JPH11225405A - Controller of motor-driven vehicle - Google Patents
Controller of motor-driven vehicleInfo
- Publication number
- JPH11225405A JPH11225405A JP10022955A JP2295598A JPH11225405A JP H11225405 A JPH11225405 A JP H11225405A JP 10022955 A JP10022955 A JP 10022955A JP 2295598 A JP2295598 A JP 2295598A JP H11225405 A JPH11225405 A JP H11225405A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- vehicle
- motor
- control
- difference
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は内燃機関を有し電気
的トルクコンバータを必要とする各輪駆動のシステムを
採る車両、一般の電気車両で各輪駆動のシステムを採る
車両、無限軌道を独立に駆動する特殊車両（土木産業
用）及び各輪駆動システムを採る鉄道車へも応用出来る
電動機駆動車両の制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle having an internal combustion engine and employing an all-wheel drive system requiring an electric torque converter, a general electric vehicle employing an all-wheel drive system, and an independent track. The present invention relates to a control device for a motor-driven vehicle that can be applied to a special vehicle (for the civil engineering industry) to be driven to a vehicle and a railroad vehicle employing each wheel drive system.
【０００２】[0002]
【従来の技術】従来の各輪駆動のシステムを採る車両は
文献電学論Ｄ. １１６巻１１号，平成８年に示されるよ
うに図１の如く制御方式を採用している。即ち図１のア
クセルペダル２の指令を受けた、トルク制御系で構成さ
れるインバータ４及び５の制御に基づき各輪の電動機
６、及び７は駆動される。2. Description of the Related Art A vehicle employing a conventional system for driving each wheel employs a control system as shown in FIG. That is, the electric motors 6 and 7 of each wheel are driven based on the control of the inverters 4 and 5 which are configured by a torque control system and receive a command from the accelerator pedal 2 in FIG.
【０００３】一般に鉄道車両も含め、一般車両の走行路
を走る車両ではこの方式でも問題ないが、土木作業用の
如く、決められた走行路以外を走行する各輪又は無限軌
道を走る車両に於いては図６に示す如く、各々の車輪の
走行抵抗が異なる場合、左右の各輪に速度差ΔＶが生
じ、車両は直進行動から曲進行動に移る。[0003] Generally, there is no problem with this method for vehicles running on the running path of general vehicles including railroad vehicles, but in vehicles such as civil engineering work, which run on wheels or endless tracks running on roads other than the determined running route. In the case where the running resistance of each wheel is different as shown in FIG. 6, a speed difference ΔV is generated between the left and right wheels, and the vehicle shifts from straight running motion to curved running motion.
【０００４】これを抑えるため運転士は図１のハンドル
９を修正することによって、車両の直進行動を維持させ
ていた。従ってハンドル操作を誤ると、車両は運転士の
意志に反する方向に進むという危険性があった。運転士
のステアリングは図１の如く機械的な手段で行ってい
た。[0004] In order to suppress this, the driver has modified the steering wheel 9 shown in Fig. 1 to maintain the straight traveling motion of the vehicle. Therefore, there is a risk that if the steering wheel is operated incorrectly, the vehicle will travel in a direction contrary to the driver's will. The driver's steering was performed by mechanical means as shown in FIG.
【０００５】[0005]
【発明が解決しようとする課題】本発明の目的は、 １).定トルク制御系又は定出力制御系で構成されるイン
バータによって駆動される各輪駆動用電動機が各々の走
行抵抗が異なる場合に、左右の車輪の速度差が生じ車両
は直進行動から曲進行動に移るという問題があるが、本
発明はこの問題を解決することにある。SUMMARY OF THE INVENTION The objects of the present invention are as follows: 1) When each wheel drive motor driven by an inverter constituted by a constant torque control system or a constant output control system has a different running resistance. However, there is a problem that a speed difference between the left and right wheels occurs, and the vehicle shifts from straight traveling motion to curved traveling motion. The present invention is to solve this problem.
