実施形態での電動機157)が出力する駆動力によって走行可能な輸送機器の制御装置(例えば、後述の実施形態でのECU105)であって、
前記輸送機器が前記電動機の駆動力によって駆動されているときに、前記輸送機器の走行速度に関するパラメータが第1しきい値未満であり、前記パラメータが前記第1しきい値未満の状態が所定時間以上継続したとの条件を満たした場合には、前記輸送機器の静止摩擦係数に基づいて前記電動機の駆動力を低減する駆動力制限制御を行い、
前記輸送機器は、前記輸送機器を駆動する駆動源(例えば、後述の実施形態での内燃機関106)を備え、
前記駆動力制限制御による低減後の前記電動機の駆動力と、重力に由来する前記輸送機器に作用する力と、を合計した総駆動力の絶対値と、
前記輸送機器の静止摩擦係数に基づく、制動されていない前記輸送機器が停止した状態から動き出す際に前記輸送機器に作用する駆動力である乗り越え駆動力と、を比較して、
前記総駆動力の絶対値の方が大きく前記条件を満たせば、前記駆動力制限制御を行い、かつ、前記駆動源の駆動力を増やす駆動力拡大制御を行う、、輸送機器の制御装置である。
前記輸送機器が前記電動機の駆動力によって駆動されているときに、前記輸送機器の走行速度に関するパラメータが第1しきい値未満、かつ、前記電動機への要求トルクが第2しきい値以上であり、前記パラメータが前記第1しきい値未満かつ前記要求トルクが前記第2しきい値以上の状態が前記所定時間以上継続したとの条件を満たした場合には、前記駆動力制限制御を行う。
前記電動機は、多相電動機であり、
前記第1しきい値は、前記電動機又は前記電動機を駆動するための電気機器(例えば、後述の実施形態でのインバータ153)において、一つの相に負荷が集中し得る上限値である。
前記輸送機器のアクセルペダル開度が第3しきい値以上の場合は、前記条件を満たしても前記駆動力制限制御を行わない。
請求項6に記載の発明は、請求項5に記載の発明において、
前記第3しきい値は、前記輸送機器における前記アクセルペダル開度の最大値である。
前記輸送機器のアクセルペダル開度の増加分が第4しきい値以上の場合は、前記駆動力制限制御を解除する。
前記駆動力拡大制御によって前記駆動源が増加する分の駆動力は、前記総駆動力の絶対値と前記乗り越え駆動力との差分に等しい。
前記電動機は、前記輸送機器の一方の駆動軸(例えば、後述の実施形態での駆動軸9r)を駆動し、
前記駆動源は、前記輸送機器の他方の駆動軸(例えば、後述の実施形態での駆動軸9f)を駆動する。
請求項1の発明では、駆動力制限制御後の総駆動力の絶対値と静止摩擦係数に基づく乗り越え駆動力とを比較した結果、乗り越え駆動力よりも総駆動力の絶対値の方が小さい場合には、駆動力制限制御を行うことによって電動機の駆動力を低減しても、輸送機器は後退しない。したがって、電動機の駆動力を低減することにより過負荷を防止しつつ、新たな駆動力又はブレーキ等の締結要素による制動力を用いずとも、輸送機器の後退を抑制できる。また、請求項1の発明では、駆動力制限制御がブレーキ等の締結要素による制動力に頼らずに行われているため、ストールジャンプ待機中の輸送機器に発進要求があった際、当該輸送機器は即座に発進できる。
駆動力制限制御後の総駆動力の絶対値と静止摩擦係数に基づく乗り越え駆動力とを比較した結果、乗り越え駆動力よりも総駆動力の絶対値の方が大きい場合には、駆動力制限制御を行うことによって電動機の駆動力を低減すると、輸送機器は後退する。しかし、請求項2の発明では、過負荷防止を目的とした駆動力制限制御を行ったために輸送機器が後退する場合には、駆動力拡大制御を行って駆動源の駆動力を増やすため、輸送機器の後退を抑制できる。また、請求項2の発明では、駆動力制限制御がブレーキ等の締結要素による制動力に頼らずに行われているため、ストールジャンプ待機中の輸送機器に発進要求があった際、当該輸送機器は即座に発進できる。
42 第2クラッチ
61 ロック機構
51A 第1奇数段変速用シフター
51B 第2奇数段変速用シフター
52A 第1偶数段変速用シフター
52B 第2偶数段変速用シフター
22a 第2速用駆動ギヤ
23a 第3速用駆動ギヤ
24a 第4速用駆動ギヤ
25a 第5速用駆動ギヤ
