JPH07177795A - Motor device - Google Patents

Abstract

PURPOSE:To provide a motor device which can reduce eddy current and loss on zero rotation or at a low-speed rotation which is a disadvantage while fully utilizing the superb torque and the number of rotations of a motor with a mechanical structure at a high torque without depending on power supply voltage control. CONSTITUTION:Two motors, namely a first motor and a second motor, and a differential device are provided and the differential device is provided with three rotary shafts rotating differentially, the first motor rotary shaft 2, a second motor rotary shaft 4, and a drive output shaft are fixed to three rotary shafts, namely the rotary shaft 2 of the first motor and the rotary shaft 4 of the second motor are connected via a differential device, and drive output is obtained from the differential rotary shaft 3 of the differential device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor device which is widely used as a power motor in a wide range of industries. In particular, it relates to a vehicle motor device. Further, it is a motor device that can also be used as a transmission.

[0002]

2. Description of the Related Art A power motor whose output speed and output torque vary over a wide range, particularly an electric motor device as a drive source for a vehicle or the like, is driven directly without a transmission or a transmission is used. Used with or without. In the prior art, when an electric motor is directly coupled to an axle without a transmission and used, a higher performance motor has a smaller internal resistance and is difficult to handle at a low speed.

In the motor device, the motor output changes at a certain rotation speed by raising or lowering the voltage or turning it on and off. As the voltage increases, the motor output increases, and when it decreases, the motor output decreases. That is, the current flowing through the same circuit changes in proportion to the voltage. Therefore, increasing the voltage increases the amount of current. Further, if the resistance is small even if the voltage is the same, a larger amount of current can flow, and the output of the motor can be increased. The torque obtained by the motor device is proportional to the current. The voltage applied to the motor is related to both the rotation speed and the current. Therefore, if you want to increase the speed while running on level ground, you can increase the voltage, and if you want to run at the same speed when approaching a slope, increase the voltage and increase the current while maintaining the rotation speed to increase the torque. You can increase. Thus, by adjusting the voltage applied to the motor, both speed and torque change in relation to each other. This is the same as the fact that both the engine speed and torque can be changed by stepping on the accelerator.

The motor produces the largest torque when the rotation speed is zero. The torque decreases as the rotation speed increases, and when the rotation speed is high without load, the torque approaches zero with almost no torque. A graph of this TN relationship is the TN curve in FIG. 1, in which N decreases in inverse proportion to the increase in torque. Similarly to this, what is important for knowing the motor characteristics is the TI curve in FIG. That is, I increases in proportion to the increase in T. That is, as the torque increases, the current consumption increases, and at the same time, the torque increases by increasing the current. The high-performance motor has a very steep TN curve, and the maximum torque of the high-performance motor is the rated torque of 4.
It becomes very large, more than 5 times, and a large amount of current flows accordingly. The torque is T = KI, that is, K is the torque constant, I is the current, E is the current, and the resistance in the motor =
Let R.

Then, I = E / R, and the loss caused by the current flowing through the motor is W = RI ² , which is the heat generated in the coil winding. With a high-performance motor, if the maximum torque is zero rotation, if the maximum torque is maintained for a long time, a large current will flow, resulting in overheating and eventually short-circuiting and producing smoke. In particular, a high-performance motor has a property that an electric current easily flows due to its low electric resistance, so that it is difficult to use it in a low rotation range. In addition, when used below the rotational speed at which the current should be cut, it is more difficult to handle as a high-performance motor in which loss due to eddy current or copper loss and overheating becomes large. In addition, if the rotation speed decreases, a larger current will flow. Therefore, in a high-performance motor, it is necessary to cut the current quickly depending on the load conditions. That is, the motor driver incorporates a control circuit that keeps the current within a certain value. Therefore,
It is difficult to handle because it does not eliminate the possibility of damaging the motor due to excessive current flow, such as when the current cannot be cut well or control fails due to noise in the electronic circuit.

In general, when a power motor is used in a wide rotation range and under a heavy load, there is a sudden change in external load, for example, when the motor is forced to rotate in the reverse direction, the conventional motor is overloaded. It will be destroyed by the current, or the power supply will be overloaded. Although it is possible to control the rotation speed and torque by voltage control, etc., it is necessary to constantly detect and control rotation and current, and even if the control device runs away due to heat etc., the motor will be destroyed or the power supply device If the load is overloaded or the control response is poor, the power consumption also increases. In addition, with a high power motor, it is difficult to operate at high torque and "0" rotation by voltage control, and since a large power is handled, heat countermeasures and devices become complicated, and the control device becomes expensive and malfunctions occur. If it becomes easier.

An apparatus having a structure in which one motor device is also used as a generator to perform regenerative braking is disclosed in Japanese Patent Laid-Open No.
No. 185205. That is, it is a regenerative braking device having an electric motor, a drive circuit, a running storage battery, an auxiliary storage battery, and a control circuit, and a regenerative selecting means, a means for regenerating the regenerative power of the electric motor to the running storage battery, and the regenerative power of the electric motor for the auxiliary equipment. It is a regenerative braking device characterized by having a means for regenerating to a storage battery for use.

[0008]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and particularly in the case of a DC motor, it has disadvantages while making use of the excellent torque / rotational speed characteristics of the motor. There is a certain amount of overcurrent and loss at high torque, zero rotation or low speed rotation, without relying on power supply voltage control.
An object of the present invention is to provide a motor device that can reduce energy loss with a mechanical structure. Another object of the present invention is to provide a motor device capable of continuing the operation of the motor while maintaining the rotational force even when the output rotation is stopped or reversely rotated by an external load while the motor is being driven. And

Further, the higher the performance of the motor, the smaller the internal loss in order to reduce the internal loss. Therefore, at the rotational speed "0", a very large current flows and the motor is damaged. In addition, the efficiency becomes poor. Therefore, a motor that solves such a problem is desired. INDUSTRIAL APPLICABILITY The present invention has a mechanical structure that does not rely on power supply control such as voltage control, and can adjust distribution in response to changes in external load, even if the output shaft is forced to apply force in the direction of reverse rotation. However, the motor can be operated. Therefore, damage to the motor due to heat measures and malfunction of the control circuit can be avoided.

[0010]

SUMMARY OF THE INVENTION The present invention has been made to solve the above technical problems.
Two motors of the second motor and a differential gear are provided, and the differential gear has three rotary shafts that differentially rotate,
The rotation shaft (2) of the motor, the rotation shaft (4) of the second motor, and the drive output shaft are fixed to the three rotation shafts, that is, the rotation shaft (2) of the first motor and the rotation shaft (2) of the first motor, respectively. A motor device characterized in that it is connected to a rotary shaft ((4)) of two motors via a differential device, and a drive output is obtained from a differential rotary shaft (3) of the differential device.

Further, the rotation shafts of the first motor, the second motor and the differential device can be arranged coaxially, and can be housed in one case and integrated. And the first motor,
Arrange the rotation axes of the second motor and the differential device coaxially,
You can use the integrated one that is stored in the wheel. Further, the first motor is connected to the power supply device as a drive motor, the second motor is connected to the power generation / regeneration device as a power generation motor, and the power generated from the power generation motor is
It is preferable that the power regeneration device controls the boosting and the amount of power generation to regenerate electric power.

Further, the first motor is connected as a drive motor to the power supply device, the second motor is used as a power generation motor, and a load resistor is disposed between the power supply terminals so that the load resistor consumes the load resistor. You can also In this case, by using the load resistance as a substitute for the power regeneration device,
The generated power is not regenerated, but the simplest circuit configuration
It can be used universally. Further, the electric power generated by the second motor can be directly regenerated and driven by the first motor by the regenerative device that raises the voltage. In this case, since the extra output of the drive motor is regenerated as electric power, the motor becomes extremely efficient.

Further, the present invention provides a rotating shaft of the first motor.
(2) and the rotating shaft (4) of the second motor are connected via a differential device, a drive output is obtained from the differential rotating shaft (3) of the differential device, and the rotating shaft (2) of the first motor is obtained. ) And the rotating shaft (4) of the second motor rotate differentially, and the differential rotating shaft (3) of the drive output
And a rotational speed difference proportional to the rotational speed difference between the rotating shaft (2) of the first motor and the differential rotating shaft (3) of the drive output
When the rotation shaft (4) of the motor has no difference in rotation speed, the rotation shafts (2), (3), and (4) have the same rotation speed. Each of the two motors is provided with a conversion device for converting connection with a power supply device or a regenerative device, and the conversion device is operated according to a predetermined pattern, and the first and second motors are respectively a drive motor or a power generation motor. Provided is a motor device which operates.

The differential device can use a planetary gear. When a planetary gear is used, the planetary gear has its planetary pinion gears arranged on both sides of the planetary carrier, and the planetary pinion gears arranged on both sides are fixed to the planetary pinion shaft. The planetary pinion shaft is rotatably arranged on the planetary carrier. Also, a differential gear can be used as the differential device,
The left and right side gear shafts are respectively connected to the rotation shaft (2) of the first motor and the rotation shaft (4) of the second motor, and the rotation shaft of the revolving differential gear consisting of pinion gears is the output shaft. The structure can be connected to (3). Further, by arranging the first motor, the second motor, and the rotating shafts of the differential device coaxially, the structure of the motor device can be obtained.

Torque, efficiency, output with respect to the number of revolutions are important for the performance of the electric vehicle motor, but these performances are important for the weight of the vehicle in order to drive the vehicle for traveling. Although the characteristics of the motor vary depending on the type, the motor control processing of the present invention can be applied to any type of motor, but a DC motor has a large torque at startup,
Of these DC motors, which have excellent characteristics as a motor for driving a vehicle such that the output torque changes linearly with respect to the current input, the brush DC motor is the simplest, so in this specification, Mainly, this motor will be described as an example. However, it is clear that the present invention is applicable to any type of motor due to its nature.

That is, the motor device of the present invention is an invention of the motor device itself and is optimal as a power source for an electric vehicle due to its structure, but naturally it can be used as a motor drive device in all industries.

[0017]

In FIG. 3, two motors of the motor device according to the present invention are used, the first motor is for driving and the second motor is for generating electricity. The structure when an output is obtained from a differential device and used as an output is shown.
Its structure is generally optimal for general-purpose power motors, but it can also be used for electric vehicles. Next, the relationship with the operation curve of the motor will be described as follows. For example, in a DC motor, as shown in FIG. 6, the increase in torque is cut off in the region where the rotation speed is close to zero. If the voltage applied to the motor is V, the total magnetic flux obtained by multiplying the magnetic field strength created by the effective field area of the motor by the effective area of the field is φ, the number of windings of the armature is Z, and the resistance is R, rotation The maximum value of the number N _max = V / φZ, and the maximum value of the torque T _max =
φZV / R. In the curve of Fig. 6, N on the axis of rotation speed
_The line connecting the point of _{max and} the point of T _max on the rotation speed axis is the rotation speed-torque characteristic of this motor. As shown, the torque decreases with the rotational speed. V corresponds to the voltage of the battery, and when the voltage doubles, both the maximum torque and the maximum rotation speed double. φ is larger for stronger magnets and larger motors. For motors of the same size, the maximum torque and maximum speed can be changed by changing the number of windings.

On the other hand, the torque T is proportional to the current I when the current I is small, as described above. The proportional constant is a value obtained by multiplying φ by Z. As the current increases, the torque expansion gradually decreases, that is, there is a saturation phenomenon. In the differential device according to the present invention, the ratio of the differential gears, that is, the differential ratio is X. If the ratio of the differential device is 1: 1 then X = 1,
If 2: 1 then X = 2. The first motor side X is the second motor side 1. The torque and rotation speed of the first motor are T ₁ and N _1, and the output torque and rotation speed of the output rotary shaft are T ₂ and T ₂ .
Assuming that N ₂ is the torque consumed and the rotational speed of the second motor is T ₃ and N ₃ , the following is obtained. _{(X + 1) T 1 =} T 2 ····················· (1) (N 1 -XN 3) / (X + 1) = N 2 ···· (2) Therefore, the mechanical output of the first motor is the number of revolutions (rpm) × torque unless the loss due to friction etc. is considered, and T ₁ · N ₁
And the mechanical input from the second motor is the rotation speed (rpm)
× Torque, T ₃ · N ₃ . Therefore, the mechanical output of the output of the differential device is the rotational speed (rpm) × torque, which is T ₂ · N ₂ . Therefore, T ₂ · N ₂ = T ₁ · N ₁ −T ₃ · N ₃・ ・ ・ ・ ・ ・ ・ ・ (3). Therefore, when the drive shaft torque is X = 1,
Double the torque of the drive motor (first motor),
The rotation speed N ₂ is when the output of the second motor is 0, that is,
When the second motor does not rotate, it becomes 1/2 (X = 1) of the rotation speed of the first motor. The relationship between the input / output torque of the first motor and the second motor is XT ₁ = T ₃・ ・ ・ ・ (6)

The load resistance is constant here because the consumption torque changes with the increase or decrease of the electric output from the second motor. Since the rotational speed torque when starting (stopped) is “0”, 0 = T ₁ · N ₁ − T ₃ · N ₃ ...・ ・ ・ ・ (A) From equation (6), T ₁ = T ₃・ ・ ・ ・ ・ (B) Rotation that satisfies the two conditions of (A) and (B) Balance with a few torques.

That is, the first motor and the second motor are connected to each other via a differential device, and a drive output is obtained from the differential device.
The first motor and the second motor rotate differentially, and a rotation speed difference proportional to the difference between the drive output and the rotation speed of the first motor also occurs in the drive output and the second motor. For example, the first
If the motor is rotating at 2000 rpm and the ratio of the differential device is 1: 1 and the output is 1000 rpm, the second motor will be 0 rpm. Similarly, output 0r
If it is pm, the 2nd motor will be 2000 rpm of reverse rotation. Explaining in FIG. 1, the output rotary shaft (3) is the same as the (2) shaft.
When the ratios of (2)-(3) and (3)-(4) between the rotational speeds of the (4) shafts are constant, that is, when the ratio of the differential device is 1: 1 in this way, (2 )-(3) rotation speed difference and (3)-(4) rotation speed difference are 1: 1.

In the case of an electric motor, particularly a high-performance DC motor, since the internal resistance is small, an excessive current may flow at the "0" rotation speed and destroy the motor. Also, the power loss is large. Normally, it is a common practice to limit the current, that is, to cut the current so that it becomes a curve b instead of the curve a in the first motor of FIG. . That is, FIG.
As shown in Fig. 7, when the rotational speed approaches 0, the torque becomes infinitely large. However, in the range lower than the rotational speed P1, the current is limited as shown in the figure due to magnetic saturation. ing. In this case, the maximum torque is generated at the rotation speed P1, and even if the rotation speed is further reduced, the torque does not increase.

Therefore, in the conventional motor device, the linear torque characteristic cannot be obtained, and theoretically the current should increase to the torque, but the magnetic saturation occurs. In addition, excessive current may flow and damage the motor. Alternatively, since the current is limited, the torque characteristic is limited, which is not efficient. Further, at high torque and low rotation speed, copper loss becomes large and energy loss becomes large.

In the motor device of the present invention, the first motor is rotated to a steady rotation, and at this time, in order to reduce the load on the second motor, no electric power is taken out. In this state, it is in the idling state. Output does not generate much torque. That is, since the magnitude of the torque of the second motor becomes the output torque, the second motor is not rotated, and some torque is generated due to mechanical resistance. The output rotation here is "0" and the torque is ignored. In this idling state, the first motor is in a state close to the rotational speed of zero torque. Therefore, from here, it is possible to actually carry out the starting drive from the high torque zero revolution with good balance.

In the idling state, the output rotation is "0".
Then, the second motor is rotating in the reverse direction. A large torque is generated in the second motor by extracting electric power from the second motor. That is, the rotation speed of the first motor decreases until the torque for rotating the second motor is reached. The torque of the second motor and the torque of the first motor are
Stable at a balanced rotation speed. The rotation speed and torque of the first motor at this time are used for power generation of the second motor. Since the drive output has a rotation speed of "0", even if the drive output has a rotation speed of "0", torque is generated by adding the rotation speed of the second motor, the consumed torque and the torque of the first motor. .

That is, in the state where the output speed is "0", the added value of the torque is obtained, and a large starting torque can be obtained. Moreover, in this state, the first motor can be adjusted so that the number of revolutions is efficient. Moreover, it has an excellent characteristic that the second motor is producing electric power at the same time. Further, when the output starts from the state of the rotational speed "0", the ratio of the rotational speed of the first motor to the rotational speed of the second motor is constant as the rotational speed increases from the rotational speed "0". Therefore, the rotational speed difference between the rotational speed of the first motor and the output rotational speed is reduced, and the rotational speed of the second motor is reduced. Then, the second in the lowered state
The torque that reduces the rotation speed of the motor and the torque that balances the torque of the first motor automatically stabilizes.