【０００６】２).上記制御方式に於いて、スタート時か
ら各々の車輪の走行抵抗に違いがある場合、低い速度を
基準とする速度制御が行われる場合には、車両トータル
トルクが小さく起動抵抗条件によっては、起動に時間を
要するという問題が生じる場合がある。本案はこの問題
を解決することにある。2) In the above control method, when there is a difference in running resistance of each wheel from the start, and when speed control based on a low speed is performed, the vehicle total torque is small and the starting resistance is small. Depending on conditions, there may be a problem that it takes time to start. The idea is to solve this problem.
【０００７】３).運転士が曲進行動をとるためには、操
作されるステアリングハンドルの角度に応じて内側電動
機の制御装置には減速度パタンを又外側電動機には加速
パタンをアクセルペダルに指示されるトルクパタンに補
正を加える事によって、内側車輪の電動機を減速し、外
側車輪の電動機は増速させることによって曲進行動を得
ていたが、この曲進行動は同一ステアリング角度でも車
両速度が異なると遠心力の影響により変わってくるとい
う問題がある。[0007] 3) In order for the driver to take a turning movement, the deceleration pattern is applied to the control device of the inner motor and the acceleration pattern is applied to the accelerator pedal for the outer motor in accordance with the angle of the steering handle operated. By adding a correction to the indicated torque pattern, the motor of the inner wheels was decelerated and the motor of the outer wheels was increased in speed to obtain a curving movement. If different, there is a problem that it changes due to the effect of centrifugal force.
【０００８】本発明はこれを防止するために、運転士が
操作するハンドル角度で一義的に曲進の範囲が決めるよ
うにすることにある。及び特定の車両に於いては曲進
時、車両速度を減速してはならぬという問題があった。[0008] In order to prevent this, the object of the present invention is to determine the range of the curve uniquely by the steering wheel angle operated by the driver. In addition, there is a problem that the speed of the vehicle must not be reduced when turning on a specific vehicle.
【０００９】４).上記３).に関連しステアリングハンド
ルの操作に於いて操作の速度も車両の曲進条件に影響す
る。３).項で述べたハンドル角度の条件による補正だけ
では安全な曲進行動をとれないという問題がある。本発
明はこの問題を解決するため、ハンドル角速度の条件で
速度補正する。4) In connection with the above 3), the speed of the operation of the steering handle also affects the turning condition of the vehicle. 3) There is a problem that a safe bending movement cannot be taken only by the correction based on the condition of the steering wheel angle described in the section. In the present invention, in order to solve this problem, the speed is corrected under the condition of the steering wheel angular speed.
【００１０】ことにある。[0010] There is.
【００１１】[0011]
【課題を解決するための手段】（１）トルク制御系で構
成される制御装置によって駆動される各輪駆動用電動機
の両者の走行抵抗の違いによって生じる両者の速度差を
なくするために、速度の低い方の電動機速度に高い方を
合せる制御をすることによって、図６に示す各輪の走行
抵抗の違いがあっても左右の各輪の電動機は同一速度で
運転することになり直進行動を維持することが出来る。(1) In order to eliminate the speed difference between the two wheel drive motors driven by the control device constituted by the torque control system due to the difference in running resistance between the two motors, By controlling the higher motor speed to the lower motor speed, the motors of the left and right wheels operate at the same speed even if there is a difference in the running resistance of each wheel shown in FIG. Can be maintained.
【００１２】図６でこれを説明すると今左右の車輪が直
線行動中で両車輪の走行抵抗は各々Ｒr の特性にあり、
ポイント“Ａ”で運転している時、左側の車輪の走行抵
抗が“ＲL ”に変化したとする。[0012] running resistance of both wheels in the left and right wheels now will be described linear behavior this in Figure 6 each have the characteristics of R r,
When driving at the point "A", it is assumed that the running resistance of the left wheel changes to " RL ".
【００１３】この場合例えば定出力制御の場合、左側の
電動機はポイントＢ（速度ＶL ）でバランスするように
作用する。このため両者にはＶr−Ｖrの速度差が生じ
る。この速度差を補正する方法として右側電動機のトル
クパタンに補正をかけることによって、右側電動機のト
ルク指令は絞られる。In this case, for example, in the case of constant output control, the motor on the left side acts so as to balance at point B (speed V L ). Because of this difference in speed between the V r -V r occurs in both. As a method of correcting the speed difference, the torque command of the right electric motor is narrowed by correcting the torque pattern of the right electric motor.
