JPH06233409A - Motor controller for motor vehicle - Google Patents
Motor controller for motor vehicleInfo
- Publication number
- JPH06233409A JPH06233409A JP5015324A JP1532493A JPH06233409A JP H06233409 A JPH06233409 A JP H06233409A JP 5015324 A JP5015324 A JP 5015324A JP 1532493 A JP1532493 A JP 1532493A JP H06233409 A JPH06233409 A JP H06233409A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- electric vehicle
- current
- induction
- drive
- 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.)
- Granted
Links
Classifications
-
- 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
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Multiple Motors (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、電気自動車等、電動機
を駆動源とする走行車において複数の電動機を有し、こ
れらの電動機にて駆動される各駆動輪間に電気式差動駆
動機能を備えた電動車両のモータ制御装置に関するもの
である。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has a plurality of electric motors in a traveling vehicle having an electric motor as a drive source, such as an electric vehicle, and has an electric differential drive function between drive wheels driven by these electric motors. The present invention relates to a motor control device for an electric vehicle equipped with.
【０００２】[0002]
【従来の技術】電気自動車の駆動方式として、従来のエ
ンジンの代わりに電動機を搭載するだけに止まらず、機
械式の変速機の代わりに、例えば、チョッパ型あるいは
インバータ型の電力制御装置を用いて電動機の出力を広
範囲かつ俊敏に引き出す方式や、機械式の差動駆動装置
の代わりに電動機を２輪、もしくは４輪に装架し、それ
ぞれの電動機を個別に制御する方式に移行しつつある。2. Description of the Related Art As a drive system for an electric vehicle, not only a conventional engine is mounted with an electric motor, but a mechanical transmission is used instead of a power control device of a chopper type or an inverter type. There is a transition to a method of extracting the output of the electric motor in a wide range and quickly, or a method of mounting the electric motor on two wheels or four wheels instead of the mechanical differential drive device and individually controlling each electric motor.
【０００３】また、簡素な電気式差動駆動装置として、
例えば、特公昭５２−４８０５号公報に開示された「電
気車の駆動方式」がある。この方式では、電気的に直列
接続された２個以上の誘導電動機に電圧を印加した場
合、各誘導電動機の分担する電圧が負荷に応じて変化す
ることを利用して、各誘導電動機間、すなわち、電気車
の各車輪間に電気式差動駆動機能を持たせている。Further, as a simple electric differential drive device,
For example, there is an "electric vehicle drive system" disclosed in Japanese Patent Publication No. 52-4805. In this method, when a voltage is applied to two or more induction motors that are electrically connected in series, the voltage shared by each induction motor changes according to the load. , The electric differential drive function is provided between the wheels of the electric car.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、上記従
来の電気自動車の駆動方式では、各車輪対応に装架した
電動機ごとに高価な電力制御装置を要するうえ、これら
の電力制御装置を統括制御する機構が新たに必要になる
など、電気自動車の構成上、必須条件となる簡素化、軽
量化の方向に必ずしも合致せず、機能の増加がコスト増
につながるという問題がある。However, in the above-mentioned conventional drive system for an electric vehicle, an expensive power control device is required for each electric motor mounted corresponding to each wheel, and a mechanism for integrally controlling these power control devices is required. However, there is a problem that the increase in functions leads to an increase in cost because it does not always meet the direction of simplification and weight reduction, which are indispensable conditions in the configuration of an electric vehicle.
【０００５】また、誘導電動機においてトルクは電流と
相関があるため、電気自動車の駆動力、すなわち、負荷
トルクに対応した制御因子は電流であるため、電気自動
車の様々な負荷変動に応じて電動機の出力を広範囲かつ
俊敏に引き出すには、電流を制御の基軸とした誘導電動
機の駆動方式が必要となる。さらに、温度に左右される
電動機の電気特性変化による実効トルクの値の増減を補
正するうえでも、電流を制御基準とするのが望ましい。
これに対して、上記の「電気車の駆動方式」では、制御
基準である制御因子が電圧であるため、これらの要求に
応じることができないという問題がある。Further, since the torque is correlated with the current in the induction motor, the driving force of the electric vehicle, that is, the control factor corresponding to the load torque is the current. Therefore, the electric motor changes according to various load fluctuations of the electric vehicle. In order to extract the output in a wide range and with agility, a drive system of the induction motor with the electric current as a control axis is required. Furthermore, it is desirable to use the electric current as the control reference in order to correct the increase and decrease in the value of the effective torque due to the change in the electric characteristics of the electric motor depending on the temperature.