Therefore, the rotation speed of the first motor changes while the output load and rotation speed and the torque and rotation speed of the second motor are related to each other. In the stopped state, that is, when the output rotation speed is "0", the output of the first motor is entirely consumed by the second motor. Further, at the time of starting, the output of the first motor according to the output load and the rotation speed is distributed by the differential device. The rest is distributed to the second motor. The same applies during deceleration, and the output of the first motor is distributed by the differential device. Further, in the case of deceleration or downhill, the output load may become negative. In this case, it is possible to obtain energy from both the first motor and the second motor by limiting the rotation speed of the first motor, for example, by using the first motor as a power generation brake and a regenerative brake. in this case,
The rotation of the second motor is not the reverse rotation but the forward rotation. That is, even when the output rotation speed is "0", the drive motor is rotating forward while maintaining a high rotation speed. Therefore, the drive motor can prevent overcurrent due to a decrease in rotation speed, and can prevent an increase in power consumption. Also, the rotation speed difference between the drive motor and the output becomes the rotation speed difference between the generator motor and the output (when the differential ratio is 1: 1),
The generator motor generates electricity and regenerates the generated electricity to become an extremely efficient motor device.
Further, if the electric power is directly regenerated to the drive motor, it is possible to increase the torque when starting and when traveling at low speed. Also,
Due to the structure, it is possible to absorb the fluctuation of the output rotation speed with the rotation speed of the generator motor and keep the rotation speed of the drive motor within the steady rotation range. It is also possible to keep the rotation speed of the motor constant. That is, the torque can be controlled by controlling the amount of power generation.

In the motor device of the present invention, the driving force of the drive motor is distributed to the output and the generator motor by the differential device, and all the difference between the mechanical output of the drive motor and the mechanical output of the output shaft is distributed to the generator motor. . By controlling the amount of this regenerated electric power, the torque characteristic of the output can be controlled in intensity. Since this torque characteristic is proportional to the current I and the magnetic flux φ, the torque control has conventionally been performed by controlling the current or changing the magnetic flux, but in the present invention, it is controlled by the amount of regenerated electric power. Is possible.

Next, a graph will be described by actually giving numerical values. The numerical value is just for explanation, and the numerical value itself has no meaning. For simplification of explanation, the ratio of the rotation difference of the differential gears will be described as 1: 1. That is, the torque-rotation speed curve of the first motor A is shown in FIG. 6 as a TN curve used only for explanation, and the torque and the rotation speed required for power generation of the second motor B are explained. It is shown in FIG. 7 which is shown as a curve of consumed torque-rotational speed used only. Furthermore, FIG. 8 shows a torque-rotational speed curve of the second motor B. As shown in the figure, the torque of the first motor A decreases as the rotation speed increases, and the torque of the second motor B increases as the rotation speed increases. Then, as shown in FIG. 8, when the second motor is driven, the torque decreases as the rotation increases.

The rotation speed of the drive output shaft increases from left to right. Each point P corresponds to the point shown in each graph.

[Table 1] (However, mechanical loss is not taken into consideration.) At this time, the torque of the output shaft is the torque of the first motor A 10 kg · m (P1)
20kg · m torque (P5) which is doubled is generated (Equation 1,
(from (x + 1) T ₁ = T ₂ ).

The drive energy of the first motor A
Is the energy for power generation of the second motor B,
Less energy loss (Equation A, 0 = T₁・ N₁+
T₃・ N ₃Than). At this time, a high torque of 2 revolutions "0"
Even if the torque of 0 kgm (P5) is generated,
Since the target A is rotating, it does not become overcurrent and operates normally.
You can roll.

The vehicle emits and the output shaft rotates at 100 rpm.
At 0 rpm (P9), the rotational speed and torque of the drive motor and the generator motor are the same torque and balance when the ratio of the differential gear is 1: 1. From 1), (2), and (5), the drive motor has a rotation speed of 3000 rpm, torque of 5 kg-m (P7),
Number of rotations of the generator motor (reverse rotation of the drive motor)
It is 1000 rpm and the torque is 7 kg-m (P8). The torque of the output shaft at this time is 5 kg-m of the drive motor torque.
A torque (p9) of 10 kg-m obtained by doubling (P7) is obtained. Similarly, when the drive motor is (P3), the generator motor is (P4) and the output is (P6). In this way, the drive motor (TN curve of FIG. 6), the generator motor (TN curve of FIG. 7) and the drive output (output shaft) are always balanced, and the TN curve of FIG. 8 is obtained. Output is obtained.

FIG. 9 shows a configuration in which two motors of the motor device of the present invention are used in combination for driving or power generation. The structure is most suitable as a drive source for an electric vehicle, but can also be used as a general motor drive device. That is, two motors, a first motor and a second motor, are directly connected via a differential device, and each motor is used not only as a drive motor but also as a power generation motor, and To obtain optimum driving force and efficiency. And an efficient driving state is secured.

In the motor device of the present invention, the first motor and the second motor are functionally and structurally symmetrical as viewed from the differential device, and either motor may be used for driving. Also, it may be for power generation. Further, both motors may be used for driving, that is, both motors are rotated in the same direction. Further, both motors can be used for power generation, that is, both motors can be rotated in the same direction and used as a regenerative brake. Therefore, the motor device of the present invention has two motors as a first mode of efficient drive-power generation at the time of starting, and as a second mode of the drive-drive at high speed operation, at the time of deceleration, that is, during braking. , Power generation-the third mode of power generation can be operated. By combining such three modes and switching according to the traveling state and the operating state, it becomes possible to obtain the optimum driving force and efficiency in the traveling state and the operating state.

As shown in FIG. 9, the first motor A and the second motor A
The motor B has drive regenerative control devices SWA and SW, respectively.
Via B, it is connected to the power supply devices SOA and SOB, and is also connected to the regenerative devices GA and GB. The drive regeneration control devices SWA and SWB are controlled by switch control, and it is controlled whether the line from each motor is connected to the power supply device or the regeneration device. That is, the electric input end of each motor is connected to each drive regeneration control device.

Then, the first motor, the second motor and the three
The relationship between the two modes is shown in the following table.

[Table 2]

That is, in mode 1, the first motor and the second motor
It is rotated in the opposite direction to the motor. In this mode, the motor efficiency is good in the low speed region operation where a high torque is required from the stopped state. And in mode 2, the first motor,
Energy is supplied from the power supply to both the second motor,
It is rotated in the same direction, that is, the drive shaft is driven by the total drive rotation of the first motor and the second motor, and high speed rotation is enabled. That is, as the output rotation increases, the rotation speed of the drive motor also increases, and the efficiency of the motor improves to some extent even in the mode 1 state. Therefore, at high rotation speeds, there is little difference in efficiency, and both motors have a greater advantage as drive motors. In mode 3, both the first motor and the second motor are rotated in the same direction, but they are made to work as a generator motor and are made to work when in the braking state.

In the differential device according to the present invention, the ratio of the differential gears, that is, the differential ratio is X. The ratio of the differential is
If 1: 1 then X = 1, if 2: 1 then X = 2. The first motor side X is the second motor side 1. And
In mode 1, the first motor and the second motor rotate in different directions, and the torque and the rotation speed of the first motor are T ₁
And N ₁ and the output torque and rotation speed of the drive output rotary shaft are T ₂
And N ₂ and the rotational speed and consumption torque of the second motor T ₃ and N ₃
Then, it becomes as follows. _{(X + 1) T 1 =} T 2 ····················· (1) (N 1 -XN 3) / (X + 1) = N 2 ····・ ・ ・ ・ ・ ・ (2)

Therefore, the mechanical output from the first motor is
Without considering the loss due to friction, etc., the number of revolutions (rpm) × torque is T ₁ · N ₁ , and the mechanical input from the second motor is the number of revolutions (rpm) × torque, T ₃ · N ₃ . is there. Therefore, the mechanical output of the output of the differential device is the rotational speed (rpm) × torque, which is T ₂ · N ₂ . Therefore, T ₂ · N ₂ = T ₁ · N ₁ −T ₃ · N ₃・ ・ ・ ・ ・ ・ ・ ・ (3). Therefore, when the drive shaft torque is X = 1,
Double the torque of the drive motor (first motor),
The rotation speed N ₂ is when the output of the second motor is 0, that is,
When the second motor does not rotate, it becomes 1/2 (X = 1) of the rotation speed of the first motor. The relationship between the input / output torque of the first motor and the second motor is XT ₁ = T ₃・ ・ ・ ・ (6) In mode 1, the rotation of the output rotary shaft is changed to (N ₁ −X
N ₃ ) / (X + 1) and the torque is (X + 1)
Go up to T ₁ .

Next, in the mode 2, the first motor and the second motor are rotating in the same direction, and (N ₁ + XN ₃ ) / (X + 1) = N ₂ ...・ It becomes (4). Then, the mechanical output of the first motor is T ₁ · N ₁ (rotation speed (rpm) × torque), without considering the loss due to friction or the like. Therefore, the mechanical output of the second motor is
m) × torque, which is T ₃ · N ₃ . Therefore, the mechanical output of the output of the differential, the output of the first motor and the sum of the output of the second motor, it becomes a rotational speed (rpm) × torque, since it is T ₂ · N _2, T ₂・ N ₂ = T ₁・ N ₁ + T ₃・ N ₃・ ・ ・ ・ ・ ・ ・ ・ ・ ・ (5). The relationship between the input / output torque of the first motor and the second motor is XT ₁ = T ₃・ ・ ・ ・ (6)

In Mode 3, the first motor and the second motor rotate in the same direction, but both are generator motors. (N ₁ + XN ₃ ) / (X + 1) = N ₂ (4) Then, the mechanical output of the first motor is T ₁ · N ₁ (rotation speed (rpm) × torque), without considering the loss due to friction or the like. Therefore, the mechanical output of the second motor is
m) × torque, which is T ₃ · N ₃ . Therefore, the mechanical output of the output of the differential, the output of the first motor and the sum of the output of the second motor, it becomes a rotational speed (rpm) × torque, since it is T ₂ · N _2, T ₂・ N ₂ =-(T ₁ · N ₁ + T ₃ · N ₃ ) ... (7) This indicates that the mechanical output is negative and becomes a mechanical input, and power generation occurs.

As can be seen from the above equations, in Mode 2 and Mode 3, since they rotate in the same direction (forward rotation),
The rotational energy of the two motors is the sum of torque × rotational speed through a differential device. Therefore, the modes 2 and 3 are equivalent to the mechanism using one motor and have no technical meaning. However, considering that the motor can be operated in combination with the mode 1 operation, the configuration of the motor of the present invention has a technical meaning. That is, in the mode 1, high efficiency can be obtained shortly after the start of rotation from the stopped state and also at the time of starting.

That is, in the motor device of the present invention, the mode 1 has the most technical meaning, but in combination with the modes 2 and 3, the motor device of the present invention has a configuration suitable for effective use of the motor as a whole. Is. Then, such mode switching is performed by the drive regeneration control device SWA of FIG.
And SWB are controlled, but this may be a manual type or an automatic control. Then, the mode 1 is the low speed mode, the mode 2 is the high speed mode, and the mode 3 is the deceleration mode.

When switching the above modes, it may be necessary to change the rotation direction of the motor. For example, when the mode 1 is changed to another mode, that is, the mode 2 or the mode 3, and when the mode 2 or the mode 3 is changed to the mode 1, it is necessary to reverse the rotation direction of one motor. The rotation axis of the motor is switched from driving to power generation or from power generation to driving, and the rotation direction changes, so an excessive current may flow and the motor may be lost. In order to perform the switching smoothly, the rotation direction of the motor is changed by changing the rotation force of the other motor from the power source until the rotation direction is changed. . By this,
Switching can be done smoothly.

In other cases, that is, when the mode 2 is switched to the mode 3 and when the mode 3 is switched to the mode 2, the rotation directions are the same, and therefore the drive regeneration control unit S.
If the switch control of WA and SWB is changed from driving to regeneration, that is, if the power source is changed to a regenerative device or vice versa, modes 2 to 3 or modes 3 to 2
Can be converted to FIG. 3 is a diagram for explaining the principle of the motor device of the present invention. That is, it is basically composed of a first motor (A), a differential device (C), and a second motor (B), and the differential output of the first motor A and the second motor B is the output shaft of the differential device. It is output from (3). Basically, it is shown that the first motor A serves as a drive motor, the second motor B serves as a generator motor, and a differential device C interposed therebetween is provided. That is, the case of the above mode 1 shows the configuration of the present invention. And, FIG. 9 is a diagram for explaining a control method of the motor device of the present invention. FIG. 9 shows a motor device 2 of the present invention.
The configuration when two motors are used in combination for driving or power generation is shown. The structure is most suitable as a drive source for an electric vehicle, but can also be used as a general motor drive device. That is, two motors, a first motor and a second motor, are directly connected via a differential device,
Each of the motors is used not only as a drive motor but also as a power generation motor, in an attempt to obtain optimum drive power and efficiency for operating conditions and running conditions. And
Ensure efficient operating conditions.

Here, the difference between the motor device according to the configuration diagram of FIG. 3 and the motor device according to the configuration diagram of FIG. 9 will be briefly described.

First, FIG. 10 shows a case where the first motor (M1) is used for driving and the second motor (M2) is used for power generation. In the figure, SC represents a power supply. 1. A load resistor is provided on the power supply terminal of the second motor (M2). That is, the load resistance is inserted on the power generation side. Electric power generated by the generator is consumed by resistance and has a large loss, but the circuit is simple and versatile (it can be used as a motor device in various fields such as small drive motors), and the type of motor (AC, DC) does not matter. Further, it can be used from the time when the output is 0 revolutions, which is a feature of the present invention. For this reason,
When the drive side is a DC motor, even if the output rotation is stopped by a mechanical load from the outside during rotation, the load on the drive side motor does not increase, and therefore no overcurrent prevention measures need be taken. On the other hand, if the drive side is an AC motor, within the range of high torque of the drive motor,
It can be used even when the output is 0 revolutions. Further, in the motor device of the present invention, by controlling the amount (load) of the regenerative electric power of the motor, the output torque characteristic can be controlled to be strong or weak. Conventionally, torque control has been performed by controlling current or changing magnetic flux, but the motor device of the present invention can be controlled by the amount of regenerated electric power. Therefore, the torque value can be changed by changing the load resistance value. Of course, the load resistance may be a variable resistance.

Next, a control method for regenerating the generated power will be described. It is also possible to regenerate generated power without providing a booster circuit. To that end, the second motor is adjusted to a voltage higher than the charging voltage or the drive side supply voltage.
It is necessary to adjust the differential ratio in order to increase the magnetic flux of (M2) or increase the rotation speed. The relationship between the electromotive force E, the rotation speed N, and the magnetic flux Φ is E [V] = K · N · Φ. (However, K is a coefficient.) Therefore, it is possible to regenerate without boosting voltage by the following method. First, the differential ratio is changed and the rotation of M2 is made larger than that of M1 when the output is 0 rotation. Alternatively, the magnetic flux of M2 is made larger than that of M1.
Alternatively, charge a separate power source to reduce the charging current.

2. Next, it is a circuit shown in FIG. 11A that directly regenerates the drive motor (M1) via the backflow prevention diode D1. Both M1 and M2 are DC motors. The diode D1 is a diode for preventing backflow and supplies a regenerative current directly to the drive motor. In the figure, SC represents a power supply.

3. Next, FIG. 11B shows a circuit in which the backflow prevention diode is replaced by the rectifier RT when M2 is an AC motor. M1 is a DC motor. Rectifier R
Although a transistor element can be used as T, it is not limited to a transistor element, and various semiconductor elements such as a thyristor, GTO, IGBT, and FET can be used.

4. A case of charging regenerative power to the charger will be described. A constant voltage circuit is provided between the backflow prevention diode (M2 is a DC motor) or the rectifier (M2 is an AC motor) and the charger. This is because the voltage generated by M2 is not constant, so the voltage fluctuation is made constant by the constant voltage circuit and the charger is charged. Therefore, a schematic of the control circuit for this is shown in FIG. 12A. A specific example of the simplest constant voltage circuit for that purpose is shown in FIG. 12B.

5. If sufficient electromotive force is not obtained in 2.3.4 and regeneration is not possible, a booster circuit may be provided between M2 and the backflow prevention diode or rectifier to boost the electromotive force of M2 for regeneration. it can. An outline of this control circuit is shown in FIG. 13A. Here, M1 is a DC or AC motor, and M2 is also a DC or AC motor. A concrete example of a booster circuit for such a control circuit is shown in FIG. 13B.
(When M2 is a DC motor) and FIG. 13C (when M2 is an AC motor). In the circuit of FIG. 13B, the chopping signal activator generates a chopping signal, which chops and boosts the generated voltage. Figure 1
In the circuit of 3C, the generated voltage from M2 is boosted by the boosting transformer.