【００１４】これにより、ＶL の速度になるべく、走行
抵抗ＲL の特性に沿って、ポイントＣ点へ移動して、バ
ランスするので、左右の車輪の速度差は解消され目的を
達成することが出来る。As a result, the vehicle moves to the point C according to the characteristic of the running resistance R L to achieve the speed of V L and balances, so that the speed difference between the left and right wheels is eliminated and the object is achieved. I can do it.
【００１５】これ等の作用は常時連続的に両者の速度差
を看視して制御を行うことによって直進時に左右の速度
差のない走行が達成出来る。These operations can be achieved without any speed difference between the left and right when the vehicle is traveling straight by controlling the vehicle while always observing the speed difference between the two.
【００１６】（２）問題を解決するためには車両が停止
状態から起動する場合、左右の各輪モータを生かす為に
は両者を一時的に速度制御系で制御し、ある速度まで立
上がったら請求項１の方式に切換える方式をとることに
よって、目的を達成することが出来る。(2) In order to solve the problem, when the vehicle starts from a stopped state, in order to make use of the left and right wheel motors, both are temporarily controlled by a speed control system. The object can be achieved by adopting the method of switching to the method of claim 1.
【００１７】これを図７で説明する。車両の起動抵抗を
ポイント“Ｂ”とすれば、車両が停止から加速していく
為にはポイントＡに示される起動トルクが必要である。This will be described with reference to FIG. Assuming that the starting resistance of the vehicle is point "B", the starting torque shown at point A is required for the vehicle to accelerate from stop.
【００１８】しかしながら、請求項１の制御の場合、例
えば低い方の速度に他方を合わせた方式を採用する場合
等、起動時（車両速度“零”）から各輪の走行抵抗が各
々異なる条件では一方が起動しても、他方が起動しな
い。又は起動が遅れると速度“零”を目標にする一方の
電動機のトルクが絞られ結局、車両トータルのトルクが
Ｃ点の如くなり起動抵抗“Ｂ”より小さくなり起動出来
ないという問題が生じる。However, in the case of the control according to the first aspect, for example, when a system in which the other speed is adjusted to the lower speed is employed, the running resistance of each wheel is different from the start (vehicle speed "zero"). If one starts, the other does not. Alternatively, if the start-up is delayed, the torque of one of the motors aiming at the speed "zero" is reduced, and eventually the total torque of the vehicle becomes lower than the start-up resistance "B" as shown at the point C, causing a problem that the start-up cannot be performed.
【００１９】そこで、起動時からある所定の速度に立上
がるまでは、トルク制御系を速度制御系に切換えること
によって、左右の２台の電動機は同一速度指令となるの
で、駅動抵抗の大きい電動機は大きなトルクで運転され
るので起動が可能となり目的を達成出来る。所定の速度
に達したら本来の請求項１のトルク制御に切換えて運転
する。Therefore, the two motors on the left and right sides have the same speed command by switching the torque control system to the speed control system from the time of starting until the vehicle rises to a predetermined speed. Is operated with a large torque, so that it can be started and the object can be achieved. When the predetermined speed is reached, the operation is switched to the original torque control of claim 1 for operation.
【００２０】（３）本発明の目的を達成させるにはステ
アリングハンドル角度で決まる速度補正パタンに対し、
図８の如くハンドル角に対し車両速度に対応した左右各
々の基準速度を設定し、指定されたハンドル角度でこの
設定された速度で駆動出来るようにすれば目的を達成出
来る。又さらに車両速度に対して上記の各々内側及び外
側速度との差速度の絶対値が等しくすると曲進時の車両
速度が減速することなく曲進が可能となる。(3) To achieve the object of the present invention, the speed correction pattern determined by the steering wheel angle
The object can be achieved by setting the left and right reference speeds corresponding to the vehicle speed with respect to the steering wheel angle as shown in FIG. 8 so that the vehicle can be driven at the specified steering wheel angle at the set speed. Further, if the absolute values of the difference speeds between the inside speed and the outside speed are equal to the vehicle speed, the vehicle can turn without decelerating the vehicle speed at the time of turning.