On the other hand, in the above-mentioned “electric vehicle drive system”, the control factor, which is the control reference, is the voltage, and therefore there is a problem that these requirements cannot be met.
【０００６】本発明の目的は、簡素かつ軽量という、電
気自動車を構成するうえでの必須の条件に沿い、負荷ト
ルクに対応した制御因子である電流を制御の基軸とした
電動車両のモータ制御装置を提供することである。An object of the present invention is to comply with the simple and lightweight condition essential for constructing an electric vehicle, and a motor control device for an electric vehicle using a current as a control axis corresponding to a load torque as a control axis. Is to provide.
【０００７】[0007]
【課題を解決するための手段】上記の目的を達成するた
め、本発明は、複数の誘導電動機を駆動源として電動車
両を制御する電動車両のモータ制御装置において、相互
に電気的に並列接続された各誘導電動機の固定子巻線へ
の供給電流の総和を制御するインバータを備え、前記各
誘導電動機の負荷の不平衡状態に応じて該各誘導電動機
に分配される巻線電流の変動と、誘導電動機が有するト
ルク−速度特性に基づく電気的な差動駆動機能を利用し
て電動車両の運転を行なう。To achieve the above object, the present invention provides a motor control device for an electric vehicle, which controls an electric vehicle using a plurality of induction motors as drive sources, which are electrically connected in parallel to each other. And an inverter that controls the sum of the currents supplied to the stator windings of each induction motor, and a variation of the winding current distributed to each induction motor according to the unbalanced state of the load of each induction motor, The electric vehicle is operated by utilizing the electric differential drive function based on the torque-speed characteristic of the induction motor.
【０００８】[0008]
【作用】以上の構成において、電動車両が負荷トルクに
対応した電流を制御因子として駆動輪を差動駆動するよ
う機能する。In the above structure, the electric vehicle functions to drive the drive wheels differentially using the current corresponding to the load torque as a control factor.
【０００９】[0009]
【実施例】以下、添付図面を参照して本発明に係る好適
な実施例を詳細に説明する。図１は、本発明の実施例に
係る電気自動車の車輪駆動部の構成を示す図である。同
図に示すように、本電気自動車において、左駆動車輪１
及び右駆動車輪２各々が、相互に同一特性を有する誘導
電動機３，４にて駆動されている。なお、ここでは、左
駆動車輪１及び右駆動車輪２と直接連結される誘導電動
機３，４の回転子の図示を省略している。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. FIG. 1 is a diagram showing a configuration of a wheel drive unit of an electric vehicle according to an embodiment of the present invention. As shown in the figure, in this electric vehicle, the left drive wheel 1
The right drive wheels 2 are driven by induction motors 3 and 4 having the same characteristics. Here, illustration of the rotors of the induction motors 3 and 4 that are directly connected to the left drive wheel 1 and the right drive wheel 2 is omitted.
【００１０】誘導電動機３，４の固定巻線５，６は、そ
の各相の巻線（不図示）が相互に並列接続され、インバ
ータ７に接続されている。このインバータ７は、電流制
御型、あるいは電流フィードバック制御機構を有し、固
定巻線５，６の電流を制御している。図２は、上述のよ
うな同一特性を有する誘導電動機の固定巻線について、
各相の巻線どうしを並列に接続した場合の１相分の等価
回路を簡易的に示す図である。同図において、Ｒ１は１
次抵抗、Ｌ１は１次リアクタンス、Ｌｍは励磁リアクタ
ンス、Ｒ２は２次抵抗、Ｓ３，Ｓ４は、それぞれ誘導電
動機３，４のすべり、Ｉｍは誘導電動機３，４の励磁電
流、Ｉ３，Ｉ４は、それぞれ誘導電動機３，４のトルク
電流、そして、Ｉ0 は、インバータ７が誘導電動機３，
４に供給する総電流である。The fixed windings 5 and 6 of the induction motors 3 and 4 have windings (not shown) of each phase connected in parallel to each other and connected to the inverter 7. The inverter 7 has a current control type or a current feedback control mechanism, and controls the current of the fixed windings 5 and 6. FIG. 2 shows a fixed winding of an induction motor having the same characteristics as described above.