6. In the case of 2.3.4.5, the rotation speed of M2 decreases as the output rotation increases, and the generated voltage decreases accordingly. Therefore, at a certain speed or higher, the power generation is not regenerated. In this state, since the load of M2 is not applied, the output torque is reduced and the output speed is not increased. This is because the load during power generation and the load on the drive side are balanced, and the sum of the loads becomes the output torque. Therefore, FIG. 14 shows a circuit for generating a load torque so that the output torque and the rotation speed can be increased to near the limit point even when the regeneration is stopped.
Here, the limit point is, when the differential ratio is 1: 1, maximum output rotation speed = driving-side rotation speed / 2 (that is, there is no rotation on the power generation side). Output torque = drive side torque + power generation side torque.

The load circuit of FIG. 14 is provided between the backflow prevention diode or rectifier and M1 or the constant voltage circuit. That is, the circuit of FIG. 14 is loaded on the control circuit 2.3.4.5. The operational amplifier compares the voltage at the input point of the diode with the voltage at the output point. If the voltage at the output point is higher, it is judged that regeneration is not in progress and the switching transistor is turned on.
Then, the regenerative power of M2 is made to flow through the resistor. However, the voltage drop of the diode shall be taken into consideration. Also, when regenerating, the voltage is higher at the input point of the diode, so the switching transistor is OF
Keep it at F so that it does not flow into the resistance. This allows
The load can be applied to M2 even when it is not regenerated.

Next, the case where the first motor (M1) is used for driving or power generation and the second motor (M2) is used for power generation or driving will be described. FIG. 15 shows an outline of a control circuit therefor. In FIG. 15, the motor M1
There is a pattern control signal for controlling the drive regeneration control 1 for controlling the motor and a pattern control signal for controlling the drive regeneration control 2 for controlling the motor M2. The pattern control signal turns the drive control to the ON state, and this state Assuming that the rotation state is the reverse rotation state, the drive control 1 is in the OFF state, the regenerative control 1 is in the ON state, and the drive control 2 is in the ON state.
The regenerative control 2 is turned off. During forward rotation, the drive control 1 is in the ON state, that is, the motor M2 functions as a power generation motor, and at this time, the motor M1 and the motor M2 are rotating in reverse. The rotation direction of the output that is rotating forward is the same as that of the drive side, that is, the motor M1.

A drive regeneration control 1 for controlling M1 is provided for M1.
Is provided. It is performed by the following three patterns of control. 1. Drive state: power is supplied to M1; that is, M1 drive. 2. Regeneration state: Regenerate the power generated by M1 to the power supply;
I am a M1 freshman. 3. OFF state: The M1 motor electric circuit is opened; that is, the M1 power is cut off.

M2 is a drive regeneration control 2 for controlling M2.
Is provided. It controls the drive regeneration control 2 by 5 patterns as follows. 1. Drive state (forward rotation): M to be in phase with M1
2 is supplied with electric power; hereinafter referred to as M2 forward drive. 2. Driving state (forward rotation): M1 so as to be in reverse phase rotation with M1
Power is supplied to 2: The following M2 reverse drive is performed. 3. Regeneration state (forward rotation): The power generated by M2 that is rotating in the same phase as M1 is regenerated to the power supply; hereinafter referred to as M2 forward regeneration. 4. Regenerative state (reverse rotation): Regenerate the generated power of M2 that is rotating in the same phase as M1 to the power supply; assume M2 reverse regeneration. 5. OFF state: M2 motor electric circuit is opened; power is cut off; M2 is cut off hereafter.

Drive regeneration control 1 and drive regeneration control 2 shown in FIG.
By combining these control patterns, it becomes possible to perform motor drive control suitable for the running state. In this combination, if the combination is simply considered, there are 15 patterns of 3 patterns × 5 patterns. However, there are some contradictions or meaningless combinations (ie, for example, M1
With drive, M2 reverse rotation drive is not possible), and the combinations actually used are as shown in Tables 2 and 4 below. Further, Table 2 briefly describes what kind of characteristics the control of the combination has.

[0059]

[Table 3]

[0060]

[Table 4]

Next, the interval control (rotation direction transition control) when the rotation direction of M2 changes will be described. In the control 2, the rotation direction of M2 changes depending on the pattern. At this turning point, the electric power is wasted and the motor is overloaded. FIG. 16 shows a block diagram of a control circuit that prevents this and can smoothly switch the rotation direction. That is, the control 1 pattern signal input and the control 2 pattern signal input respectively enter the rotation direction transition control circuit according to the present invention and are input to the pattern signal changing circuit 1 and the same circuit 2, respectively, and the rotation direction changing trigger outputs respectively. It was transformed by the trigger pulse from
Control 1 (that is, drive regeneration control 1) and control 2 are provided as control 1 pattern signal and control 2 pattern signal, respectively.
(Drive regeneration control 2) is input to control the motors M1 and M2.

In the block diagram of FIG. 16, the rotation direction changing trigger output becomes a trigger output with only one pulse by the pattern signal input of the following control 2. (Therefore, the pulse width can be set arbitrarily) When the control 2 pattern signal changes from M2 reverse regeneration to M2 forward drive. 2. When the control 2 pattern signal is changed from M2 forward regeneration to M2 reverse drive, and the pattern signal changing circuit 1 only changes the control 1 pattern signal input as follows while the trigger signal from the rotation direction changing trigger output comes. Change to. 1. In the case of M1 drive, regenerate M1. 2. In the case of M1 regeneration, M1 drive is selected. Then, the pattern signal changing circuit 2 changes the control 2 pattern signal input to M2 disconnection only while the trigger pulse from the rotation direction changing trigger output comes.

Next, regarding specific control, both motors are DC brush motors, and both are D
The C brushless motor will be described. M1, M2
If a DC brass motor is used for control 1, control 2
Use the following (FIGS. 17A and 17B) for the circuit of FIG.

In the control 1 circuit of FIG. 17A, switching is performed by the transistors TR1 and TR2. That is, 1. When driving M1, TR2 is turned off and TR1 is turned on.
Set to N. A voltage is applied to the motor M1 to drive it. 2. At the time of regenerating M1, TR1 is turned off, a chopping pulse is applied to TR2 to boost the electromotive force of M1, and the power is regenerated to the power supply device through the diode D1. 3. When M1 is cut, both TR1 and TR2 are OF
Set to F.

In the control 2 circuit of FIG. 17B, four transistors TR1, TR2, TR3, TR3 and four diodes D1, D2, D3, D4 are used to drive the second motor M2.
Switch to. That is, 1. When driving M2 forward, turn off TR2 and TR3,
Turn on TR1 and TR4. A voltage is applied to the motor M2 to drive it in the forward rotation. 2. When M2 reverse drive, turn on TR2 and TR3
Turn off R1 and TR4. A reverse voltage is applied to the motor M2 to drive it in the reverse direction. 3. When M2 forward regeneration, OF, TR2, TR3 OF
F is set, a chopping pulse is applied to TR4 to boost the electromotive force of M2, and power is regenerated to the power supply device through the diode D1. 4. When M2 reverse regeneration, TR1, TR3 and TR4 are OF
F is set, a chopping pulse is applied to TR2 to boost the electromotive force of M2, and power is regenerated to the power supply device through the diode D2. 5. When M1 is cut, TR1, TR2, TR3, TR4
Turn off all.

Next, when a DC brushless motor is used for both M1 and M2, the control circuit of FIG. 18A is used.
In both the control 1 (driving regeneration control 1) and the control 2 (driving regeneration control 2) of FIG. 18A, it is possible to detect the rotational position of the motor with a rotation sensor and send a pattern control signal to perform accurate control. it can. 18B is a detailed description of the drive device of FIG. 18A, which is a drive device of a DC brushless motor.

In control 1 (drive regeneration control 1) of FIG. 18A, control is performed in three types of patterns. 1. M1 drive: A rotational position is detected, and a transistor of a drive device corresponding to the corresponding position is turned on / off to give a rotational force (similar to the control of a normal brushless motor). 2. M1 regeneration: S1, S3, S5 turned off, S
Chopping 2, S4, S6 to boost the voltage, D
The power is regenerated through 1, D3 and D5. 3. M1 disconnection: Turns off from S1 to S6.

In the same control 2 (drive regeneration control 2), 5
Control by type of pattern. 1. M2 forward drive: Detects the rotational position and turns on and off the transistor of the drive device corresponding to the corresponding position,
It gives a rotational force in phase with M1 (similar to the control of a normal brushless motor). 2. M2 reverse drive: Detects the rotational position and turns on and off the transistor of the drive device corresponding to the position,
2. Rotational force opposite to M1 is applied. M2 forward regeneration: S1, S3, S5 are turned off, S
Chopping 2, S4, S6 to boost the voltage, D
The power is regenerated through 1, D3 and D5. 4. M2 reverse regeneration: same as M2 forward regeneration. 5. M2 disconnection: All of S1 to S6 are turned off.

When the output is in forward rotation, the control drive circuit is turned on to drive the motor, and the regeneration circuit is turned off. This causes the motor to function as a drive motor. The electromotive force generated by the rotation of the motor (the rotation by the driving force of the motor M1 is generated as the rotational force of the reverse rotation in the motor M2) is turned on without turning on the drive control circuit and supplying the electric power to the motor. , The chopping signal is output by the regenerative circuit to perform the chopping boost type boosting, and the boosted regenerative current is fed to the diodes D1, D3, D.
The power is supplied to the motor as well as being regenerated through 5 At this time, the drive circuit is turned off. Then, when the output is reversely rotated, the drive control circuit is turned on, the motor is driven, the regenerative circuit is turned off, the motor functions as a drive motor, and the regenerative circuits of other motors are turned on and the motor The electromotive force generated by the rotation is used by the regenerative circuit to output a chopping signal to the drive circuit M1.
Chopping boost type boosting is performed by 1, S3 and S5, and the boosted regenerative current is fed to the diodes D2 and D5.
4. Regenerate the power supply through D6.

The drive regeneration control circuits for a general brush motor and a general DC brushless motor have been described above. Here, the transistor element is used as the switch element, but not limited to the transistor element, various semiconductor elements such as thyristors, GTOs, IGBTs, FETs, and relays can be used.

The above modes, that is, the low speed mode, the high speed mode, the deceleration mode, and the like can be manually switched to drive the vehicle, or the vehicle can be automatically controlled. Next, the automatic traveling will be described based on FIG. The electronically controlled method will be described with reference to the block diagram of FIG.

That is, the motor device of the present invention is, for example,
When used as a drive device for an automobile, the motor device of the present invention is controlled by a travel command signal as shown in the block diagram of FIG. 19 to operate properly. The relationship between the command input signal and the mode of the motor device in that case is shown in the table of FIG. Brake ON, OFF, 2 ways, accelerator O
Two types, N and OFF, and three types of vehicle speeds: high speed, medium speed, and low speed, and 2 × 2 × 3 = 12 ways were examined. Also,
P is parking, B is back, N is neutral, and D is drive. By the way, brake ON, accelerator ON
Is meaningless, and P and B at high speed and medium speed are meaningless. The motor device of the present invention is a mechanism that can be controlled and adjusted.

Next, the motor device of the present invention will be specifically described by way of examples, but the present invention is not limited thereto.

[0074]

[Embodiment 1] FIG. 4 is a sectional view schematically showing an example of a differential device of a motor device of the present invention. The rotation shaft of the differential shaft of the rotation shaft (2) of the first motor A rotates the pinion gears 9 and 10 by the rotation of the side gear 7, and the pinion shafts (6) penetrate the pinion gears 9 and 10. Then, the pinion shaft 6 rotates together with the case as indicated by the arrow or in the opposite direction of the arrow. This rotation output becomes the drive output (B). That is, the pinion shaft 6 has the pinion gears 9 and 10 incorporated therein.
Although 10 rotates (revolves) together with the pinion shaft 6, it can rotate as illustrated. Then, the side gear 8 can be rotated by being meshed with the side gear 8. The side gear 8 is the rotation shaft of the second motor B.
Directly connected to (4).

Therefore, when rotating in the same direction for each differential case, the rotary shaft (2) of the first motor A, the rotary shaft (4) of the second motor B, and the drive output shaft (3) are Rotate together. Then, when the rotation shaft (4) of the second motor B is set to "0" rotation, the drive output (3) is the rotation shaft of the first motor A.
It rotates at half the rotation speed of (2) (when the ratio of the rotation difference of the differential gear is 1: 1). When the drive output shaft (2) is set to the rotation speed "0", the rotation shaft (4) of the second motor B
Is reverse to the rotation of the first motor A and rotates at the same speed. Here, the ratio of the rotation difference of the differential gear is 1: 1.

[0076]

[Embodiment 2] FIG. 5 shows a motor device of the present invention using a planetary gear. The planetary gear is used as a differential device. That is, the sun gear 24
The planetary carrier 21 is connected to the motor rotating shaft A.
Is connected to the drive output rotary shaft (3), and the internal gear 23
Is connected to the second motor rotating shaft C. When any one of the three elements of the sun gear 24, planetary carrier (arm) 21, and internal gear 23 is completely fixed and input from the other one, the remaining one is decelerated or accelerated. Or reverse. That is, in FIG.
The rotary shaft 2 corresponds to the sun gear 24, the rotary shaft 4 corresponds to the internal gear 23, and the rotary drive shaft 3 corresponds to the planetary carrier 21.

An example of a motor device according to the present invention using this planetary gear is shown in the sectional view of FIG. The first motor A has a motor fixing portion (coil) 16 as shown in the drawing.
The rotating shaft 2 including the motor rotating portion (magnet) 17 and fixed to the magnet 17 rotates around the output shaft 3 via the bearing 10 '. Sun gear 1 fixed to the rotating shaft 2
4 is engaged with the planetary pinion gear 12 and is rotating, and the planetary pinion gear 12 is fixed to the planetary arm 11. Then, the planetary arm 11 is fixed to the output shaft 3 and rotates. And, to the other end tooth of the planetary pinion gear 12,
Internal teeth of the internal gear 13 are engaged.

On the back surface of the internal gear 13, the magnet 18 of the second motor B, which is basically composed of the magnet 18 and the coil 19, is fixed. The internal gear 13 is connected to the output shaft 3 via the bearing 10 ″.
Rotate around. Therefore, the coil 1 of the first motor A
6 and the coil 19 of the motor B are fixed to the frame D of this motor device as shown. That is, the first
And the second motor is a DC brushless motor.

[0079]

[Embodiment 3] FIG. 21 is a simplified view of the motor device shown in FIG. In FIG. 21, the output rotary shaft 216 is coaxially inserted into the rotor shafts 212 and 212 ′ of the first and second motors 211 and 211 ′, respectively, and the planetary carrier 2 is attached to the output shaft 216.
15 (planetary pinion arm) is fixed. The planetary carrier 215 includes a pinion shaft 21
A planetary pinion gear 214 is rotatably provided through 4 '. This planetary carrier 21
5 is disposed on the rotating shaft center shaft 217 via the bearing 21.

The internal gear 213 'and the sun gear 2 are engaged so as to mesh with the planetary pinion gear 214.
13 is provided. The sun gear 213 is fixed to the rotor shaft 212 of the first motor. And
The internal gear gear 213 'is fixed to the rotor shaft 212' of the second motor.

The sun gear 213 and the internal gear 21
3'is also hollow for passing the output shaft 216. The two motors 211 and 211 'are assembled to face each other so as to sandwich the planetary pinion gear 214 with the sun gear 213 and the internal gear 213' facing inward, and are assembled in a case 210 for fixing the first and second motors. Paid. Further, the output rotary shaft 216 is mounted on the case 210.
It is rotatably fixed to both ends of the bearing via bearings 21 '. The motors 211 and 211 'may be DC brush motors, DC brassless motors or AC motors, and are hollow rotor shafts 212 and 212'. Further, in the case of a DC brushless motor, it is preferable that a single DC motor has a built-in means for detecting a rotational position. And the 1st motor and the 2nd motor can also be replaced if needed.

[0082]

[Embodiment 4] The apparatus of FIG. 22 is the same as the apparatus of FIG. 21 except that the planetary pinion gears are two pinion gears 224 and 22.
4'is replaced to increase the degree of freedom of the differential ratio (1: 1 is also possible). That is, in FIG. 22, the rotor shaft 222 of each of the motors 221 and 221 ′,
The output rotary shaft 226 is coaxially inserted into 222 ',
The output shaft 226 is provided with a planetary carrier 225. This planetary carrier 225 has an output shaft 22.
It is fixed at 6. For planetary carrier 225,
The shafts 224 ″ of the planetary pinion gears 224, 224 ′ are rotatably arranged. The planetary pinion gears 224 are provided at both ends of the shaft 224 ″.
224 'is fixed. The internal gear 22 is engaged so as to mesh with the planetary pinion gear 224 '.
3 ′ is provided, and a sun gear 223 is provided so as to mesh with the planetary pinion gear 224. The sun gear 223 is fixed to the rotor shaft 222 of the first motor. And internal gear gear 22
3'is fixed to the rotor shaft 222 'of the second motor.

