JPH08289403A - Vehicle control device - Google Patents

Abstract

PURPOSE: To provide a vehicle control device which does not stop a main circuit control device even when a command from a master controller does not reach it to be able to operate in synchronism with the other normal main circuit control device. CONSTITUTION: This vehicle is provided with a plurality of main circuit control devices 31 which are operated by a command from a master controller. It comprises a notch to current-limiting value calculation part 312, a vehicle adjustable-speed detection part 41, an adjustable-speed to current-limiting value calculation part 313, a selection part 314 for selecting the use of a current- limiting value which is dependent on whether a command from the master controller normally reaches or not, a power detection part 316, a main control part 315 for controlling an electric motor 21 and a positional speed detection part 318 for detecting the route information 317 of a travelling route in each vehicle control device and a travelling position to compute the limit value of a speed at the current point of time from the route information and the travelling position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle control device in which a plurality of main circuit control devices are mounted, and each main circuit control device is individually controlled for the purpose of control in the event of an abnormality.

[0002]

2. Description of the Related Art Conventionally, in a vehicle equipped with a plurality of main circuit control devices, a command from a main controller is given to the main circuit control device by a pull-through line or serial transmission. The notch command from the master controller is sent to the notch via the receiver →
It is converted into a current limit value in the current limit value calculator. The current limiting value is passed to the main control unit, and the main control unit controls the electric motor so that the given current limiting value is reached. Such a control method is disclosed in Japanese Patent Application No. 6-1
As in the specification of 2963, various things such as individual control of each main circuit control device are considered.

[0003]

In the prior art, when a command from the master controller does not reach the main circuit controller due to some trouble, the main circuit controller stops without continuing the control. In that case, the driver of the vehicle opened the main circuit control device and continued driving with the remaining main circuit control device and the electric motor. That is, there is a problem that the main circuit control device and the electric motor must be opened even though they are normal.

An object of the present invention is not to stop the main circuit controller even when the command from the master controller is not received,
An object of the present invention is to provide a main circuit controller which can operate in synchronization with another normal main circuit controller.

[0005]

In order to achieve the above object, the present invention provides an acceleration / deceleration detecting unit for detecting the acceleration / deceleration of a vehicle, and an acceleration / deceleration → current limiting value calculation unit for obtaining a current limiting value commensurate with the acceleration / deceleration. ， Recorded only one pull-through line indicating that a power running command is output from the master controller, and a power running detection unit that monitors the state and detects that power running is in progress, curve of running route, slope, etc. A position / speed detector for calculating the limit value of the traveling speed from the route information, the traveling position and the route information, and a selector are provided.

[0006]

When the command from the master controller is detected, the control means can control the main circuit with a current limiting value corresponding to the acceleration / deceleration obtained from the acceleration / deceleration detecting section. The main circuit is controlled only when the power running detection unit detects that a power running command is issued from the master controller. Further, the main circuit is controlled so as not to exceed the limit value of the traveling speed calculated by the position / speed detector.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 2 shows an embodiment in which the present invention is applied to an electric vehicle having a plurality of electric motors for propulsion and a main circuit control device. 1
Reference numerals 1 and 12 are main controllers, 21 to 24 are propulsion electric motors connected to driving wheels, 31 to 34 are main circuit control devices, and 41 to 44 are acceleration / deceleration detection units for detecting acceleration / deceleration of the vehicle. Is. The master controllers 11 and 12 are connected to the transmission control devices 61 and 62. The notch commands from the master controllers 11 and 12 are transmitted in series by the transmission control devices 61 and 6
2 is transmitted. The main circuit control devices 31 to 34 are connected to the transmission control devices 51 to 54, respectively. The notch command transmitted to the transmission control devices 61 and 62 is transmitted in series via the transmission control devices 51 to 54 to the main circuit control device 3
1 to 34.

FIG. 1 shows the main circuit control device 31 of FIG. 2 in detail. The main circuit control devices 32-34 have the same configuration. 311 is a receiving unit that receives a command from the master controller and determines whether or not it is normal. 312 is a notch-to-current limit value calculating unit that calculates a current limit value corresponding to the notch command received from the master controller. 313 is an acceleration / deceleration detection unit 41
Acceleration / deceleration → current limiting value calculation unit for calculating a current limiting value commensurate with the acceleration / deceleration received from the reference numeral 2, and only one through line 316 indicating that the powering command is output from the master controller 316
Is a power running detection unit that monitors the state of the pulling wire and detects that a power running command is output. A power running detection unit 314 is notched depending on whether the command from the master controller obtained from the reception unit is normal →
A selection unit 315 for determining whether to use the current limit value of the current limit value calculation unit 312 or the acceleration / deceleration → the current limit value of the current limit value 313 is a main control unit that controls the electric motor according to the given current limit value. .

Next, the operation of each part will be described. Master controller 1
1 is operated by a driver so as to specify a desired torque command and outputs the notch command by serial transmission. The notch command is transmitted to the main circuit controller 31 via the transmission controllers 61 and 51. The reception unit 311 receives serial transmission data from the master controller. By adding a code for error detection to the serial transmission data, it is possible to detect that the data is garbled due to noise on the transmission path. However, garbled data can occur. For example, when the garbled data is up to twice consecutively, the latest data that was normally received is provisionally used, and if the garbled data occurs three consecutive times. For the first time, we will detect the received data as abnormal. In addition, the master controller 1
In addition to the garbled data, it is conceivable that the data from the master controller will not be received at all in the reception abnormality between 1 and 1. In such a case, the receiving unit 311 may operate the master controller 11 for a certain period of time.
It detects that there is no reception from the terminal and determines that the reception is abnormal. The reception unit 311 transfers to the selection unit 314 whether or not the reception was normal. Further, when the data from the master controller 11 is normally received, the receiving unit 311 passes the received notch data to the notch → current limiting value calculating unit 312.