It is a figure which shows simply the equivalent circuit for 1 phase in case the windings of each phase are connected in parallel. In the figure, R1 is 1
Next resistance, L1 is primary reactance, Lm is excitation reactance, R2 is secondary resistance, S3 and S4 are slips of the induction motors 3 and 4, respectively, Im is excitation current of the induction motors 3 and 4, I3 and I4 are The torque currents of the induction motors 3 and 4 and I 0 are calculated by the inverter 7 as the induction motors 3 and 4, respectively.
4 is the total current supplied to 4.
【００１１】次に、本実施例に係る電気自動車での、車
両の走行状態と車輪駆動部における誘導電動機の制御方
法との関係について説明する。今、電気自動車が直進状
態にあり、左右の駆動車輪１，２を介して誘導電動機
３，４に加わる負荷トルクが同一であるとすれば、誘導
電動機３，４の回転速度が互いに等しくなり、結果とし
て、誘導電動機それぞれにて発生するすべりＳ３，Ｓ４
が等しくなる。つまり、図２に示す２次抵抗とすべりと
の関係において、 Ｒ２／Ｓ３＝Ｒ２／Ｓ４ …（１） が成立する。従って、インバータ７が誘導電動機３，４
に供給する総電流Ｉ0 の１／２が、それぞれの誘導電動
機に等しく分配されることになる。Next, the relationship between the running state of the vehicle and the method of controlling the induction motor in the wheel drive section in the electric vehicle according to this embodiment will be described. Now, assuming that the electric vehicle is in a straight traveling state and the load torques applied to the induction motors 3 and 4 via the left and right drive wheels 1 and 2 are the same, the rotation speeds of the induction motors 3 and 4 become equal to each other, As a result, slips S3 and S4 generated in each induction motor
Are equal. That is, in the relationship between the secondary resistance and the slip shown in FIG. 2, R2 / S3 = R2 / S4 (1) holds. Therefore, the inverter 7 is the induction motor 3,4.
1/2 of the total current I 0 supplied to each induction motor will be equally distributed to each induction motor.
【００１２】次に、インバータ７が、上述のように誘導
電動機３，４に供給する総電流Ｉ0を一定値に制御して
いるときに、電気自動車が駆動車輪１側に進行方向を変
更した結果、誘導電動機３に加わる負荷トルクのみが増
加したとする。この場合、誘導電動機３の回転速度が低
下してすべりＳ３が大きくなるため、トルク電流Ｉ３が
増加する。Next, while the inverter 7 controls the total current I 0 supplied to the induction motors 3, 4 to a constant value as described above, the electric vehicle changes its traveling direction to the drive wheel 1 side. As a result, it is assumed that only the load torque applied to the induction motor 3 increases. In this case, the rotation speed of the induction motor 3 decreases and the slip S3 increases, so that the torque current I3 increases.
【００１３】一方、インバータ７から誘導電動機に供給
される総電流Ｉ0 は一定値に制御されており、本実施例
では、誘導電動機３，４が並列接続され、相互に一方の
トルク変化が他方の動作に影響を与える構成となってい
るため、トルク電流Ｉ３の増加により、誘導電動機３の
励磁電流Ｉｍ、誘導電動機４のトルク電流Ｉ４は減少す
る。そして、誘導電動機３においては、励磁電流Ｉｍの
減少によりその磁束が弱まるため、すべりＳ３が大きく
なってトルク電流Ｉ３が増加する。このため、励磁電流
Ｉｍの減少によって、すべりＳ３はさらに大きくなり、
誘導電動機３の回転速度はさらに低下する。On the other hand, the total current I 0 supplied from the inverter 7 to the induction motor is controlled to a constant value. In this embodiment, the induction motors 3 and 4 are connected in parallel, and the torque change of one of them is the other. Since the torque current I3 increases, the exciting current Im of the induction motor 3 and the torque current I4 of the induction motor 4 decrease. Then, in the induction motor 3, since the magnetic flux is weakened due to the decrease of the exciting current Im, the slip S3 increases and the torque current I3 increases. Therefore, the slip S3 is further increased due to the decrease of the exciting current Im,
The rotation speed of the induction motor 3 further decreases.