Sun gear 223 and internal gear 22
3'is hollow for passing the output shaft 226. The two motors 221, 221 'are assembled to face each other so as to sandwich the planetary pinion gears 224, 224' with the sun gear 223 and the internal gear 223 'facing inward.
1'is housed in a case 220 for fixing. In addition, the output shaft 226 has bearings 22 ′ on both ends of the case 220.
It is fixed so as to be rotatable via. The first and second motors may be DC brush motors, DC brassless motors, or AC motors, which are motors fixed to hollow rotor shafts 222, 222 ', respectively. In the case of a DC brushless motor, a single DC
It is preferable that the motor has a built-in means for detecting the rotational position.

The difference from the third embodiment is that, as a planetary pinion gear, two gears 224 and 224 'having different numbers of teeth are used.
Is the point using. Therefore, the ratio of the transmission force between the first motor and the second motor can be changed. That is,
The degree of freedom of the differential ratio can be increased. And the 1st motor and the 2nd motor can also be replaced if needed.

[0085]

Fifth Embodiment FIG. 23 is basically a motor device according to the present invention using the differential gear of FIG. In FIG. 23, the output rotation shaft 236 is coaxially inserted into the rotor shafts 232 and 232 ′ of the first and second motors 231, 231 ′, and the output shaft 236 has the output shaft 236.
35 is fixed, and pinion gears 234 and 234 ′ are rotatably provided on both ends of the pinion shaft 235, and side gears 233 and 233 ′ are meshed with the pinion gear 234. Each of the side gears 233, 233 'includes a rotor shaft 232 of each of the first and second motors 231, 231'.
It is fixed to 232 '.

The side gears 233, 233 'are also connected to the output shaft 2
Hollow for passing 36. Two motors 231,
231 'is assembled facing each other so as to sandwich the pinion gear 234 with the side gears 233, 233' facing inward, and is housed in a case 230 for fixing the first and second motors 231, 231 '. Also, the output shaft 23
6 are rotatably fixed to both ends of the case 230 via bearings 23 '. The first and second motors are
It may be a DC brush motor, a DC brassless motor, or an AC motor, and are motors fixed to hollow rotor shafts 232 and 232 ', respectively. Also,
In the case of a DC brushless motor, it is preferable that a single DC motor has a built-in means for detecting a rotational position.

Further, with respect to the above Embodiments 3, 4, and 5,
A differential gear that distributes the drive output to the left and right wheels may be coaxially arranged in each motor device and housed in one case. This results in a very compact vehicle drive. At the position of the conventional differential gear case,
The motor of the invention can be placed as a drive.

[0088]

Sixth Embodiment In FIG. 24, the motor device of the second embodiment and FIG. 21 is provided with the differential devices 242, 243, 243 'coaxially. That is, the left and right wheel drive force distribution differential devices 242, 243, 243 'are built in between the output rotation shaft 216 and the planetary carrier 215'. This allows
The output rotary shaft A and the output rotary shaft B can be directly connected to the left and right drive wheels, respectively. The differential devices 242, 243, 243 ′ are composed of a side gear 243 fixed to the drive shaft A and a pinion gear 242 meshing with a side gear 243 ′ fixed to the drive shaft B. The pinion shaft 245, on which the pinion gear 242 is rotatably arranged, is rotatably fixed to the planetary carrier 215.

On the other hand, it is also possible to use the two planetary pinion gears 224 and 224 'having different numbers of teeth shown in the fourth embodiment. That is, the left and right wheel drive force distribution differential devices 242, 243, 243 'are incorporated between the output rotary shaft 226 and the planetary carrier 225'. Thereby, the output rotary shaft A and the output rotary shaft B can be directly connected to the left and right drive wheels, respectively. The differential devices 242, 243, 243 'are
It comprises a side gear 243 fixed to the drive shaft A and a side gear 243 'fixed to the drive shaft B and a pinion gear 242 meshing with the side gear 243'. The pinion shaft 245, on which the pinion gear 242 is rotatably arranged, is rotatably fixed to the planetary carrier 225. Power is transmitted through the planetary shaft 245. Then, the side wheels 243 and 243 'are respectively attached to the tire wheels.
Is fixed, and power is transmitted to the tire from side to side.

[0090]

[Embodiment 7] In FIG. 25, the motor device of Embodiments 5 and 23 is provided with differential devices 252, 253, 253 'coaxially. That is, the left and right wheel drive force distribution differential device 25 is provided between the output rotary shaft 236 and the pinion shaft 235.
Built in 2, 253, 253 '. Thereby, the output rotary shaft A and the output rotary shaft B can be directly connected to the left and right drive wheels, respectively. The differential devices 252, 253, 253 ′ are pinion gears 252 that mesh with a side gear 253 fixed to the drive shaft A and a side gear 253 ′ fixed to the drive shaft B.
Consists of. The pinion shafts 235 and 255 on which the pinion gear 252 is rotatably arranged also serve as pinion shafts of the pinion gear 234, and power is transmitted from the pinion shafts 235 and 255. Then, the tire wheels are fixed to the side gears 253 and 253 ', respectively, and the power is transmitted to the tires left and right.

[0091]

[Embodiment 8] In FIG. 26, the motor device of Embodiments 4 and 22 is coaxially incorporated into a wheel. The output rotary shaft 22 is disposed in the rotor shafts 222, 222 'of the first and second motors 221, 221', respectively.
6 is inserted coaxially, and the output shaft 226 is provided with a planetary carrier 225 '. The planetary carrier 225 ′ is fixed to the output shaft 226. A shaft 224 ″ of the planetary pinion gears 224, 224 ′ is rotatably disposed on the planetary carrier 225 ′. The planetary pinion gears 224, 224 ′ are provided at both ends of the shaft 224 ″. Fixed. An internal gear 223 'is provided so as to mesh with the planetary pinion gear 224', and a sun gear 223 is provided so as to mesh with the planetary pinion gear 224. The sun gear 223 is fixed to the rotor shaft 222 of the first motor. The internal gear gear 223 'is fixed to the rotor shaft 222' of the second motor.

Sun gear 223 and internal gear 22
3'is hollow for passing the output shaft 226. The two motors 221, 221 'are assembled to face each other so as to sandwich the planetary pinion gears 222, 222' with the sun gear 223 and the internal gear 223 'facing inward.
1'is housed in a case 220 for fixing. In addition, the output shaft 226 has bearings 22 ′ on both ends of the case 220.
It is fixed so as to be rotatable via. The first and second motors may be DC brush motors, DC brassless motors, or AC motors, which are motors fixed to hollow rotor shafts 222, 222 ', respectively. A tire 261 is fixed to the outermost peripheral portion of the planetary shaft 225.

That is, the drive output can be taken out from the rotation output of the outer peripheral ring of the planetary shaft 225, and the motor device of the present invention is housed in the case 220. Then, the output outer circumference is the tire wheel 261, and the tire 261 is attached to the outer circumference, whereby the tire, the wheel, and the drive motor can be integrated. In particular, when used in a motorcycle or the like, the excellent features of the present invention are
It will be a very compact car drive system while making the most of it.
Further, it is not limited to motorcycles but can be widely used for electric vehicles. That is, the device of FIG. 26 can be independently fixed to each of the left and right wheels and independently controlled.
Two inventive motors can be paired to function as a drive.

Further, the motor device of the fifth embodiment and FIG. 23 can be provided with a tire on the outer periphery of the pinion shaft as in the eighth and FIG. 26 to provide a similar integrated motor drive device.

[0095]

The motor device of the present invention has the following technical effects due to the structure shown in the drawing. That is, firstly, a motor device is used which, while making good use of the excellent torque-rotation speed characteristics of a DC motor, prevents overcurrent at high torque and "0" rotation speed, which is a drawback, and saves power consumption by power regeneration. Provided. That is, the vehicle can be started in a high torque state and the driving can be smoothly started. That is, the output rotation is 0
But the motor is spinning, which makes the motor more efficient than if it weren't. The drive output of the motor is distributed to the generator motor and the output through the differential device, and when the output rotation is 0, it is all distributed to the generator motor, so that the electromotive force of the generator motor is regenerated and the power consumption is extremely low. I'm sorry. Second, that is, the first motor and the second motor rotate in opposite directions,
When the first motor is used for driving and the second motor is used for power generation, the output rotation range varies from 0 rotation to medium speed rotation and is used while maintaining the medium to high speed rotation of the first motor for driving. It is possible to achieve the following effects. That is, even if the high torque starting from 0 output and the fluctuation of rotation are large, the load on the battery and the control circuit can be reduced,
Since the rotation speed of the drive motor does not fluctuate, current fluctuations can be small. Moreover, even if the allowable rotation speed range of the motor is narrow, it is possible to use it from 0 rotations by utilizing the narrow range, and even with a low speed and low torque motor such as an AC motor Can drive in a range. Furthermore, when the output is 0 rotation or low speed rotation,
With high torque, it is possible to maintain the condition for a long time.
This is because the motor itself can rotate at a constant rotation. Further, the magnetic saturation of the DC motor can be prevented, and the motor itself does not need to rotate at a low speed. Further, a current limiting circuit such as an overcurrent prevention circuit for the DC motor can be eliminated. Further, during the operation of the motor, even if the output rotation is stopped by the fluctuation of the external load, or the reverse rotation is performed by the external load, the motor can be operated without any influence.

Thirdly, when the first motor and the second motor rotate in opposite directions, the first motor is used for driving, the second motor is used for power generation, and the power generation amount of the second motor for power generation is controlled. This means that the output torque can be controlled, and the following effects are brought about. Torque control is possible regardless of the type of motor, and it will be possible to use a motor that cannot control voltage or a motor that cannot control magnetic flux. If the motor can drive or generate electric power, which is the original function of the motor, whether AC or DC, torque control is possible. In addition, by setting the amount of power generation of the second motor to 0, the load torque due to power generation disappears, the power generation side is idle, and the driving force of the drive motor is not transmitted to the output (there is inertia torque. Just create a disengaged clutch, which provides the same function as a clutch.

Fourth, when the first motor and the second motor rotate in opposite directions, the first motor is used for driving, the second motor is used for power generation, and the power generated by the second motor for power generation is regenerated. This brings the following effects. That is, power can be saved by starting the output (at 0 revolutions) and regenerating the electric power of the generator motor in the low speed rotation range. Further, by directly regenerating the generated power to the driving side, the output torque in the starting and low speed rotation range can be increased. Fifth, due to the structure in which two motors are connected by a differential device, by combining the power generation or drive state of the motor and the rotation direction,
Various types of traveling drive that are in the traveling state described below are possible. That is, the drive effective for starting and low to medium speed running (low speed mode): from the state where the output is at high torque 0 rotation to the low to medium speed rotation range, the first motor is driven and the second motor is used for power generation. As the above, the above effects are exhibited. Driving drive effective for medium to high speed driving (high speed mode): for driving the first motor,
By using the second motor for driving, it is possible to increase the driving force and the rotation speed by using the second motor for driving in the medium to high speed rotation range. Regenerative braking effective during deceleration (deceleration mode): Uses the first motor for power generation and the second motor for power generation. The traveling energy is regenerated to save electric power, and at the same time, it is decelerated by the breaking action. Driving drive that enables back start (back mode): The first motor is used for power generation and the second motor is used for driving. This can be backed by only driving the first and second motors in the low speed mode and reversing the power generation. Sixth, magnetic saturation of the DC motor can be prevented. Seventh, it also has a gear shifting function structurally. Eighth, it also functions as a clutch.

[Brief description of drawings]

FIG. 1 is a graph showing a TN curve of a prior art motor.

FIG. 2 is a graph showing a relationship between an NT curve and a current of a conventional motor.

FIG. 3 shows a configuration of an example of a motor device of the present invention.

FIG. 4 is a cross-sectional view for explaining the structure of an example of the motor device of the present invention.

FIG. 5 is an explanatory diagram showing a differential device of another example of the motor device of the present invention.

FIG. 6 is a graph showing a torque-rotational speed relationship of the first motor in the motor device of the present invention.

FIG. 7 is a graph showing a torque-rotational speed relationship of a second motor in the motor device of the present invention.

FIG. 8 is a graph showing a torque-rotational speed relationship of the output shaft in the motor device of the present invention.

FIG. 9 shows a configuration of an example of a motor device of the present invention.

FIG. 10 is a diagram schematically showing an example of a control circuit of the motor device of the present invention.

FIG. 11 is a diagram showing an example of a control circuit for each motor of the motor device of the present invention.

FIG. 12 is a diagram showing an example of a regeneration control circuit of the motor device of the present invention.

FIG. 13 is a diagram showing an example of a regenerative control circuit provided with a booster circuit in the motor device of the present invention.

FIG. 14 is a diagram showing an example in which the motor device of the present invention is provided with a circuit capable of maintaining a power generation torque even at a regenerative voltage or less.

FIG. 15 is a diagram schematically showing an example of a drive regeneration control circuit in the motor device of the present invention.

FIG. 16 is a diagram showing an example of a rotation direction transition control circuit in the motor device of the present invention.

FIG. 17 is a diagram showing an example of a drive regeneration control circuit for a brush motor in the motor device of the present invention.

FIG. 18 is a diagram showing an example of a drive regeneration control circuit for a brushless motor in the motor device of the present invention.

FIG. 19 is a diagram showing an example of a control device for automatic traveling in the motor device of the present invention.

FIG. 20 is a table showing control modes for automatic running in the motor device of the present invention.

FIG. 21 is a sectional view showing an example of a motor device of the present invention.

FIG. 22 is a cross-sectional view showing another example of the motor device of the present invention.

FIG. 23 is a cross-sectional view showing another example of the motor device of the present invention.

24 is a cross-sectional view showing an example in which a differential gear is incorporated in the motor device shown in FIG.

25 is a cross-sectional view showing an example in which a differential gear is incorporated in the motor device of FIG. 23.

FIG. 26 is a cross-sectional view showing an example in which the motor device of FIG. 22 is incorporated into a wheel.

FIG. 27 is a cross-sectional view of an example of the motor device of the present invention.

[Explanation of symbols]

A, M1, 211, 221, 231, 1st motor 2, 212, 222, 232, 1st motor rotating shaft C, 218, 228, 238 Differential device 3, 216, 226, 236 Differential rotating shaft
(Drive output shaft) B, M2, 211 ', 221', 231 'Second motor 4, 212', 222 ', 232' Second motor rotating shaft 9, 10, 234, 242.252 Pinion gear 7, 8, 233, 233 '. 243, 243 ', 25
3, 253 'Side gear 11, 21, 215, 225, 225' Planetary carrier (arm) 12, 22, 214, 224, 224 'Planetary pinion 214', 224 "Planetary pinion shaft 13, 23, 213 ', 223 ', internal gear 14, 24, 213, 223 sun gear 6, 235, 245, 255 pinion shaft 16 coil (first motor) 17 magnet (first
Motor) 18 magnets (second
Motor) 19 Coil (second motor) 210, 220, 230 Case 10 ', 10 ", 21', 22 ', 23' Support bearing 261 Tire

[Procedure amendment]

[Submission date] November 16, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be amended] Claims

[Correction method] Change

[Correction content]

[Claims]

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0010

[Correction method] Change

[Correction content]

[0010]

SUMMARY OF THE INVENTION The present invention has been made to solve the above technical problems.
Two motors of the second motor and a differential gear are provided, and the differential gear has three rotary shafts that differentially rotate,
The rotary shaft (2) of the motor, the rotary shaft (4) of the second motor and the drive output shaft are respectively connected to the three rotary shafts, that is, the rotary shaft (2) of the first motor and the rotary shaft (2) of the first motor. Provided is a motor device which is connected to a rotary shaft (4) of two motors via a differential device and obtains a drive output from a differential rotary shaft (3) of the differential device. ─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] January 26, 1995

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction content]

[Document name] Statement

[Title of Invention] Motor device

[Claims]

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor device which is widely used as a power motor in a wide range of industries. In particular, it relates to a vehicle motor device. Further, it is a motor device that can also be used as a transmission.

[0002]

2. Description of the Related Art A power motor whose output speed and output torque vary over a wide range, particularly an electric motor device as a drive source for a vehicle or the like, is driven directly without a transmission or a transmission is used. Used with or without. In the prior art, when an electric motor is directly coupled to an axle without a transmission and used, a higher performance motor has a smaller internal resistance and is difficult to handle at a low speed.