The notch-to-current limit value calculating section 312 is provided in the receiving section 31.
The current limiting value I is obtained so as to obtain the pulling force T commensurate with the notch command passed from 1. The current limiting value I can be obtained from the relationship between the tensile force T and the current limiting value I shown in FIG. The obtained current limit value I is passed to the selection unit 314.

When the receiving unit 311 reports that the reception between the main controller 11 and the main circuit control unit 31 is normal, the selecting unit 314 sets the current limiting value obtained from the notch → current limiting value calculating unit 312. It is passed to the main controller 315. The main controller 315 controls the electric motor 21 so that the current limit value is given.

On the other hand, when an abnormality such as garbled data occurs continuously three or more times for some reason during the data reception from the main controller 11 to the main circuit control apparatus 31, the main circuit control apparatus 31 in which the reception abnormality has occurred is received. Cannot obtain the notch command from the main controller 11, but the main circuit control devices 32 to 34, which have no abnormality, operate normally, so the vehicle can operate. Therefore, the acceleration / deceleration detection unit 41 connected to the main circuit control device 31 can detect the acceleration / deceleration generated as the vehicle travels. Acceleration / deceleration detection unit 4
1 indicates the detected acceleration / deceleration as acceleration / deceleration → current limit value calculation unit 313.
Pass to. The acceleration / deceleration → current limit value calculation unit 313 obtains a current limit value that can obtain an acceleration / deceleration that matches the acceleration / deceleration passed from the acceleration / deceleration detection unit 41. Here, if the vehicle weight is W, the acceleration is α, and the pulling force required to produce the acceleration α is T, the following relationship is established.

[0013]

[Equation 1] T = K × α × W (Equation 1) K is a proportional constant. After the required pulling force T is obtained by using Equation 1, the current limiting is calculated from the relationship between the pulling force T and the current limiting value I shown in FIG. The value I can be determined. The obtained current limiting value is passed to the selection unit 314.

On the other hand, when the master controller 11 outputs a powering command, a powering signal is output to the pull-through line 2. The power running detection unit 316 detects this signal and passes to the selection unit 314 whether or not the power running signal is output.

Only when the selection unit 314 receives from the reception unit 311 that the reception from the master controller 11 is abnormal and the power running detection unit 316 detects that the power running is in progress, the acceleration / deceleration → limit The current limit value obtained from the flow value calculator 313 is passed to the main controller 315.

The main control unit controls the electric motor 21 so that the given current limiting value is obtained.

Therefore, according to this embodiment, the master controller 1
Specific main circuit control device 3 due to some reason the command from 1
Even if the signal does not reach any of 1 to 34, the electric motors 21 to 24 can be controlled in synchronization with another main circuit control device to which the command has normally arrived.

In order to further increase the safety of this system, route information 317 and a position / speed detector 318 are provided in FIG. The route information 317 stores information such as the slope and curve of the route on which the electric vehicle travels, the limit value of the traveling speed at each traveling position, and the like. The position / velocity detector 318 includes a gyro and the like, and detects the traveling position and speed of the electric vehicle. Then, the limit value of the traveling speed at the traveling position is obtained from the route information 317, and the value is passed to the selection unit 314. The selection unit 314 receives from the reception unit 311 that the reception from the master controller 11 is abnormal, and the power running detection unit 316 detects that the power running is in progress, and further, in the traveling position obtained from the position / speed detection unit 318. Only when the limit value of the traveling speed is equal to or less than the traveling speed, the current limiting value obtained from the acceleration / deceleration → current limiting value calculation unit 313 is passed to the main control unit 315.

The main control unit controls the electric motor 21 so that the current limit value is given.

[0020]

According to the present invention, even if a command from the master controller does not reach a specific main circuit controller for some reason, it tunes to another main circuit controller to which the command has normally arrived. Then, the electric motor can be controlled.

[Brief description of drawings]

FIG. 1 is a block diagram of a main circuit control device showing an embodiment of the present invention.

FIG. 2 is a block diagram of a system showing an embodiment of the present invention.

FIG. 3 is an explanatory diagram of an operation in one embodiment of the present invention.

[Explanation of symbols]

21 ... Electric motor, 31 ... Main circuit control device, 41 ... Acceleration / deceleration detection part, 311 ... Reception part, 312 ... Notch → current limit value calculation part, 313 ... Acceleration / deceleration → current limit value calculation part, 314 ... Selection part, 315 ... Main control unit, 316 ... Power running detection unit, 317 ...
Route information, 318 ... Position and speed detection unit.

Claims (2)

[Claims] 1. In a vehicle having a plurality of main circuit control devices that operate according to commands from a master controller, a receiving unit that determines whether or not a command from the master controller has normally arrived, the master controller. The notch command from the notch is used for motor control to obtain a current limit value → current limit value calculation unit, acceleration / deceleration detection unit for detecting the acceleration / deceleration of the vehicle, and acceleration / deceleration output from the acceleration / deceleration detection unit for motor control. Acceleration / deceleration for calculating the current limit value to be used → current limit value calculation unit, a selection unit for selecting which of the current limit values is to be used depending on whether or not a command from the master controller has normally arrived, A single pull-through line that indicates that a power running command is output from the main controller, and a power running detection unit that monitors the state and detects that the power running is in progress, and a main control that controls the electric motor according to the current limiting value. Part Vehicle control apparatus according to claim Rukoto. 2. The route information and the traveling position of the route to be traveled according to claim 1, the limit value of the speed at that time is calculated based on the route information and the traveling position, and the speed is equal to or more than the limit value. A vehicle control device having a position / velocity detection unit that suppresses the occurrence of such a situation.