【００１４】なお、ここでは、総電流Ｉ0 は、電気自動
車の運転者の加減速要求、例えば、アクセルペダルの踏
み込み量等に基づいて決める。他方、誘導電動機４にお
いては、トルク電流Ｉ４の減少により、発生するすべり
Ｓ４が小さくなり、誘導電動機４の回転速度は上昇する
ことになる。このように、電気自動車が方向変換をする
際、車輪抵抗に基づく負荷トルクが上昇することで、回
転速度が低下した駆動輪の速度がさらに低下し、他の駆
動輪の回転速度は上昇する。そこで、これらの駆動輪を
誘導電動機に連結して駆動し、駆動輪に、負荷トルクの
差に応じて自動的に速度差が生じる差動駆動機能を電気
的に実現することで、電気自動車は容易にその進行方向
を変えることができる。Here, the total current I 0 is determined based on the acceleration / deceleration request of the driver of the electric vehicle, for example, the depression amount of the accelerator pedal. On the other hand, in the induction motor 4, the decrease in the torque current I4 reduces the slip S4 generated, and the rotation speed of the induction motor 4 increases. As described above, when the electric vehicle changes its direction, the load torque based on the wheel resistance increases, so that the speed of the drive wheel whose rotation speed has decreased further decreases, and the rotation speeds of the other drive wheels increase. Therefore, these drive wheels are connected to an induction motor to drive them, and the drive wheels are electrically realized with a differential drive function in which a speed difference is automatically generated according to a difference in load torque. The direction of travel can easily be changed.
【００１５】以上説明したように、本実施例によれば、
２個の誘導電動機を並列に接続して、単一のインバータ
を介してこれらの電動機に一定電流が供給されるように
制御し、電流を制御因子として誘導電動機におけるトル
クと負荷電流との相関関係を巧みに利用して、２個の誘
導電動機が相互に引き合う差動動作をするように構成す
ることで、誘導電動機を使用した簡単な構成にて電気式
の差動駆動機能の実現が可能となる。As described above, according to this embodiment,
The two induction motors are connected in parallel and controlled so that a constant current is supplied to these motors via a single inverter, and the correlation between the torque and the load current in the induction motor is controlled by the current. Skillfully utilizing the configuration of two induction motors so that they perform a differential operation to attract each other, it is possible to realize an electric differential drive function with a simple configuration using an induction motor. Become.
【００１６】なお、駆動輪に連結される誘導電動機の数
は２個に限定されず、前後左右、計４個の駆動車輪それ
ぞれに誘導電動機を連結し、それらへの電流供給の制御
を単一のインバータにて行なうよう構成してもよい。The number of induction motors connected to the drive wheels is not limited to two, and four induction wheels are connected to each of the front, rear, left and right wheels, and a total of four drive motors are connected to control the current supply to them. May be configured to be performed by the inverter.
【００１７】[0017]
【発明の効果】以上説明したように、本発明によれば、
電動車両の駆動力である負荷トルクに対応した制御因子
として電流を制御の基軸とすることで、簡単な構成で電
気的な差動駆動機能を実現できるという効果がある。As described above, according to the present invention,
By using the current as the control axis for the control factor corresponding to the load torque, which is the driving force of the electric vehicle, the electric differential drive function can be realized with a simple configuration.
【図１】本発明の実施例に係る電気自動車の車輪駆動部
の構成を示す図である。FIG. 1 is a diagram showing a configuration of a wheel drive unit of an electric vehicle according to an embodiment of the present invention.