In the motor device, the motor output changes at a certain rotation speed by raising or lowering the voltage or turning it on and off. As the voltage increases, the motor output increases, and when it decreases, the motor output decreases. That is, the current flowing through the same circuit changes in proportion to the voltage. Therefore, increasing the voltage increases the amount of current. Further, if the resistance is small even if the voltage is the same, a larger amount of current can flow, and the output of the motor can be increased. The torque obtained by the motor device is proportional to the current. The voltage applied to the motor is related to both the rotation speed and the current. Therefore, if you want to increase the speed while running on level ground, you can increase the voltage, and if you want to run at the same speed when approaching a slope, increase the voltage and increase the current while maintaining the rotation speed to increase the torque. You can increase. Thus, by adjusting the voltage applied to the motor, both speed and torque change in relation to each other. This is the same as the fact that both the engine speed and torque can be changed by stepping on the accelerator.

The motor produces the largest torque when the rotation speed is zero. The torque decreases as the rotation speed increases, and when the rotation speed is high without load, the torque approaches zero with almost no torque. A graph of this TN relationship is the TN curve in FIG. 1, in which N decreases in inverse proportion to the increase in torque. Similarly to this, what is important for knowing the motor characteristics is the TI curve in FIG. That is, I increases in proportion to the increase in T. That is, as the torque increases, the current consumption increases, and at the same time, the torque increases by increasing the current. The high-performance motor has a very steep TN curve, and the maximum torque of the high-performance motor is the rated torque of 4.
It becomes very large, more than 5 times, and a large amount of current flows accordingly. The torque is T = KI, that is, K is the torque constant, I is the current, E is the current, and the resistance in the motor =
Let R.

Then, I = E / R, and the loss caused by the current flowing through the motor is W = RI ² , which is the heat generated in the coil winding. With a high-performance motor, if the maximum torque is zero rotation, if the maximum torque is maintained for a long time, a large current will flow, resulting in overheating and eventually short-circuiting and producing smoke. In particular, a high-performance motor has a property that an electric current easily flows due to its low electric resistance, so that it is difficult to use it in a low rotation range. In addition, when used below the rotational speed at which the current should be cut, it is more difficult to handle as a high-performance motor in which loss due to eddy current or copper loss and overheating becomes large. In addition, if the rotation speed decreases, a larger current will flow. Therefore, in a high-performance motor, it is necessary to cut the current quickly depending on the load conditions. That is, the motor driver incorporates a control circuit that keeps the current within a certain value. Therefore,
It is difficult to handle because it does not eliminate the possibility of damaging the motor due to excessive current flow, such as when the current cannot be cut well or control fails due to noise in the electronic circuit.

In general, when a power motor is used in a wide rotation range and under a heavy load, there is a sudden change in external load, for example, when the motor is forced to rotate in the reverse direction, the conventional motor is overloaded. It will be destroyed by the current, or the power supply will be overloaded. Although it is possible to control the rotation speed and torque by voltage control, etc., it is necessary to constantly detect and control rotation and current, and even if the control device runs away due to heat etc., the motor will be destroyed or the power supply device If the load is overloaded or the control response is poor, the power consumption also increases. In addition, with a high power motor, it is difficult to operate at high torque and "0" rotation by voltage control, and since a large power is handled, heat countermeasures and devices become complicated, and the control device becomes expensive and malfunctions occur. If it becomes easier.

An apparatus having a structure in which one motor device is also used as a generator to perform regenerative braking is disclosed in Japanese Patent Laid-Open No.
No. 185205. That is, it is a regenerative braking device having an electric motor, a drive circuit, a running storage battery, an auxiliary storage battery, and a control circuit, and a regenerative selecting means, a means for regenerating the regenerative power of the electric motor to the running storage battery, and the regenerative power of the electric motor for the auxiliary equipment. It is a regenerative braking device characterized by having a means for regenerating to a storage battery for use.

[0008]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and particularly in the case of a DC motor, it has disadvantages while making use of the excellent torque / rotational speed characteristics of the motor. There is a certain amount of overcurrent and loss at high torque, zero rotation or low speed rotation, without relying on power supply voltage control.
An object of the present invention is to provide a motor device that can reduce energy loss with a mechanical structure. Another object of the present invention is to provide a motor device capable of continuing the operation of the motor while maintaining the rotational force even when the output rotation is stopped or reversely rotated by an external load while the motor is being driven. And

Further, the higher the performance of the motor, the smaller the internal loss in order to reduce the internal loss. Therefore, at the rotational speed "0", a very large current flows and the motor is damaged. In addition, the efficiency becomes poor. Therefore, a motor that solves such a problem is desired. INDUSTRIAL APPLICABILITY The present invention has a mechanical structure that can absorb a change in external load without relying on power supply control such as voltage control, and the motor can be operated even if the output shaft is forcefully applied in the reverse rotation direction. You can
For this reason, it is possible to avoid heat measures, malfunction of the control circuit, and damage to the motor due to overcurrent.

[0010]

SUMMARY OF THE INVENTION The present invention has been made to solve the above technical problems.
Two motors of the second motor and a differential gear are provided, and the differential gear has three rotary shafts that differentially rotate,
The rotation shaft (2) of the motor, the rotation shaft (4) of the second motor, and the drive output shaft are fixed to the three rotation shafts, that is, the rotation shaft (2) of the first motor and the rotation shaft (2) of the first motor, respectively. Provided is a motor device which is connected to a rotary shaft (4) of two motors via a differential device and obtains a drive output from a differential rotary shaft (3) of the differential device.

Further, the rotation shafts of the first motor, the second motor and the differential device can be arranged coaxially, and can be housed in one case and integrated. And the first motor,
Arrange the rotation axes of the second motor and the differential device coaxially,
You can use the integrated one that is stored in the wheel. Further, the first motor is connected to the power supply device as a drive motor, the second motor is connected to the power generation / regeneration device as a power generation motor, and the power generated from the power generation motor is
It is preferable that the power regeneration device controls the boosting and the amount of power generation to regenerate electric power.

Further, the first motor is connected as a drive motor to the power supply device, the second motor is used as a power generation motor, and a load resistor is disposed between the power supply terminals so that the load resistor consumes the load resistor. You can also In this case, by using the load resistance as a substitute for the power regeneration device,
The generated power is not regenerated, but the simplest circuit configuration
It can be used universally. Further, the electric power generated by the second motor can be directly regenerated and driven by the first motor by the regenerative device that raises the voltage. In this case, since the extra output of the drive motor is regenerated as electric power, the motor becomes extremely efficient.

Further, the present invention provides a rotating shaft of the first motor.
(2) and the rotating shaft (4) of the second motor are connected via a differential device, a drive output is obtained from the differential rotating shaft (3) of the differential device, and the rotating shaft (2) of the first motor is obtained. ) And the rotating shaft (4) of the second motor rotate differentially, and the differential rotating shaft (3) of the drive output
And a rotational speed difference proportional to the rotational speed difference between the rotating shaft (2) of the first motor and the differential rotating shaft (3) of the drive output
When the rotation shaft (4) of the motor has no difference in rotation speed, the rotation shafts (2), (3), and (4) have the same rotation speed. Each of the two motors is provided with a conversion device for converting connection with a power supply device or a regenerative device, and the conversion device is operated according to a predetermined pattern, and the first and second motors are respectively a drive motor or a power generation motor. Provided is a motor device which operates.

The differential device can use a planetary gear. When a planetary gear is used, the planetary gear has its planetary pinion gears arranged on both sides of the planetary carrier, and the planetary pinion gears arranged on both sides are fixed to the planetary pinion shaft. The planetary pinion shaft is rotatably arranged on the planetary carrier. Also, a differential gear can be used as the differential device,
The left and right side gear shafts are respectively connected to the rotation shaft (2) of the first motor and the rotation shaft (4) of the second motor, and the rotation shaft of the revolving differential gear consisting of pinion gears is the output shaft. The structure can be connected to (3). Further, by arranging the first motor, the second motor, and the rotating shafts of the differential device coaxially, the motor device can be made more compact.

Torque, efficiency, output with respect to the number of revolutions are important for the performance of the electric vehicle motor, but these performances are important for the weight of the vehicle in order to drive the vehicle for traveling. Although the characteristics of the motor vary depending on its type, the motor used in the motor device of the present invention can be applied to any type of motor, but since the brush DC motor is the simplest, it is mainly described in this specification. A motor will be described as an example. However, it is clear that the present invention is applicable to any type of motor due to its nature.

That is, the motor device of the present invention is an invention of the motor device itself and is optimal as a power source for an electric vehicle due to its structure, but naturally it can be used as a motor drive device in all industries.

[0017]

In FIG. 3, two motors of the motor device according to the present invention are used, the first motor is for driving and the second motor is for generating electricity. The structure when an output is obtained from a differential device and used as an output is shown.
Its structure is generally optimal for general-purpose power motors, but it can also be used for electric vehicles. Next, the relationship with the operation curve of the motor will be described as follows. For example, in a DC motor, as shown in FIG. 6, in a region close to the number of revolutions 0, the torque increases remarkably and the current also increases in proportion thereto. The voltage applied to the motor is V, the total magnetic flux obtained by multiplying the magnetic field strength created by the effective area of the motor field by the effective area of the field is φ, the number of windings of the armature is Z, and the resistance is R.
Then, the maximum value of rotation speed N _max = V / φZ, and the maximum value of torque T _max = φZV / R. In the curve of FIG. 6, the line connecting the points of N _max on the axis of rotation speed and the points of T _max on the rotation speed axis is the rotation speed-torque characteristic of this motor. As shown, the torque decreases with the rotational speed. V corresponds to the voltage of the battery, and when the voltage doubles, both the maximum torque and the maximum rotation speed double. φ is larger for stronger magnets and larger motors. For motors of the same size, the maximum torque and maximum speed can be changed by changing the number of windings.

On the other hand, the torque T is proportional to the current I when the current I is small, as described above. The proportional constant is a value obtained by multiplying φ by Z. As the current increases, the torque expansion gradually decreases, that is, there is a saturation phenomenon. In the differential device according to the present invention, the ratio of the differential gears, that is, the differential ratio is X. If the ratio of the differential device is 1: 1 then X = 1,
If 2: 1 then X = 2. The first motor side X is the second motor side 1. The torque and rotation speed of the first motor are T ₁ and N _1, and the output torque and rotation speed of the output rotary shaft are T ₂ and T ₂ .
Assuming that N ₂ is the torque consumed and the rotational speed of the second motor is T ₃ and N ₃ , the following is obtained. _{(X + 1) T 1 =} T 2 ····················· (1) (N 1 -XN 3) / (X + 1) = N 2 ···· (2) Therefore, the mechanical output of the first motor is the number of revolutions (rpm) × torque unless the loss due to friction etc. is considered, and T ₁ · N ₁
And the mechanical input from the second motor is the rotation speed (rpm)
× Torque, T ₃ · N ₃ . Therefore, the mechanical output of the output of the differential device is the rotational speed (rpm) × torque, which is T ₂ · N ₂ . Therefore, T ₂ · N ₂ = T ₁ · N ₁ −T ₃ · N ₃・ ・ ・ ・ ・ ・ ・ ・ (3). Therefore, when the drive shaft torque is X = 1,
Double the torque of the drive motor (first motor),
The rotation speed N ₂ is when the output of the second motor is 0, that is,
When the second motor does not rotate, it becomes 1/2 (X = 1) of the rotation speed of the first motor. The relationship between the input / output torque of the first motor and the second motor is XT ₁ = T ₃・ ・ ・ ・ (6)

The load resistance is constant here because the consumption torque changes with the increase or decrease of the electric output from the second motor. 1st, 2nd when starting (stopped)
Since the output rotation speed of the motor is "0", from the formula (3), 0 = T ₁ · N ₁ −T ₃ · N ₃・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ( A) From equation (6), XT ₁ = T ₃ ··· (B) Balance with rotational speed torque that satisfies the two conditions of (A) and (B). .

That is, the first motor and the second motor are connected to each other via a differential device, and a drive output is obtained from the differential device.
The first motor and the second motor rotate differentially, and a rotation speed difference proportional to the difference between the drive output and the rotation speed of the first motor also occurs in the drive output and the second motor. For example, the first
If the motor is rotating at 2000 rpm and the ratio of the differential device is 1: 1 and the output is 1000 rpm, the second motor will be 0 rpm. Similarly, output 0r
If it is pm, the 2nd motor will be 2000 rpm of reverse rotation. Explaining in FIG. 3, the output rotation shaft (3) is the (2) shaft.
When the ratios of (2)-(3) and (3)-(4) between the rotational speeds of the (4) shafts are constant, that is, when the ratio of the differential device is 1: 1 in this way, (2 )-(3) rotation speed difference and (3)-(4) rotation speed difference are 1: 1.

In the case of an electric motor, particularly a high-performance DC motor, since the internal resistance is small, an excessive current may flow at the "0" rotation speed and destroy the motor. Also, the power loss is large. Normally, it is a common practice to limit the current, that is, to cut the current so that it becomes a curve b instead of the curve a in the first motor of FIG. . That is, FIG.
As shown in, the torque becomes infinitely large when approaching the rotational speed 0, but in the range lower than the rotational speed P1, in order to prevent the influence of magnetic saturation or the like, or the motor damage due to overcurrent, the torque is increased as shown in the figure. , The current is limited to operate. In this case, the maximum torque is generated at the rotation speed P1, and even if the rotation speed is further reduced, the torque does not increase.

Therefore, in the conventional motor device, the linear torque characteristic cannot be obtained, and theoretically the current should increase to the torque, but the magnetic saturation occurs. In addition, excessive current may flow and damage the motor. Alternatively, since the current is limited, the torque characteristic is limited, which is not efficient. Further, at high torque and low rotation speed, copper loss becomes large and energy loss becomes large.

In the motor device of the present invention, the first motor is rotated to a steady rotation, and at this time, in order to reduce the load on the second motor, no electric power is taken out. This state will be called an idling state. In this state, since the second motor is idling, the output is in a state in which some torque is generated due to mechanical resistance. The output rotation here is "0". In this idling state,
The first motor is in a state close to the maximum rotation speed of zero torque. Therefore, since the two motors are already rotating, it is possible to smoothly perform the starting drive from the high torque of 0 revolutions.

In the idling state, the output rotation is "0".
Then, the second motor is rotating in the reverse direction. A large torque is generated in the second motor by extracting electric power from the second motor. That is, the rotation speed of the first motor decreases until the torque for rotating the second motor is reached. The torque of the second motor and the torque of the first motor are
Stable at a balanced rotation speed. The rotation speed and torque of the first motor at this time are used for power generation of the second motor. Since the drive output has a rotation speed of "0", even if the drive output has a rotation speed of "0", torque is generated by adding the rotation speed of the second motor, the consumed torque and the torque of the first motor. .

That is, in the state where the output speed is "0", the added value of the torque is obtained, and a large starting torque can be obtained. Moreover, in this state, the first motor can be adjusted so that the number of revolutions is efficient. Moreover, it has an excellent characteristic that the second motor is producing electric power at the same time.

Therefore, the rotation speed of the first motor changes while the output load and rotation speed and the torque and rotation speed of the second motor are related to each other. In the stopped state, that is, when the output rotation speed is "0", the drive motor is rotating forward while maintaining a high rotation speed. Therefore, the drive motor can prevent overcurrent due to a decrease in rotation speed, and can prevent an increase in power consumption. Further, by regenerating the generated electric power, the motor device becomes extremely efficient. Further, if the electric power is directly regenerated to the drive motor, it is possible to increase the torque when starting and when traveling at low speed. Further, the output of the first motor is entirely consumed by the second motor. Further, at the time of starting, the output of the first motor according to the output load and the rotation speed is distributed by the differential device. The rest is distributed to the second motor. The same applies during deceleration, and the output of the first motor is distributed by the differential device. Further, in the case of deceleration or downhill, the output load may become negative. In this case, it is possible to obtain energy from both the first motor and the second motor by limiting the rotation speed of the first motor, for example, by using the first motor as a power generation brake and a regenerative brake. In this case, the rotation of the second motor is not the reverse rotation but the forward rotation. Also, due to the structure, it is possible to absorb the fluctuation of the output rotation speed by the rotation speed of the generator motor and keep the rotation speed of the drive motor within the steady rotation range. It is also possible to keep the rotation speed of the generator motor constant. That is, the torque can be controlled by controlling the amount of power generation.

In the motor device of the present invention, the driving force of the drive motor is distributed to the output and the generator motor by the differential device, and all the difference between the mechanical output of the drive motor and the mechanical output of the output shaft is distributed to the generator motor. . By controlling the amount of this regenerated electric power, the torque characteristic of the output can be controlled in intensity. Since this torque characteristic is proportional to the current I and the magnetic flux φ, the torque control has conventionally been performed by controlling the current or changing the magnetic flux, but in the present invention, it is controlled by the amount of regenerated electric power. Is possible.