【００２１】[0021]
【発明の実施の形態】図２に本発明請求項１の各輪駆動
車両の基本制御の一実施例を示す。左右の各輪８を独立
して駆動する電動機６及び７、及びこれ等の速度を検出
するセンサ１０，１１で構成される車両１と、前記６及
び７を単独で制御するインバータ４及び５に対し、車両
が直進走行時は運転士が操作するアクセルペダル２、こ
の出力を信号変換するトランスジューサ３の出力信号は
トルクパタンとして加算器１３及び１４に入力される。FIG. 2 shows an embodiment of the basic control of each wheel drive vehicle according to the first aspect of the present invention. The vehicle 1 is composed of electric motors 6 and 7 for independently driving the left and right wheels 8 and sensors 10 and 11 for detecting the speeds of the motors, and the inverters 4 and 5 for controlling the above 6 and 7 independently. On the other hand, when the vehicle is running straight, an output signal of an accelerator pedal 2 operated by a driver and an output signal of a transducer 3 for converting the output of the accelerator pedal 2 are input to adders 13 and 14 as a torque pattern.
【００２２】加算器１３はアクセルペダルからのトルク
パタンに対し、ステアリングハンドル９の指令でハンド
ル操作角に応じた速度補正パタンを発生するステアリン
グパタン発生器１２からの速度補正信号を加算又は減算
してインバータ４及び５に制御信号を渡して図６に示す
ような電動機のトルク−速度特性を得るようにする。こ
こで本発明の説明をする。１５は速度差補償器で速度セ
ンサ１０及び１１の速度差をトルク補正用パタンに変換
して出力するものである。直進走行中の条件で速度差が
ある限り補正用パタンは出力される。An adder 13 adds or subtracts a speed correction signal from a steering pattern generator 12 for generating a speed correction pattern in accordance with a steering angle of the steering wheel 9 in accordance with a command from the steering handle 9 with respect to a torque pattern from an accelerator pedal, and an inverter. Control signals are passed to 4 and 5 so as to obtain the torque-speed characteristics of the electric motor as shown in FIG. Here, the present invention will be described. A speed difference compensator 15 converts the speed difference between the speed sensors 10 and 11 into a torque correction pattern and outputs it. The correction pattern is output as long as there is a speed difference under the condition that the vehicle is traveling straight.
【００２３】１６は左右電動機の速度の大小を判別する
機能とこれに基づいて１５の出力を開閉する機能を有す
る。例えば本実施例では左右の速度差が生じた場合、低
い速度に合致するよう高い速度の電動機を制御する方式
をとっている。Reference numeral 16 has a function of determining the magnitude of the speed of the left and right electric motors and a function of opening and closing the output of 15 based on the function. For example, in the present embodiment, when a speed difference between the left and right occurs, a method of controlling a high-speed motor to match a low speed is adopted.
【００２４】例えば、左右の内、左側の電動機６の速度
が高い場合、速度大小判別１６−１が出力を出して開閉
機能１６−１ａを閉じる。これによって、１５の出力は
加算器１４へ入力しインバータ５を制御して左側の電動
機６の速度を低い電動機速度へ修正することにより、速
度差をなくし直進走行を維持させる作用を行うことが出
来る。For example, when the speed of the left motor 6 is high, the speed discrimination 16-1 outputs an output to close the open / close function 16-1a. Thus, the output of 15 is input to the adder 14 to control the inverter 5 to correct the speed of the left motor 6 to a lower motor speed, thereby eliminating the speed difference and maintaining the straight running. .
【００２５】図３に請求項２の各輪駆動車両の基本制御
の一実施例を示す。図中の１〜１６までは図２と同一作
用をするので省略する。番号１７は速度信号用アンプで
所定の車両速に達すると出力信号を出す。FIG. 3 shows an embodiment of the basic control of each wheel drive vehicle according to the present invention. 2 are the same as those in FIG. Reference numeral 17 denotes a speed signal amplifier which outputs an output signal when a predetermined vehicle speed is reached.