96a 第6速用駆動ギヤ
97a 第7速用駆動ギヤ
101 蓄電器(BAT)
102,152 VCU
103 インバータ(INVf)
153 インバータ(INVr)
104 車速センサ
105 ECU
106 内燃機関(ENG)
107 電動機(MOTf)
108 加速度センサ
157 電動機(MOTr)
110,210 変速機(T/M)
CL1,CL2 断接装置
Claims (9)
- 電動機が出力する駆動力によって走行可能な輸送機器の制御装置であって、
前記輸送機器が前記電動機の駆動力によって駆動されているときに、前記輸送機器の走行速度に関するパラメータが第1しきい値未満であり、前記パラメータが前記第1しきい値未満の状態が所定時間以上継続したとの条件を満たした場合には、前記輸送機器の静止摩擦係数に基づいて前記電動機の駆動力を低減する駆動力制限制御を行い、
前記駆動力制限制御による低減後の前記電動機の駆動力と、重力に由来する前記輸送機器に作用する力と、を合計した総駆動力の絶対値と、
前記輸送機器の静止摩擦係数に基づく、制動されていない前記輸送機器が停止した状態から動き出す際に前記輸送機器に作用する駆動力である乗り越え駆動力と、を比較して、前記総駆動力の絶対値の方が小さく前記条件を満たせば、前記駆動力制限制御を行う、輸送機器の制御装置。 - 電動機が出力する駆動力によって走行可能な輸送機器の制御装置であって、
前記輸送機器が前記電動機の駆動力によって駆動されているときに、前記輸送機器の走行速度に関するパラメータが第1しきい値未満であり、前記パラメータが前記第1しきい値未満の状態が所定時間以上継続したとの条件を満たした場合には、前記輸送機器の静止摩擦係数に基づいて前記電動機の駆動力を低減する駆動力制限制御を行い、
前記輸送機器は、前記輸送機器を駆動する駆動源を備え、
前記駆動力制限制御による低減後の前記電動機の駆動力と、重力に由来する前記輸送機器に作用する力と、を合計した総駆動力の絶対値と、
前記輸送機器の静止摩擦係数に基づく、制動されていない前記輸送機器が停止した状態から動き出す際に前記輸送機器に作用する駆動力である乗り越え駆動力と、を比較して、
前記総駆動力の絶対値の方が大きく前記条件を満たせば、前記駆動力制限制御を行い、かつ、前記駆動源の駆動力を増やす駆動力拡大制御を行う、輸送機器の制御装置。 - 請求項1又は2に記載の輸送機器の制御装置であって、
前記輸送機器が前記電動機の駆動力によって駆動されているときに、前記輸送機器の走行速度に関するパラメータが第1しきい値未満、かつ、前記電動機への要求トルクが第2しきい値以上であり、前記パラメータが前記第1しきい値未満かつ前記要求トルクが前記第2しきい値以上の状態が前記所定時間以上継続したとの条件を満たした場合には、前記駆動力制限制御を行う、輸送機器の制御装置。 - 請求項1又は2に記載の輸送機器の制御装置であって、
前記電動機は、多相電動機であり、
前記第1しきい値は、前記電動機又は前記電動機を駆動するための電気機器において、一つの相に負荷が集中し得る上限値である、輸送機器の制御装置。 - 請求項1又は2に記載の輸送機器の制御装置であって、
前記輸送機器のアクセルペダル開度が第3しきい値以上の場合は、前記条件を満たしても前記駆動力制限制御を行わない、輸送機器の制御装置。 - 請求項5に記載の輸送機器の制御装置であって、
前記第3しきい値は、前記輸送機器における前記アクセルペダル開度の最大値である、
輸送機器の制御装置。 - 請求項5に記載の輸送機器の制御装置であって、
前記輸送機器のアクセルペダル開度の増加分が第4しきい値以上の場合は、前記駆動力制限制御を解除する、
輸送機器の制御装置。 - 請求項2に記載の輸送機器の制御装置であって、
前記駆動力拡大制御によって前記駆動源が増加する分の駆動力は、前記総駆動力の絶対値と前記乗り越え駆動力との差分に等しい、輸送機器の制御装置。 - 請求項2に記載の輸送機器の制御装置であって、
前記電動機は、前記輸送機器の一方の駆動軸を駆動し、
前記駆動源は、前記輸送機器の他方の駆動軸を駆動する、輸送機器の制御装置。
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