Next, a graph will be described by actually giving numerical values. The numerical values are for explanation only, and the numerical values themselves have no meaning. For simplification of explanation, the ratio of the rotation difference of the differential gears will be described as 1: 1. That is, the torque-rotation speed curve of the first motor A is shown in FIG. 6 as a TN curve used only for explanation, and the torque and the rotation speed required for power generation of the second motor B are explained. It is shown in FIG. 7 which is shown as a curve of consumed torque-rotational speed used only. Further, FIG. 8 shows a torque-rotational speed curve of the drive output shaft. As shown in the figure, the torque of the first motor A decreases as the rotation speed increases, and the torque of the second motor B increases as the rotation speed increases. Then, as shown in FIG. 8, the torque of the drive output shaft decreases as the rotation increases.

The rotation speed of the drive output shaft increases from left to right. Each point P corresponds to the point shown in each graph.

[Table 1] The output rotation speed at start is "0". At this time, the rotation speed and torque of the first motor and the second motor are the same torque, the same rotation speed, P1 and P2 for both the first and second motors according to (X = 1) equations (A) and (B). Balance. (However, mechanical loss is not considered.) At this time, the output shaft torque is 20 kg · m torque (P5) that is twice the torque of the first motor A 10 kg · m (P1) ( Formula 1, (x + 1) T ₁
= Than T _2).

At this time, since the output rotation is "0", the first
Since the drive energy of the motor A becomes the energy for power generation of the second motor B, the energy loss can be small (from the equation A, 0 = T ₁ · N ₁ −T ₃ · N ₃ ). At this time,
Even if a high torque of 20 kg · m (P5) with a rotation speed of “0” is generated, since the first motor A is actually rotating,
Normal operation is possible without overcurrent.

When the vehicle starts, the output shaft speed is 10
When it becomes 00 rpm (P9), the rotational speed and torque of the drive motor and the generator motor are the same torque and balance when the ratio of the differential gear is 1: 1, so the formula ( From 1), (2), and (6), the drive motor has a rotation speed of 3000 rpm, torque of 5 kg-m (P7),
Number of rotations of the generator motor (reverse rotation of the drive motor)
It is 1000 rpm and the torque is 5 kg-m (P8). The torque of the output shaft at this time is 5 kg-m of the drive motor torque.
A torque (p9) of 10 kg-m obtained by doubling (P7) is obtained. Similarly, when the drive motor is (P3), the generator motor is (P4) and the output is (P6). In this way, the drive motor (TN curve of FIG. 6), the generator motor (TN curve of FIG. 7) and the drive output (output shaft) are always balanced, and the TN curve of FIG. 8 is obtained. Output is obtained.

FIG. 9 shows a configuration in which two motors of the motor device of the present invention are used in combination for driving or power generation. The structure is most suitable as a drive source for an electric vehicle, but can also be used as a general motor drive device. That is, two motors, a first motor and a second motor, are directly connected via a differential device, and each motor is used not only as a drive motor but also as a power generation motor, and To obtain optimum driving force and efficiency. And an efficient driving state is secured.

In the motor device of the present invention, the first motor and the second motor are functionally and structurally symmetrical as viewed from the differential device, and either motor may be used for driving. Also, it may be for power generation. Further, both motors may be used for driving, that is, both motors are rotated in the same direction. Further, both motors can be used for power generation, that is, both motors can be rotated in the same direction and used as a regenerative brake. Therefore, the motor device of the present invention has two motors as a first mode of efficient drive-power generation at the time of starting, and as a second mode of the drive-drive at high speed operation, at the time of deceleration, that is, during braking. , Power generation-the third mode of power generation can be operated. By combining such three modes and switching according to the traveling state and the operating state, it becomes possible to obtain the optimum driving force and efficiency in the traveling state and the operating state.

As shown in FIG. 9, each of the first motor A and the second motor B has a drive regeneration controller A (SW
Power supply devices SOA and SOB via A) and B (SWB)
, And also connected to the regenerative devices GA and GB. Then, the drive regeneration control devices A (SWA) and B (SW
B) is controlled by switch control, and it is controlled whether the line from each motor is connected to the power supply device or the regenerative device.
That is, the electric input end of each motor is connected to each drive regeneration control device.

Then, the first motor, the second motor and the three
The relationship between the two modes is shown in the following table.

[Table 2]

That is, in mode 1, the first motor and the second motor
It is rotated in the opposite direction to the motor. In this mode, the motor efficiency is good in the low speed region operation where a high torque is required from the stopped state. And in mode 2, the first motor,
Energy is supplied from the power supply to both the second motor,
It is rotated in the same direction, that is, the drive shaft is driven by the total drive rotation of the first motor and the second motor, and high speed rotation is enabled. That is, as the output rotation increases, the rotation speed of the drive motor also increases, and the efficiency of the motor improves to some extent even in the mode 1 state. Therefore, at high rotation speeds, there is little difference in efficiency, and both motors have a greater advantage as drive motors. In mode 3, both the first motor and the second motor are rotated in the same direction, but they are made to work as a generator motor and are made to work when in the braking state.

In the differential device according to the present invention, the ratio of the differential gears, that is, the differential ratio is X. The ratio of the differential is
If 1: 1 then X = 1, if 2: 1 then X = 2. The first motor side X is the second motor side 1. And
In mode 1, the first motor and the second motor rotate in different directions, and the torque and the rotation speed of the first motor are T ₁
And N ₁ and the output torque and rotation speed of the drive output rotary shaft are T ₂
And N ₂ and the rotational speed and consumption torque of the second motor T ₃ and N ₃
Then, it becomes as follows. _{(X + 1) T 1 =} T 2 ····················· (1) (N 1 -XN 3) / (X + 1) = N 2 ····・ ・ ・ ・ ・ ・ (2)

Therefore, the mechanical output from the first motor is
Without considering the loss due to friction, etc., the number of revolutions (rpm) × torque is T ₁ · N ₁ , and the mechanical input from the second motor is the number of revolutions (rpm) × torque, T ₃ · N ₃ . is there. Therefore, the mechanical output of the output of the differential device is the rotational speed (rpm) × torque, which is T ₂ · N ₂ . Therefore, T ₂ · N ₂ = T ₁ · N ₁ −T ₃ · N ₃・ ・ ・ ・ ・ ・ ・ ・ (3). Therefore, when the drive shaft torque is X = 1,
Double the torque of the drive motor (first motor),
The rotation speed N ₂ is when the output of the second motor is 0, that is,
When the second motor does not rotate, it becomes 1/2 (X = 1) of the rotation speed of the first motor. The relationship between the input / output torque of the first motor and the second motor is XT ₁ = T ₃・ ・ ・ ・ (6) In mode 1, the rotation of the output rotary shaft is changed to (N ₁ −X
N ₃ ) / (X + 1) and the torque is (X + 1)
Go up to T ₁ .

Next, in the mode 2, both the first motor and the second motor are drive motors and rotate in the same direction, and (N ₁ + XN ₃ ) / (X + 1) = N ₂ ...・ ・ ・ ・ ・ ・ (4) Then, the mechanical output of the first motor is T ₁ · N ₁ (rotation speed (rpm) × torque), without considering the loss due to friction or the like. Therefore, the mechanical output of the second motor is
m) × torque, which is T ₃ · N ₃ . Therefore, the mechanical output of the output of the differential, the output of the first motor and the sum of the output of the second motor, it becomes a rotational speed (rpm) × torque, since it is T ₂ · N _2, T ₂・ N ₂ = T ₁・ N ₁ + T ₃・ N ₃・ ・ ・ ・ ・ ・ ・ ・ ・ ・ (5). The relationship between the input / output torque of the first motor and the second motor is XT ₁ = T ₃・ ・ ・ ・ (6)

In mode 3, both the first motor and the second motor are generator motors and rotate in the same direction, and (N ₁ + XN ₃ ) / (X + 1) = N ₂ ... (4) Then, the mechanical output of the first motor is T ₁ · N ₁ (rotation speed (rpm) × torque), without considering the loss due to friction or the like. Therefore, the mechanical output of the second motor is
m) × torque, which is T ₃ · N ₃ . Therefore, the mechanical output of the output of the differential, the output of the first motor and the sum of the output of the second motor, it becomes a rotational speed (rpm) × torque, since it is T ₂ · N _2, T ₂・ N ₂ =-(T ₁ · N ₁ + T ₃ · N ₃ ) ... (7) This indicates that the mechanical output is negative and becomes a mechanical input, and power generation occurs.

As can be seen from the above equations, in Mode 2 and Mode 3, since they rotate in the same direction (forward rotation),
The rotational energy of the two motors is the sum of torque × rotational speed through a differential device.

Then, such mode switching is performed by controlling the drive regeneration control devices SWA and SWB of FIG. 9, but this may be a manual type or an automatic control. Then, the mode 1 is the low speed mode, the mode 2 is the high speed mode, and the mode 3 is the deceleration mode.

When switching the above modes, it may be necessary to change the rotation direction of the motor. For example, when the mode 1 is changed to another mode, that is, the mode 2 or the mode 3, and when the mode 2 or the mode 3 is changed to the mode 1, it is necessary to reverse the rotation direction of one motor. The rotation axis of the motor is switched from driving to power generation or from power generation to driving, and the rotation direction changes, so an excessive current may flow and the motor may be lost. In order to smoothly perform the switching, the motor in which the rotation direction is changed is disconnected from the power supply until the rotation direction is changed, and the rotation force of the other motor is changed to change the rotation direction of the motor. . By this,
Switching can be done smoothly.

In other cases, that is, when the mode 2 is switched to the mode 3 and when the mode 3 is switched to the mode 2, the rotation directions are the same, and therefore the drive regeneration control unit S.
If the switch control of WA and SWB is changed from driving to regeneration, that is, if the power source is changed to a regenerative device or vice versa, modes 2 to 3 or modes 3 to 2
Can be converted to FIG. 3 is a diagram for explaining the principle of the motor device of the present invention. That is, the first motor (A), the differential device (C), and the second motor (B) are basically configured, and the differential output of the first motor (A) and the second motor (B) is Is output from the output shaft (3). Basically, it is shown that the first motor (A) is provided as a drive motor, the second motor (B) is provided as a generator motor, and a differential device (C) interposed therebetween is provided. That is, the case of the above mode 1 shows the configuration of the present invention. Then, FIG. 9 shows a configuration in which two motors of the motor device of the present invention are used in combination for driving or power generation. The structure is most suitable as a drive source for an electric vehicle, but can also be used as a general motor drive device. That is, the first motor and the second
The two motors are directly connected via a differential device, and each motor is used not only as a drive motor, but also as a power generation motor, providing optimal drive power and efficiency for operating and running conditions. It's about to get. And an efficient driving state is secured.

Here, the difference between the motor device according to the configuration diagram of FIG. 3 and the motor device according to the configuration diagram of FIG. 9 will be briefly described.

First, FIG. 10 shows a case where the first motor (M1) is used for driving and the second motor (M2) is used for power generation. In the figure, SC represents a power supply. 1. A load resistor is provided on the power supply terminal of the second motor (M2). That is, the load resistance is inserted on the power generation side. Electric power generated by the generator is consumed by resistance and has a large loss, but the circuit is simple and versatile (it can be used as a motor device in various fields such as small drive motors), and the type of motor (AC, DC) does not matter. Further, it can be used from the time when the output is 0 revolutions, which is a feature of the present invention. For this reason,
When the drive side is a DC motor, even if the output rotation is stopped by a mechanical load from the outside during rotation, the load on the drive side motor does not increase, and therefore no overcurrent prevention measures need be taken. On the other hand, if the drive side is an AC motor, within the range of high torque of the drive motor,
It can be used even when the output is 0 revolutions. Further, in the motor device of the present invention, by controlling the amount (load) of the regenerative electric power of the motor, the output torque characteristic can be controlled to be strong or weak. Conventionally, torque control has been performed by controlling current or changing magnetic flux, but the motor device of the present invention can be controlled by the amount of regenerated electric power. Therefore, the torque value can be changed by changing the load resistance value. Of course, the load resistance may be a variable resistance.

Next, a control method for regenerating the generated power will be described. It is also possible to regenerate the generated power without providing a booster circuit. For that purpose, it is necessary to increase the magnetic flux of the second motor (M2) or to adjust the differential ratio to increase the rotation speed so that the voltage becomes higher than the charging voltage or the drive side supply voltage. . The relationship between the electromotive force E, the rotation speed N, and the magnetic flux Φ is E [V] = K · N · Φ. (However, K is a coefficient.) Therefore, it is possible to regenerate without boosting voltage by the following method. First, the differential ratio is changed and the rotation of M2 is made larger than that of M1 when the output is 0 rotation. Alternatively, the magnetic flux of M2 is made larger than that of M1.
Alternatively, charge a separate power supply and lower the charging voltage.

2. Next, it is a circuit shown in FIG. 11A that directly regenerates the drive motor (M1) via the backflow prevention diode D1. Both M1 and M2 are DC motors. The diode D1 is a diode for preventing backflow and supplies a regenerative current directly to the drive motor. In the figure, SC represents a power supply.

3. Next, FIG. 11B shows a circuit in which the backflow prevention diode is replaced by the rectifier RT when M2 is an AC motor. M1 is a DC motor. Rectifier R
Although a transistor element can be used as T, it is not limited to a transistor element, and various semiconductor elements such as a thyristor, GTO, IGBT, and FET can be used.

4. A case of charging regenerative power to the charger will be described. A constant voltage circuit is provided between the backflow prevention diode (M2 is a DC motor) or the rectifier (M2 is an AC motor) and the charger. This is because the voltage generated by M2 is not constant, so the voltage fluctuation is made constant by the constant voltage circuit and the charger is charged. Therefore, a schematic of the control circuit for this is shown in FIG. 12A. A specific example of the simplest constant voltage circuit for that purpose is shown in FIG. 12B.

5. If sufficient electromotive force is not obtained in 2.3.4 and regeneration is not possible, a booster circuit may be provided between M2 and the backflow prevention diode or rectifier to boost the electromotive force of M2 for regeneration. it can. An outline of this control circuit is shown in FIG. 13A. Here, M1 is a DC or AC motor, and M2 is also a DC or AC motor. A concrete example of a booster circuit for such a control circuit is shown in FIG. 13B.
(When M2 is a DC motor) and FIG. 13C (when M2 is an AC motor). In the circuit of FIG. 13B, the chopping signal activator generates a chopping signal, which chops and boosts the generated voltage. Figure 1
In the circuit of 3C, the generated voltage from M2 is boosted by the boosting transformer.

6. In the case of 2.3.4.5, the rotation speed of M2 decreases as the output rotation increases, and the generated voltage decreases accordingly. Therefore, at a certain speed or higher, the power generation is not regenerated. In this state, since the load of M2 is not applied, the output torque is reduced and the output speed is not increased. This is because the load during power generation and the load on the drive side are balanced, and the sum of the loads becomes the output torque. Therefore, FIG. 14 shows a circuit for generating a load torque so that the output torque and the rotation speed can be increased to near the limit point even when the regeneration is stopped.
Here, the limit point is, when the differential ratio is 1: 1, maximum output rotation speed = driving-side rotation speed / 2 (that is, there is no rotation on the power generation side). Output torque = drive side torque + power generation side torque.

The load circuit of FIG. 14 is provided between the backflow prevention diode or rectifier and M1 or the constant voltage circuit. That is, the circuit of FIG. 14 is loaded on the control circuit 2.3.4.5. The operational amplifier compares the voltage at the input point of the diode with the voltage at the output point. If the voltage at the output point is higher, it is judged that regeneration is not in progress and the switching transistor is turned on.
Then, the regenerative power of M2 is made to flow through the resistor. However, the voltage drop of the diode shall be taken into consideration. Also, when regenerating, the voltage is higher at the input point of the diode, so the switching transistor is OF
Keep it at F so that it does not flow into the resistance. This allows
The load can be applied to M2 even when it is not regenerated.

Next, the case where the first motor (M1) is used for driving or power generation and the second motor (M2) is used for power generation or driving will be described. FIG. 15 shows an outline of a control circuit therefor. In FIG. 15, the motor M1
There is a pattern control signal for controlling the drive regeneration control 1 for controlling the motor and a pattern control signal for controlling the drive regeneration control 2 for controlling the motor M2. The pattern control signal turns the drive control to the ON state, and this state Assuming that the rotation state is the reverse rotation state, the drive control 1 is in the OFF state, the regenerative control 1 is in the ON state, and the drive control 2 is in the ON state.
The regenerative control 2 is turned off. During forward rotation, the drive control 1 is in the ON state, that is, the motor M2 functions as a power generation motor, and at this time, the motor M1 and the motor M2 are rotating in reverse. The rotation direction of the output that is rotating forward is the same as that of the drive side, that is, the motor M1.