【００２６】番号１８はパタン切換器で１７から出力さ
れる所定の速度信号と車両の起動という条件でトルク指
令パタン又は速度指令パタンのどちらかを選択する。即
ち、起動という条件と速度０から所定の速度までという
条件で車速指令パタンを選択し、所定速度以上ではトル
ク指令パタンに切換ることにより、請求項２の所定の目
的を達成させている。Reference numeral 18 denotes a pattern switch which selects either a torque command pattern or a speed command pattern based on a predetermined speed signal output from 17 and the condition of starting the vehicle. That is, the vehicle speed command pattern is selected under the condition of starting and the speed from 0 to a predetermined speed, and when the speed is higher than the predetermined speed, the vehicle is switched to the torque command pattern, thereby achieving the predetermined object of the second aspect.
【００２７】図４に請求項３及び４の各輪駆動車両のス
テアリング時の速度補正方式の一実施例を示す。FIG. 4 shows an embodiment of a speed correction method at the time of steering of each wheel drive vehicle according to the third and fourth aspects.
【００２８】９はステアリングハンドル、１２はステア
リングパタン発生器である。９より入力されるステアリ
ングハンドルの操作に応じて補正パタン信号Ａ及びＢが
各々加算器１３及び１４へ入力される。加算器での作用
は請求項１の実施例で説明しているので省略する。Reference numeral 9 denotes a steering handle, and reference numeral 12 denotes a steering pattern generator. Correction pattern signals A and B are input to adders 13 and 14, respectively, in accordance with the operation of the steering wheel input from the input unit 9. The operation of the adder has been described in the first embodiment, and will not be described.
【００２９】ステアリングパタン発生器１２の作用は次
の如くである。The operation of the steering pattern generator 12 is as follows.
【００３０】１）ハンドル操作角を信号変換して出力す
る。1) The steering wheel operation angle is converted into a signal and output.
【００３１】２）ハンドル操作角速度を信号変換して出
力する（請求範囲４の場合）。2) The steering operation angular velocity is converted into a signal and output (in the case of claim 4).
【００３２】３）ハンドル角に応じたステアリングパタ
ンを作成する。3) Create a steering pattern according to the steering wheel angle.
【００３３】４）ステアリング角補正器１９の出力信号
Ｃ及びＤを受けて上記ステアリングパタンを補正して出
力信号Ａ及びＢを出力する。4) Receiving the output signals C and D of the steering angle corrector 19, the steering pattern is corrected and output signals A and B are output.
【００３４】ステアリング角補正器１９の作用は速度差
検出器２０の出力信号Ｅ及びステアリング角基準速度設
定器の出力信号（Ｆ）を受けてハンドル角度に対して車
両速度に対応する各々の電動機の速度差が等しくなるよ
うな補正信号Ｃ及びＤを出力する。The operation of the steering angle corrector 19 is based on the output signal E of the speed difference detector 20 and the output signal (F) of the steering angle reference speed setting device. The correction signals C and D are output so that the speed difference becomes equal.
【００３５】ステアリング角基準設定器２１の作用は車
両速度及びステアリングハンドル角度の入力信号を受け
て図８に示すようなハンドル角度にする車両速度に対応
する内側及び外側電動機の基準速度及びこれ等との速度
差ΔＶを出力する。The operation of the steering angle reference setting unit 21 is performed in response to the input signals of the vehicle speed and the steering wheel angle, and the reference speeds of the inner and outer motors corresponding to the vehicle speed for setting the steering wheel angle as shown in FIG. Is output.
【００３６】以上の如く作用により、曲進時に車両速度
に左右されずにハンドル角に対応したステアリング操作
が可能となると同時に曲進時に車両の減速なしに曲進が
可能となる。With the above-described operation, the steering operation corresponding to the steering wheel angle can be performed without being influenced by the vehicle speed at the time of turning, and at the same time, the turning can be performed without deceleration of the vehicle at the time of turning.
