JP6841078B2 - 駆動力制御装置 - Google Patents
駆動力制御装置 Download PDFInfo
- Publication number
- JP6841078B2 JP6841078B2 JP2017030462A JP2017030462A JP6841078B2 JP 6841078 B2 JP6841078 B2 JP 6841078B2 JP 2017030462 A JP2017030462 A JP 2017030462A JP 2017030462 A JP2017030462 A JP 2017030462A JP 6841078 B2 JP6841078 B2 JP 6841078B2
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- JP
- Japan
- Prior art keywords
- torque
- motor
- power consumption
- control motor
- drive wheel
- Prior art date
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- 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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- 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
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
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- B62D—MOTOR VEHICLES; TRAILERS
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/50—Problem to be solved by the control system
- F16D2500/508—Relating driving conditions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/70—Details about the implementation of the control system
- F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
- F16D2500/70402—Actuator parameters
- F16D2500/70408—Torque
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D27/00—Magnetically- or electrically- actuated clutches; Control or electric circuits therefor
- F16D27/14—Details
-
- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
Description
Claims (7)
- 車両の右側の駆動輪に連結された第1モータと、前記車両の左側の駆動輪に連結された第2モータと、前記第1モータおよび前記第2モータに電力を供給する電源と、前記第1モータと前記第2モータとの間でトルクの伝達を可能にすることができるとともに、伝達トルク容量を変更可能なクラッチとを有する駆動力制御装置において、
前記第1モータと前記第2モータとの出力トルク、および前記クラッチの伝達トルク容量を制御するコントローラを備え、
前記コントローラは、
前記第1モータと前記第2モータとのうちの一方の第1制御モータに連結された前記右側の駆動輪と前記左側の駆動輪とのうちの一方の第1駆動輪の車輪速に基づいた回転数で前記第1制御モータが回転した際に、前記第1制御モータの効率が最大となる前記第1制御モータの第1基準トルクを求め、
前記第1基準トルクと前記第1駆動輪に要求されるトルクとの差に基づいて前記クラッチの伝達トルク容量を求め、
前記第1制御モータが前記第1基準トルクを出力しかつ前記求められた伝達トルク容量に基づいて前記クラッチがトルクを伝達する場合における前記クラッチを介して前記右側の駆動輪と前記左側の駆動輪とのうちの他方の第2駆動輪に伝達されるトルクと、前記第2駆動輪に要求されるトルクとに基づいて、前記第1モータと前記第2モータとのうちの他方の第2制御モータの第2基準トルクを求め、
前記第1基準トルクを所定トルクずつ変更するとともに、前記第1基準トルクを前記所定トルクずつ変更する都度、当該変更されたトルクに応じた前記第1駆動輪に伝達されるトルクと前記第1駆動輪に要求されるトルクとの差に基づいて前記クラッチの伝達トルク容量を求め、
前記第1基準トルクを変更したトルクと、当該変更されたトルクに基づいて求められた前記クラッチの伝達トルク容量とに基づいて、前記第1制御モータから前記クラッチを介して前記第2駆動輪に伝達されるトルクを求め、
前記求められた前記第2駆動輪に伝達されるトルクと当該第2駆動輪に要求されるトルクとに基づいて、前記右側の駆動輪と前記左側の駆動輪とに伝達されるトルクの合算値が、前記右側の駆動輪と前記左側の駆動輪とに要求されるトルクの合計値となるように前記第2基準トルクを変更し、
前記第1基準トルクと前記第2基準トルクとを変更する都度、前記電源の電力消費量を求め、
前記電源の電力消費量が、前回求められた前記電源の電力消費量よりも多くなった時点で、前回求められた前記電源の電力消費量となる前記第1制御モータのトルクを当該第1制御モータの目標トルクとして定め、かつ前回求められた前記電源の電力消費量となる前記第2制御モータのトルクを当該第2制御モータの目標トルクとして定め、
前記定められた前記第1制御モータの目標トルクに基づいて当該第1制御モータからトルクを出力するとともに、前記定められた当該第2制御モータの目標トルクに基づいて前記第2制御モータからトルクを出力するように構成されている
ことを特徴とする駆動力制御装置。 - 請求項1に記載の駆動力制御装置において、
前記コントローラは、
前記第1制御モータを、前記右側の駆動輪と前記左側の駆動輪とのうちの要求されるトルクが大きい方の駆動輪に連結されたモータに定めるように構成されている