A drive regeneration control 1 for controlling M1 is provided for M1.
Is provided. It is performed by the following three patterns of control. 1. Drive state: power is supplied to M1; that is, M1 drive. 2. Regeneration state: Regenerate the power generated by M1 to the power supply;
I am a M1 freshman. 3. OFF state: The M1 motor electric circuit is opened; that is, the M1 power is cut off.

M2 is a drive regeneration control 2 for controlling M2.
Is provided. It controls the drive regeneration control 2 by 5 patterns as follows. 1. Drive state (forward rotation): M to be in phase with M1
2 is supplied with electric power; hereinafter referred to as M2 forward drive. 2. Driving state (forward rotation): M1 so as to be in reverse phase rotation with M1
Power is supplied to 2: The following M2 reverse drive is performed. 3. Regeneration state (forward rotation): The power generated by M2 that is rotating in the same phase as M1 is regenerated to the power supply; hereinafter referred to as M2 forward regeneration. 4. Regenerative state (reverse rotation): Regenerate the generated power of M2 that is rotating in the same phase as M1 to the power supply; assume M2 reverse regeneration. 5. OFF state: M2 motor electric circuit is opened; power is cut off; M2 is cut off hereafter.

Drive regeneration control 1 and drive regeneration control 2 shown in FIG.
By combining these control patterns, it becomes possible to perform motor drive control suitable for the running state. In this combination, if the combination is simply considered, there are 15 patterns of 3 patterns × 5 patterns. However, there are some contradictions or meaningless combinations (ie, for example, M1
In the drive, M2 reverse rotation drive is meaningless), and the combinations actually used are as shown in Tables 2 and 4 below.
Further, Table 2 briefly describes what kind of characteristics the control of the combination has.

[0059]

[Table 3]

[0060]

[Table 4]

Next, the interval control (rotation direction transition control) when the rotation direction of M2 changes will be described. In the control 2, the rotation direction of M2 changes depending on the pattern. At this turning point, the electric power is wasted and the motor is overloaded. FIG. 16 shows a block diagram of a control circuit that prevents this and can smoothly switch the rotation direction. That is, the control 1 pattern signal input and the control 2 pattern signal input respectively enter the rotation direction transition control circuit according to the present invention and are input to the pattern signal changing circuit 1 and the same circuit 2, respectively, and the rotation direction changing trigger outputs respectively. It was transformed by the trigger pulse from
Control 1 (that is, drive regeneration control 1) and control 2 are provided as control 1 pattern signal and control 2 pattern signal, respectively.
(Drive regeneration control 2) is input to control the motors M1 and M2.

In the block diagram of FIG. 16, the rotation direction changing trigger output becomes a trigger output with only one pulse by the pattern signal input of the following control 2. (Thus, the pulse width can be set arbitrarily) When the control 2 pattern signal changes from M2 reverse regeneration to M2 forward drive,
2. When the control 2 pattern signal is changed from M2 forward regeneration to M2 reverse drive, and the pattern signal changing circuit 1 only changes the control 1 pattern signal input as follows while the trigger signal from the rotation direction changing trigger output comes. Change to. 1. In the case of M1 drive, regenerate M1. 2. In the case of M1 regeneration, M1 drive is selected. Then, the pattern signal changing circuit 2 changes the control 2 pattern signal input to M2 disconnection only while the trigger pulse from the rotation direction changing trigger output comes.

Next, regarding the specific control, both motors are DC brush motors, and both are D
The case of the C brushless motor will be described. M
If a DC brush motor is used for M1 and M2, the circuits for control 1 and control 2 are as follows (Figs. 17A and 17B)
To use.

In the control 1 circuit of FIG. 17A, switching is performed by the transistors TR1 and TR2. That is, 1. When driving M1, TR2 is turned off and TR1 is turned on.
Set to N. A voltage is applied to the motor M1 to drive it. 2. At the time of regenerating M1, TR1 is turned off, a chopping pulse is applied to TR2 to boost the electromotive force of M1, and the power is regenerated to the power supply device through the diode D1. 3. When M1 is cut, both TR1 and TR2 are OF
Set to F.

In the control 2 circuit of FIG. 17B, four transistors TR1, TR2, TR3, TR4 and four diodes D1, D2, D3, D4 are used to drive the second motor M2.
Switch to. That is, 1. When driving M2 forward, turn off TR2 and TR3,
Turn on TR1 and TR4. A voltage is applied to the motor M2 to drive it in forward rotation. 2. When M2 reverse drive, turn on TR2 and TR3
Turn off R1 and TR4. A reverse voltage is applied to the motor M2 to drive it in the reverse direction. 3. When M2 forward regeneration, OF, TR2, TR3 OF
F is set, a chopping pulse is applied to TR4 to boost the electromotive force of M2, and power is regenerated to the power supply device through the diode D1. 4. When M2 reverse regeneration, TR1, TR3 and TR4 are OF
F is set, a chopping pulse is applied to TR2 to boost the electromotive force of M2, and power is regenerated to the power supply device through the diode D2. 5. When M1 is cut, TR1, TR2, TR3, TR4
Turn off all.

Next, when a DC brushless motor is used for both M1 and M2, the control circuit of FIG. 18A is used.
In both control 1 (drive regeneration control 1) and control 2 (drive regeneration control 2) of FIG. 18A, a rotation sensor is used to detect a rotation position of the motor, and a pattern control signal is sent to perform accurate control. You can And FIG. 18B shows DC
18B is a detailed view of the driving device of FIG. 18A, which is a driving device of a brushless motor.

In control 1 (drive regeneration control 1) of FIG. 18A, control is performed in three types of patterns. 1. M1 drive: A rotational position is detected, and a transistor of a drive device corresponding to the corresponding position is turned on / off to give a rotational force (similar to the control of a normal brushless motor). 2. M1 regeneration: S1, S3, S5 turned off, S
Chopping 2, S4, S6 to boost the voltage, D
The power is regenerated through 1, D3 and D5. 3. M1 disconnection: Turns off from S1 to S6.

In the same control 2 (drive regeneration control 2), 5
Control by type of pattern. 1. M2 forward drive: Detects the rotational position and turns on and off the transistor of the drive device corresponding to the corresponding position,
It gives a rotational force in phase with M1 (similar to the control of a normal brushless motor). 2. M2 reverse drive: Detects the rotational position and turns on and off the transistor of the drive device corresponding to the position,
2. Rotational force opposite to M1 is applied. M2 forward regeneration: S1, S3, S5 are turned off, S
Chopping 2, S4, S6 to boost the voltage, D
The power is regenerated through 1, D3 and D5. 4. M2 reverse regeneration: same as M2 forward regeneration. 5. M2 disconnection: All of S1 to S6 are turned off.

When the output is in forward rotation, the control drive circuit is turned on to drive the motor, and the regeneration circuit is turned off. This causes the motor to function as a drive motor. The electromotive force generated by the rotation of the motor (the rotation by the driving force of the motor M1 is generated as the rotational force of the reverse rotation in the motor M2) is turned on without turning on the drive control circuit and supplying the electric power to the motor. , The chopping signal is output by the regenerative circuit to perform the chopping boost type boosting, and the boosted regenerative current is fed to the diodes D1, D3, D.
The power is supplied to the motor as well as being regenerated through 5 At this time, the drive circuit is turned off. Then, when the output is rotated in the reverse direction, the drive control circuit is turned on, the motor is driven, the regenerative circuit is turned off, the motor functions as a drive motor, the regenerative circuits of other motors are turned on, and the chopping signal is sent. Then, the chopping boost type boosting is performed and the boosted regenerative current is regenerated to the power supply through the diodes D2, D4 and D6.

The drive regeneration control circuits for a general brush motor and a general DC brushless motor have been described above. Here, the transistor element is used as the switch element, but not limited to the transistor element, various semiconductor elements such as thyristors, GTOs, IGBTs, FETs, and relays can be used.

The above modes, that is, the low speed mode, the high speed mode, the deceleration mode, and the like can be manually switched to drive the vehicle, or the vehicle can be automatically controlled. Next, the automatic traveling will be described based on FIG. The electronically controlled method will be described with reference to the block diagram of FIG.

That is, the motor device of the present invention is, for example,
When used as a drive device for an automobile, the motor device of the present invention is controlled by a travel command signal as shown in the block diagram of FIG. 19 to operate properly. The relationship between the command input signal and the mode of the motor device in that case is shown in the table of FIG. Brake ON, OFF, 2 ways, accelerator O
Two types, N and OFF, and three types of vehicle speeds: high speed, medium speed, and low speed, and 2 × 2 × 3 = 12 ways were examined. Also,
P is parking, B is back, N is neutral, and D is drive. By the way, brake ON, accelerator ON
Is meaningless, and P and B at high speed and medium speed are meaningless. The motor device of the present invention is a mechanism that can be controlled and adjusted.

Next, the motor device of the present invention will be specifically described by way of examples, but the present invention is not limited thereto.

[0074]

[Embodiment 1] FIG. 4 is a sectional view schematically showing an example of a differential device of a motor device of the present invention. The rotation shaft of the differential shaft of the rotation shaft (2) of the first motor A rotates the pinion gears 9 and 10 by the rotation of the side gear 7, and the pinion shafts (6) penetrate the pinion gears 9 and 10. Then, the pinion shaft 6 rotates together with the case as indicated by the arrow or in the opposite direction of the arrow. This rotation output becomes the drive output (B). That is, the pinion shaft 6 has the pinion gears 9 and 10 incorporated therein.
Although 10 rotates (revolves) together with the pinion shaft 6, it can rotate as illustrated. Then, the side gear 8 can be rotated by being meshed with the side gear 8. The side gear 8 is the rotation shaft of the second motor B.
Connected to (4).

Therefore, when rotating in the same direction for each differential case, the rotary shaft (2) of the first motor A, the rotary shaft (4) of the second motor B, and the drive output shaft (3) are Rotate together. Then, when the rotation shaft (4) of the second motor B is set to "0" rotation, the drive output (3) is the rotation shaft of the first motor A.
It rotates at half the rotation speed of (2) (when the ratio of the rotation difference of the differential gear is 1: 1). When the drive output shaft (2) is set to the rotation speed "0", the rotation shaft (4) of the second motor B
Is reverse to the rotation of the first motor A and rotates at the same speed. Here, the ratio of the rotation difference of the differential gear is 1: 1.

[0076]

[Embodiment 2] FIG. 5 shows a motor device of the present invention using a planetary gear. The planetary gear is used as a differential device. That is, the sun gear 24
Connected to the motor rotation axis A, planetary carrier 21
Is connected to the drive output rotary shaft (3), and the internal gear 23
Is connected to the second motor rotating shaft C. If any one of the three elements of the sun gear 24, planetary carrier (arm) 21, and internal gear 23 is completely fixed and input from the other one, the remaining one will be decelerated or accelerated. Or reverse. That is, in FIG. 4, the rotary shaft 2 corresponds to the sun gear 24, the rotary shaft 4 corresponds to the internal gear 23, and the rotary drive shaft 3 corresponds to the planetary carrier 21.

An example of a motor device according to the present invention using this planetary gear is shown in the sectional view of FIG. The first motor A has a motor fixing portion (coil) 16 as shown in the drawing.
The rotating shaft 2 including the motor rotating portion (magnet) 17 and fixed to the magnet 17 rotates around the output shaft 3 via the bearing 10 '. Sun gear 1 fixed to the rotating shaft 2
4 is engaged with the planetary pinion gear 12 and is rotating, and the planetary pinion gear 12 is fixed to the planetary arm 11. Then, the planetary arm 11 is fixed to the output shaft 3 and rotates. And, to the other end tooth of the planetary pinion gear 12,
Internal teeth of the internal gear 13 are engaged.

On the back surface of the internal gear 13, the magnet 18 of the second motor B is fixed. Second
The motor B includes a magnet 18 and a coil 19. The internal gear 13 rotates around the output shaft 3 via the bearing 10 ″. Therefore, the coil 16 of the first motor A and the coil 19 of the motor B are, as shown in the drawing, the frame of the motor device. It is fixed to D. That is, the first and second motors are DC brushless motors.

[0079]

Third Embodiment FIG. 21 is a simplified view of the motor device shown in FIG. In FIG. 21, the output rotary shaft 216 is coaxially inserted into the rotor shafts 212 and 212 ′ of the first and second motors 211 and 211 ′, and the planetary carrier 21 is attached to the output shaft 216.
5 (planetary pinion arm) is fixed. The planetary carrier 215 includes a pinion shaft 21
A planetary pinion gear 214 is rotatably provided through 4 '. This planetary carrier 21
5 is a central axis 217 of the rotating shaft via a bearing 21.
Is installed in.

The internal gear 213 'and the sun gear 2 are engaged so as to mesh with the planetary pinion gear 214.
13 is provided. The sun gear 213 is fixed to the rotor shaft 212 of the first motor. And
The internal gear gear 213 'is fixed to the rotor shaft 212' of the second motor.

The sun gear 213 and the internal gear 21
3'is also hollow for passing the output shaft 216. The two motors 211 and 211 'are assembled to face each other so as to sandwich the planetary pinion gear 214 with the sun gear 213 and the internal gear 213' facing inward, and are assembled in a case 210 for fixing the first and second motors. Paid. Further, the output rotary shaft 216 is mounted on the case 210.
It is rotatably fixed to both ends of the bearing via bearings 21 '. The motors 211 and 211 'may be DC brush motors, DC brassless motors or AC motors, and are hollow rotor shafts 212 and 212'. Further, in the case of a DC brushless motor, it is preferable that a single DC motor has a built-in means for detecting a rotational position. And the 1st motor and the 2nd motor can also be replaced if needed.

[0082]

[Embodiment 4] The apparatus of FIG. 22 is the same as the apparatus of FIG. 21 except that the planetary pinion gears are two pinion gears 224 and 22.
4'to increase the degree of freedom of the differential ratio (1: 1 is also possible). That is, in FIG. 22, the rotor shaft 222 of each of the motors 221 and 221 ′,
The output rotary shaft 226 is coaxially inserted into 222 ',
The output shaft 226 is provided with a planetary carrier 225. This planetary carrier 225 has an output shaft 22.
It is fixed at 6. For planetary carrier 225,
The shafts 224 ″ of the planetary pinion gears 224, 224 ′ are rotatably arranged. The planetary pinion gears 224 are provided at both ends of the shaft 224 ″.
224 'is fixed. The internal gear 22 is engaged so as to mesh with the planetary pinion gear 224 '.
3 ′ is provided, and a sun gear 223 is provided so as to mesh with the planetary pinion gear 224. The sun gear 223 is fixed to the rotor shaft 222 of the first motor. And internal gear gear 22
3'is fixed to the rotor shaft 222 'of the second motor.

Sun gear 223 and internal gear 22
3'is hollow for passing the output shaft 226. The two motors 221, 221 'are assembled to face each other so as to sandwich the planetary pinion gears 224, 224' with the sun gear 223 and the internal gear 223 'facing inward.
1'is housed in a case 220 for fixing. In addition, the output shaft 226 has bearings 22 ′ on both ends of the case 220.
It is fixed so as to be rotatable via. The first and second motors may be DC brush motors, DC brassless motors, or AC motors, which are motors fixed to hollow rotor shafts 222, 222 ', respectively. In the case of a DC brushless motor, a single DC
It is preferable that the motor has a built-in means for detecting the rotational position.

The difference from the third embodiment is that, as a planetary pinion gear, two gears 224 and 224 'having different numbers of teeth are used.
Is the point using. Therefore, the ratio of the transmission force between the first motor and the second motor can be changed. That is,
The degree of freedom of the differential ratio can be increased. And the 1st motor and the 2nd motor can also be replaced if needed.

[0085]

Fifth Embodiment FIG. 23 is basically a motor device according to the present invention using the differential gear of FIG. In FIG. 23, the output rotation shaft 236 is coaxially inserted into the rotor shafts 232 and 232 ′ of the first and second motors 231, 231 ′, and the output shaft 236 has the output shaft 236.
35 is fixed, and pinion gears 234 and 234 ′ are rotatably provided on both ends of the pinion shaft 235, and side gears 233 and 233 ′ are meshed with the pinion gear 234. Each of the side gears 233, 233 'includes a rotor shaft 232 of each of the first and second motors 231, 231'.
It is fixed to 232 '.

The side gears 233, 233 'are also connected to the output shaft 2
Hollow for passing 36. Two motors 231,
231 'is assembled facing each other so as to sandwich the pinion gear 234 with the side gears 233, 233' facing inward, and is housed in a case 230 for fixing the first and second motors 231, 231 '. Also, the output shaft 23
6 are rotatably fixed to both ends of the case 230 via bearings 23 '. The first and second motors are
It may be a DC brush motor, a DC brassless motor, or an AC motor, and are motors fixed to hollow rotor shafts 232 and 232 ', respectively. Also,
In the case of a DC brushless motor, it is preferable that a single DC motor has a built-in means for detecting a rotational position.