【図２】誘導電動機の固定巻線の各相の巻線どうしを並
列に接続した場合の１相分の等価回路を簡易的に示す図
である。FIG. 2 is a diagram simply showing an equivalent circuit for one phase when the windings of each phase of the fixed winding of the induction motor are connected in parallel.
１ 左駆動車輪 ２ 右駆動車輪 ３，４ 誘導電動機 ５，６ 固定巻線 ７ インバータ 1 Left drive wheel 2 Right drive wheel 3,4 Induction motor 5,6 Fixed winding 7 Inverter
Claims (4)
両を制御する電動車両のモータ制御装置において、 相互に電気的に並列接続された各誘導電動機の固定子巻
線への供給電流の総和を制御するインバータを備え、 前記各誘導電動機の負荷の不平衡状態に応じて該各誘導
電動機に分配される巻線電流の変動と、誘導電動機が有
するトルク−速度特性に基づく電気的な差動駆動機能を
利用して電動車両の運転を行なうことを特徴とする電動
車両のモータ制御装置。1. In a motor control device for an electric vehicle that controls an electric vehicle using a plurality of induction motors as a drive source, the sum of the currents supplied to the stator windings of the induction motors electrically connected in parallel is calculated. An electric differential drive based on a torque-speed characteristic of the induction motor, which includes an inverter that controls the fluctuation of the winding current distributed to each induction motor according to the unbalanced state of the load of each induction motor. A motor control device for an electric vehicle, wherein the electric vehicle is driven by using a function.
固定子巻線へ供給する電流の総和が一定値となるよう制
御することを特徴とする請求項１に記載の電動車両のモ
ータ制御装置。2. The motor control device for an electric vehicle according to claim 1, wherein the inverter controls the sum of the currents supplied to the stator windings of the induction motors to be a constant value.
々の駆動輪に連結されていることを特徴とする請求項１
に記載の電動車両のモータ制御装置。3. The induction motor is connected to each of the left and right drive wheels of the electric vehicle.
A motor control device for an electric vehicle according to.
右各々の駆動輪に連結されていることを特徴とする請求
項１に記載の電動車両のモータ制御装置。4. The motor control device for an electric vehicle according to claim 1, wherein each of the induction motors is connected to front, rear, left and right drive wheels of the electric vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP01532493A JP3397354B2 (en) | 1993-02-02 | 1993-02-02 | Motor control device for electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP01532493A JP3397354B2 (en) | 1993-02-02 | 1993-02-02 | Motor control device for electric vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06233409A true JPH06233409A (en) | 1994-08-19 |
| JP3397354B2 JP3397354B2 (en) | 2003-04-14 |
Family
ID=11885598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP01532493A Expired - Lifetime JP3397354B2 (en) | 1993-02-02 | 1993-02-02 | Motor control device for electric vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3397354B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU676807B2 (en) * | 1994-09-01 | 1997-03-20 | Hitachi Limited | Control apparatus for electric vehicles |
| WO2009020034A1 (en) * | 2007-08-06 | 2009-02-12 | Kabushiki Kaisha Aichi Corporation | Travel control device for working vehicle |
| JP2009035418A (en) * | 2007-08-06 | 2009-02-19 | Aichi Corp | Vehicle for high-lift work |
| JP2009035419A (en) * | 2007-08-06 | 2009-02-19 | Aichi Corp | Vehicle for high lift work |
-
1993
- 1993-02-02 JP JP01532493A patent/JP3397354B2/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU676807B2 (en) * | 1994-09-01 | 1997-03-20 | Hitachi Limited | Control apparatus for electric vehicles |
| WO2009020034A1 (en) * | 2007-08-06 | 2009-02-12 | Kabushiki Kaisha Aichi Corporation | Travel control device for working vehicle |
| JP2009035418A (en) * | 2007-08-06 | 2009-02-19 | Aichi Corp | Vehicle for high-lift work |
| JP2009035419A (en) * | 2007-08-06 | 2009-02-19 | Aichi Corp | Vehicle for high lift work |
| US8332089B2 (en) | 2007-08-06 | 2012-12-11 | Kabushiki Kaisha Aichi Corporation | Travel controller for work vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3397354B2 (en) | 2003-04-14 |
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