ことを特徴とする駆動力制御装置。 - 車両の右側の駆動輪に連結された第1モータと、前記車両の左側の駆動輪に連結された第2モータと、前記第1モータおよび前記第2モータに電力を供給する電源と、前記第1モータと前記第2モータとの間でトルクの伝達を可能にすることができるとともに、伝達トルク容量を変更可能なクラッチとを有する駆動力制御装置において、
前記第1モータと前記第2モータとの出力トルクを制御するコントローラを備え、
前記コントローラは、
前記クラッチの前記伝達トルク容量を所定値以上にして走行する場合に、前記第1モータと前記第2モータとのうちの一方の第3制御モータから出力可能な最大トルクである第3基準トルクを求め、
前記右側の駆動輪と前記左側の駆動輪とに伝達されるトルクの合算値が、前記右側の駆動輪と前記左側の駆動輪とに要求されるトルクの合計値となるように、前記合計値と前記第3基準トルクとの偏差に基づいて前記第1モータと前記第2モータとのうちの他方の第4制御モータの第4基準トルクを求め、
前記第3基準トルクを所定トルクずつ変更するとともに、前記合算値が前記合計値となるように前記第4基準トルクを変更し、かつ前記第3基準トルクと前記第4基準トルクを変更する都度、前記電源の電力消費量を求め、
前記電源の電力消費量が、前回求められた前記電源の電力消費量よりも多くなった時点で、前回求められた前記電源の電力消費量である第1電力消費量となる前記第3制御モータのトルクを当該第3制御モータの目標トルクとして定め、かつ前記第1電力消費量となる前記第4制御モータのトルクを当該第4制御モータの目標トルクとして定め、
前記定められた前記第3制御モータの目標トルクに基づいて前記第3制御モータからトルクを出力するとともに、前記定められた前記第4制御モータの目標トルクに基づいて前記第4制御モータからトルクを出力するように構成されている
ことを特徴とする駆動力制御装置。 - 請求項3に記載の駆動力制御装置において、
前記コントローラは、
前記第3制御モータに連結された前記右側の駆動輪と前記左側の駆動輪とのうちの一方の第3駆動輪の車輪速に基づいた回転数で前記第3制御モータが回転した際に、前記第3制御モータの効率が最大となる前記第3制御モータの第5基準トルクを求め、
前記第5基準トルクと前記合計値との偏差に基づいて前記第4制御モータの第6基準トルクを求め、
前記第5基準トルクを所定トルクずつ変更するとともに、前記合算値が前記合計値となるように前記第6基準トルクを変更し、かつ前記第5基準トルクと前記第6基準トルクとを変更する都度、前記電源の電力消費量を求め、
前記電源の電力消費量が、前回求められた前記電源の電力消費量よりも多くなった時点で、前回求められた前記電源の電力消費量である第2電力消費量と、前記第1電力消費量とを比較し、
前記第1電力消費量が前記第2電力消費量よりも少ない場合に、前記第1電力消費量となる前記第3制御モータのトルクを当該第3制御モータの目標トルクとして定め、かつ前記第1電力消費量となる前記第4制御モータのトルクを当該第4制御モータの目標トルクとして定め、
前記第1電力消費量が前記第2電力消費量よりも多い場合に、前記第2電力消費量となる前記第3制御モータのトルクを当該第3制御モータの目標トルクとして定め、かつ前記第2電力消費量となる前記第4制御モータのトルクを当該第4制御モータの目標トルクとして定めるように構成されている
ことを特徴とする駆動力制御装置。 - 請求項4に記載の駆動力制御装置において、
前記コントローラは、
前記第3制御モータが前記第5基準トルクを出力するとともに、前記第4制御モータに連結された前記右側の駆動輪と前記左側の駆動輪とのうちの他方の第4駆動輪の車輪速に基づいた回転数での効率が最大となるトルクを前記第4制御モータから出力した場合における前記右側の駆動輪と前記左側の駆動輪とに伝達されるトルクの合計値が、前記右側の駆動輪と前記左側の駆動輪とに要求されるトルクの合計値よりも大きい場合に、前記第3制御モータから出力可能な最大トルクに基づいて前記第3制御モータおよび前記第4制御モータの目標トルクを定めることができるように構成されている
ことを特徴とする駆動力制御装置。 - 請求項3ないし5のいずれか一項に記載の駆動力制御装置において、
前記コントローラは、
前記第3制御モータから出力可能な最大トルクが、前記合計値よりも大きい場合に、前記第3制御モータから出力可能な最大トルクに基づいて前記第3制御モータおよび前記第4制御モータの目標トルクを定めることができるように構成されている
ことを特徴とする駆動力制御装置。 - 請求項3ないし6のいずれか一項に記載の駆動力制御装置において、
前記コントローラは、
前記第3制御モータを力行制御し、かつ前記第4制御モータを回生制御するように、前記第3制御モータの目標トルクと前記第4制御モータの目標トルクとを定めることができるように構成されている
ことを特徴とする駆動力制御装置。
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CN201810151821.3A CN108528270B (zh) | 2017-02-21 | 2018-02-14 | 驱动力控制装置 |
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EP18157095.3A EP3363672B1 (en) | 2017-02-21 | 2018-02-16 | Drive force control system |
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US20180281597A1 (en) * | 2017-03-28 | 2018-10-04 | NextEv USA, Inc. | Electric vehicle safety concept using distributed vehicle control units |
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JP6775637B1 (ja) * | 2019-06-10 | 2020-10-28 | 三菱電機株式会社 | 車両の制御装置および車両の制御方法 |
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