Further, with respect to the above Embodiments 3, 4, and 5,
A differential gear that distributes the driving output to the left and right wheels may be coaxially arranged in each motor device and housed in one case. This results in a very compact vehicle drive. The motor of the present invention can be placed as a drive at the position of a conventional differential gear case.

[0088]

Sixth Embodiment In FIG. 24, the motor device of the second embodiment and FIG. 21 is provided with the differential devices 242, 243, 243 'coaxially. That is, the left and right wheel drive force distribution differential devices 242, 243, 243 'are built in between the output rotation shaft 216 and the planetary carrier 215'. This allows
The output rotary shaft A and the output rotary shaft B can be directly connected to the left and right drive wheels, respectively. The differential devices 242, 243, 243 ′ are composed of a side gear 243 fixed to the drive shaft A and a pinion gear 242 meshing with a side gear 243 ′ fixed to the drive shaft B. The pinion shaft 245, on which the pinion gear 242 is rotatably arranged, is rotatably fixed to the planetary carrier 215.

On the other hand, it is also possible to use the two planetary pinion gears 224 and 224 'having different numbers of teeth shown in the fourth embodiment. That is, the left and right wheel drive force distribution differential devices 242, 243, 243 'are incorporated between the output rotary shaft 226 and the planetary carrier 225'. Thereby, the output rotary shaft A and the output rotary shaft B can be directly connected to the left and right drive wheels, respectively. The differential devices 242, 243, 243 'are
It comprises a side gear 243 fixed to the drive shaft A and a side gear 243 'fixed to the drive shaft B and a pinion gear 242 meshing with the side gear 243'. The pinion shaft 245, on which the pinion gear 242 is rotatably arranged, is rotatably fixed to the planetary carrier 225. Power is transmitted through the planetary shaft 245. Then, the side wheels 243 and 243 'are respectively attached to the tire wheels.
Is fixed, and power is transmitted to the left and right tires.

[0090]

[Embodiment 7] In FIG. 25, the motor device of Embodiments 5 and 23 is provided with differential devices 252, 253, 253 'coaxially. That is, the left and right wheel drive force distribution differential device 25 is provided between the output rotary shaft 236 and the pinion shaft 235.
Built in 2, 253, 253 '. Thereby, the output rotary shaft A and the output rotary shaft B can be directly connected to the left and right drive wheels, respectively. The differential devices 252, 253, 253 ′ are pinion gears 252 that mesh with a side gear 253 fixed to the drive shaft A and a side gear 253 ′ fixed to the drive shaft B.
Consists of. The pinion shafts 235 and 255 on which the pinion gear 252 is rotatably arranged also serve as pinion shafts of the pinion gear 234, and power is transmitted from the pinion shafts 235 and 255. Then, the tire wheels are fixed to the side gears 253 and 253 ', respectively, and the power is transmitted to the tires left and right.

[0091]

[Embodiment 8] In FIG. 26, the motor device of Embodiments 4 and 22 is coaxially incorporated into a wheel. The output rotary shaft 22 is disposed in the rotor shafts 222, 222 'of the first and second motors 221, 221', respectively.
6 is inserted coaxially, and the output shaft 226 is provided with a planetary carrier 225 '. The planetary carrier 225 ′ is fixed to the output shaft 226. A shaft 224 ″ of the planetary pinion gears 224, 224 ′ is rotatably disposed on the planetary carrier 225 ′. The planetary pinion gears 224, 224 ′ are provided at both ends of the shaft 224 ″. Fixed. An internal gear 223 'is provided so as to mesh with the planetary pinion gear 224', and a sun gear 223 is provided so as to mesh with the planetary pinion gear 224. The sun gear 223 is fixed to the rotor shaft 222 of the first motor. The internal gear gear 223 'is fixed to the rotor shaft 222' of the second motor.

Sun gear 223 and internal gear 22
3'is hollow for passing the output shaft 226. The two motors 221, 221 'are assembled to face each other so as to sandwich the planetary pinion gears 222, 222' with the sun gear 223 and the internal gear 223 'facing inward.
1'is housed in a case 220 for fixing. In addition, the output shaft 226 has bearings 22 ′ on both ends of the case 220.
It is fixed so as to be rotatable via. The first and second motors may be DC brush motors, DC brassless motors, or AC motors, which are motors fixed to hollow rotor shafts 222, 222 ', respectively. A tire 261 is fixed to the outermost peripheral portion of the planetary shaft 225.

That is, the drive output can be taken out from the rotation output of the outer peripheral ring of the planetary shaft 225, and the motor device of the present invention is housed in the case 220. Then, the output outer circumference is the tire wheel 261, and the tire 261 is attached to the outer circumference, whereby the tire, the wheel, and the drive motor can be integrated. In particular, when used in a motorcycle or the like, the excellent features of the present invention are
It will be a very compact car drive system while making the most of it.
Further, it is not limited to motorcycles but can be widely used for electric vehicles. That is, the device of FIG. 26 can be independently fixed to each of the left and right wheels and independently controlled.
Two inventive motors can be paired to function as a drive.

Further, the motor device of the fifth embodiment and FIG. 23 can be provided with a tire on the outer periphery of the pinion shaft as in the eighth and FIG. 26 to provide a similar integrated motor drive device.

[0095]

The motor device of the present invention has the following technical effects due to the structure shown in the drawing. That is, firstly, a motor device is used which, while making good use of the excellent torque-rotation speed characteristics of a DC motor, prevents overcurrent at high torque and "0" rotation speed, which is a drawback, and saves power consumption by power regeneration. Provided. That is, the vehicle can be started in a high torque state and the driving can be smoothly started. That is, the output rotation is 0
But the motor is spinning, which makes the motor more efficient than if it weren't. The drive output of the motor is distributed to the generator motor and the output through the differential device, and when the output rotation is 0, it is all distributed to the generator motor, so that the electromotive force of the generator motor is regenerated and the power consumption is extremely low. I'm sorry. Secondly, that is, when the first motor and the second motor rotate in reverse to each other and the first motor is used for driving and the second motor is used for power generation, the first motor for driving is maintained in medium to high speed rotation. As it is, the output rotation range can be used by changing from 0 rotation to medium-speed rotation, and the following effects are brought about. That is, even if the high torque starting from 0 output and the fluctuation of rotation are large, the load on the battery and the control circuit can be reduced,
Since the rotation speed of the drive motor does not fluctuate, current fluctuations can be small. In addition, even if the allowable rotation speed range of the motor is narrow, it is possible to use it from 0 rotations by utilizing the narrow range, and the maximum torque and efficiency rotation speed range can be achieved even for low speed and low torque motors such as AC motors. You can drive in. Furthermore, when the output is 0 rotation or low speed rotation,
With high torque, it is possible to maintain the condition for a long time.
This is because the motor itself can rotate at a constant rotation. Further, the magnetic saturation of the DC motor can be prevented, and the motor itself does not need to rotate at a low speed. Further, a current limiting circuit such as an overcurrent prevention circuit for the DC motor can be eliminated. Further, during the operation of the motor, even if the output rotation is stopped by the fluctuation of the external load, or the reverse rotation is performed by the external load, the motor can be operated without any influence.

Thirdly, when the first motor and the second motor are reversely rotated, the first motor is used for driving, the second motor is used for power generation, and the power generation amount of the second motor for power generation is controlled. This means that the output torque can be controlled, and the following effects are brought about. Torque can be controlled regardless of the type of motor, and torque can be controlled even for motors that cannot control voltage or flux. If the motor can drive or generate electric power, which is the original function of the motor, whether AC or DC, torque control is possible. In addition, by setting the amount of power generation of the second motor to 0, the load torque due to power generation disappears, the power generation side is idle, and the driving force of the drive motor is not transmitted to the output (there is inertia torque. Just the clutch is disengaged), which creates exactly the disengaged state of the clutch, which provides the same function as the clutch.

Fourth, when the first motor and the second motor are rotated in opposite directions, the first motor is used for driving, the second motor is used for power generation, and the power generated by the second motor for power generation is regenerated. This brings the following effects. That is, power output can be saved by starting the output (at the time of 0 rotation) and regenerating the power of the power generation side motor in the low speed rotation range. Further, by directly regenerating the generated power to the driving side, the output torque in the starting and low speed rotation range can be increased. Fifth, because of the structure in which two motors are connected by a differential device, it is possible to drive various types of running drives that are in the running state by combining the motor's power generation or drive state with the rotation direction. become. That is, the drive effective for starting and low to medium speed running (low speed mode): from the state where the output is at high torque 0 rotation to the low to medium speed rotation range, the first motor is driven and the second motor is used for power generation. As the above, the above effects are exhibited. Driving drive effective for medium to high speed driving (high speed mode): By using the first motor for driving and the second motor for driving, medium to high
In the high-speed rotation range, the driving force and the rotation speed can be increased by using the second motor for driving. Regenerative braking effective during deceleration (deceleration mode): Uses the first motor for power generation and the second motor for power generation. The traveling energy is regenerated to save electric power, and at the same time, it is decelerated by the breaking action. Driving drive that enables back start (back mode): The first motor is used for power generation and the second motor is used for driving. This can be reversed by simply reversing the driving and power generation of the first and second motors in the low speed mode. Sixth, magnetic saturation of the DC motor can be prevented. Seventh, it also has a shifting function structurally. Eighth, it also has a function as a clutch.

[Brief description of drawings]

FIG. 1 is a graph showing a TN curve of a prior art motor.

FIG. 2 is a graph showing a relationship between an NT curve and a current of a conventional motor.

FIG. 3 shows a configuration of an example of a motor device of the present invention.

FIG. 4 is a cross-sectional view for explaining the structure of an example of the motor device of the present invention.

FIG. 5 is an explanatory diagram showing a differential device of another example of the motor device of the present invention.

FIG. 6 is a graph showing a torque-rotational speed relationship of the first motor in the motor device of the present invention.

FIG. 7 is a graph showing a torque-rotational speed relationship of a second motor in the motor device of the present invention.

FIG. 8 is a graph showing a torque-rotational speed relationship of the output shaft in the motor device of the present invention.

FIG. 9 shows a configuration of an example of a motor device of the present invention.

FIG. 10 is a diagram schematically showing an example of a control circuit of the motor device of the present invention.

FIG. 11 is a diagram showing an example of a control circuit for each motor of the motor device of the present invention.

FIG. 12 is a diagram showing an example of a regeneration control circuit of the motor device of the present invention.

FIG. 13 is a diagram showing an example of a regenerative control circuit provided with a booster circuit in the motor device of the present invention.

FIG. 14 is a diagram showing an example in which the motor device of the present invention is provided with a circuit capable of maintaining a power generation torque even at a regenerative voltage or less.

FIG. 15 is a diagram schematically showing an example of a drive regeneration control circuit in the motor device of the present invention.

FIG. 16 is a diagram showing an example of a rotation direction transition control circuit in the motor device of the present invention.

FIG. 17 is a diagram showing an example of a drive regeneration control circuit for a brush motor in the motor device of the present invention.

FIG. 18 is a diagram showing an example of a drive regeneration control circuit for a brushless motor in the motor device of the present invention.

FIG. 19 is a diagram showing an example of a control device for automatic traveling in the motor device of the present invention.

FIG. 20 is a table showing control modes for automatic running in the motor device of the present invention.

FIG. 21 is a sectional view showing an example of a motor device of the present invention.

FIG. 22 is a cross-sectional view showing another example of the motor device of the present invention.

FIG. 23 is a cross-sectional view showing another example of the motor device of the present invention.

24 is a cross-sectional view showing an example in which a differential gear is incorporated in the motor device shown in FIG.

25 is a cross-sectional view showing an example in which a differential gear is incorporated in the motor device of FIG. 23.

FIG. 26 is a cross-sectional view showing an example in which the motor device of FIG. 22 is incorporated into a wheel.

FIG. 27 is a cross-sectional view of an example of the motor device of the present invention.

[Explanation of reference numerals] A, M1, 211, 221, 231 First motor 2, 212, 222, 232 First motor rotating shaft C, 218, 228, 238 Differential device 3, 216, 226, 236 Differential rotating shaft
(Drive output shaft) B, M2, 211 ', 221', 231 'Second motor 4, 212', 222 ', 232' Second motor rotating shaft 9, 10, 234, 242, 252 Pinion gear 7, 8, 233, 233 ', 243, 243', 25
3, 253 'Side gear 11, 21, 215, 225, 225' Planetary carrier (arm) 12, 22, 214, 224, 224 'Planetary pinion 214', 224 "Planetary pinion shaft 13, 23, 213 ', 223 'Internal gear 14, 24, 213, 223 Sun gear 6, 235, 245, 255 Pinion shaft 16 Coil (first motor) 17 Magnet (first
Motor) 18 magnets (second
Motor) 19 Coil (second motor) 210, 220, 230 Case 10 ', 10 ", 21', 22 ', 23' Support bearing 261 Tire

Claims (10)

[Claims] 1. A first motor, a second motor, and two differential motors are provided, and the differential gear has three rotary shafts that rotate differentially, and the rotary shaft (2 ), The rotary shaft (4) of the second motor, and the drive output shaft are fixed to the three rotary shafts, that is, the rotary shaft (2) of the first motor and the rotary shaft (2) of the second motor, respectively. (4) is connected through a differential device, and the differential rotation shaft (3) of the differential device
A motor device characterized by obtaining drive output from. 2. The differential device is a planetary gear, and the rotation shafts of a sun gear and an internal gear thereof are connected to the rotation shafts of a first motor and a second motor, respectively, to support a planetary pinion gear that revolves. The motor device according to claim 1, wherein a rotation shaft of the planetary pinion carrier serves as a drive output shaft. 3. The differential device is a differential gear and includes two left and right wheels.
The axes of the two side gears are the rotation axes of the first motor, respectively.
(2) and the rotating shaft (4) of the second motor, the rotating shaft of the revolving differential gear consisting of pinion gears is the output shaft.
(3) The motor device according to claim 1, wherein: 4. The first motor, the second motor, and the rotation shaft of the differential gear are coaxially arranged, housed in one case, and integrated with each other. Motor equipment. 5. The first motor, the second motor and the rotary shaft of the differential gear are coaxially arranged and integrated, and the integrated ones are housed in a wheel wheel. The motor device according to claim 1. 6. The first motor is coupled to a power supply device to operate as a drive motor, the second motor is coupled to a regenerative device to operate as a generator motor, and the regenerative device is a second motor.
A device for regenerating or consuming electric power generated by a motor, wherein the first motor and the second motor rotate in opposite directions to each other to obtain an output driving force.
The motor device according to any one of 1. 7. A power generation output obtained from the second motor,
The motor device according to claim 6, wherein the electric power is directly input to the first motor via a backflow prevention circuit. 8. A first motor, two motors of a second motor, and a differential gear are provided, and the differential gear has three rotary shafts that differentially rotate, and the rotary shaft (2) of the first motor is provided. ), The rotary shaft (4) of the second motor, and the drive output shaft are fixed to the three rotary shafts, that is, the rotary shaft (2) of the first motor and the rotary shaft (2) of the second motor, respectively. (4) is connected through a differential device, and the differential rotation shaft (3) of the differential device
Drive output from the first and second motors,
Each of the first and second motors is provided with a drive regeneration control device for switching the connection with the power supply device or the regeneration device, and operates the drive regeneration control device according to a predetermined pattern.
A motor device that operates as a drive motor or a generator motor. 9. A low-speed mode in which either the first motor or the second motor is used as a drive motor
The motor device according to claim 10, wherein mode switching is performed so as to shift to a high speed mode in which both of the second motors are drive motors. 10. A first motor, a second motor, and two differential motors, and the differential gear having three rotary shafts that differentially rotate, and the rotary shaft (2) of the first motor. )
And the rotation shaft (4) of the second motor and the drive output shaft are respectively
It is fixed to the three rotation shafts, that is, the rotation shaft (2) of the first motor and the rotation shaft ((4) of the second motor are connected via a differential device, and the difference between the differential devices is fixed. Dynamic rotation axis
The drive output is obtained from (3), and the first and second motors are each provided with a drive regeneration control device for switching the connection with the power supply device or the regeneration device, and the drive regeneration control device is operated according to a predetermined pattern. Then, the first and second motors respectively operate as a drive motor or a generator motor, and use a brake signal, an accelerator signal, a vehicle speed level signal, and a range signal as input information to generate pattern signals for switching the drive regeneration control device. An automatic traveling control device for generating is provided, each pattern signal thereof is relayed to an interval circuit, and is input to the drive regeneration control device as a control signal.
9. The motor device according to claim 8, wherein the circuit is a circuit that takes a grace period when the rotation direction of the second motor changes.