【００３７】図５に請求項５の各輪駆動車両のステアリ
ング時の速度補正方式の一実施例を示す。１〜２１は図
４と同じであるので省略する。FIG. 5 shows an embodiment of a speed correction method for steering of each wheel drive vehicle according to the fifth aspect. 1 to 21 are the same as in FIG.
【００３８】番号２２はステアリング角速度補正器であ
る。ステアリングパタン発生器１２より出力されるハン
ドル角速度に対応する補正パタン信号Ｇを作り１２へ入
力するものである。これによってハンドル操作速度の違
いによる運転条件を考慮した曲進行動を行う事が出来
る。Numeral 22 is a steering angular velocity corrector. The correction pattern signal G corresponding to the steering wheel angular velocity output from the steering pattern generator 12 is generated and input to the correction pattern signal 12. As a result, it is possible to perform a tune-advancing motion in consideration of driving conditions due to a difference in steering wheel operating speed.
【００３９】[0039]
【発明の効果】請求項１の本発明によれば、各輪の電動
機での駆動及び無限軌道を独立に電動機で駆動する車両
に於いて、車両の性能，走行安定性，車両の安全性の向
上に効果がある。According to the first aspect of the present invention, in a vehicle in which each wheel is driven by a motor and an endless track is independently driven by a motor, the performance, running stability, and safety of the vehicle are improved. Effective for improvement.
【００４０】請求項２の本発明によれば、左右各輪の電
動機駆動及び無限軌道を独立に電動機で駆動する車両に
於いて車両の性能向性に効果がある。According to the second aspect of the present invention, in a vehicle in which the motors of the left and right wheels are driven independently of each other and the endless tracks are independently driven by the motor, there is an effect on the performance characteristics of the vehicle.
【００４１】請求項３及び４の本発明によれば、左右各
輪の電動機駆動及び無限軌道を独立に電動機駆動する車
両に於いて、車両性能，走行安定性，車両の安全性の向
上に絶大な効果を有する。According to the third and fourth aspects of the present invention, in a vehicle in which each of the left and right wheels is driven by an electric motor and the endless track is independently driven by an electric motor, the vehicle performance, running stability, and vehicle safety are greatly improved. It has a great effect.
【００４２】請求項５の本発明によれば、左右各輪の電
動駆動及び無限軌道を独立に電動機駆動する車両に於い
て、車両性能，走行安定性，車両の安全性の向上に絶大
な効果を有する。According to the fifth aspect of the present invention, in a vehicle in which each of the left and right wheels is electrically driven and the endless track is independently driven by an electric motor, the vehicle performance, running stability, and safety of the vehicle are greatly improved. Having.
【図１】従来方式による各輪電動機駆動車両の制御回路
を示す回路図。FIG. 1 is a circuit diagram showing a control circuit of a vehicle driven by each wheel electric motor according to a conventional method.
【図２】本発明の実施例１による各輪電動機駆動車両の
制御回路を示す回路図。FIG. 2 is a circuit diagram showing a control circuit of each wheel motor driven vehicle according to the first embodiment of the present invention.
【図３】本発明の実施例２による車両起動時のパタン切
換回路を示す回路図。FIG. 3 is a circuit diagram showing a pattern switching circuit at the time of starting a vehicle according to a second embodiment of the present invention.
【図４】本発明の実施例３によるステアリング時の速度
補正回路を示す回路図。FIG. 4 is a circuit diagram illustrating a speed correction circuit during steering according to a third embodiment of the present invention.
【図５】本発明の実施例４によるステアリング時の速度
補正回路を示す回路図。FIG. 5 is a circuit diagram showing a speed correction circuit during steering according to a fourth embodiment of the present invention.
【図６】各輪の電動機出力特性と各輪の走行抵抗の違い
による各左右各輪の速度差のあることを示す特性図。FIG. 6 is a characteristic diagram showing that there is a speed difference between each left and right wheel due to a difference in motor output characteristics of each wheel and running resistance of each wheel.
【図７】各輪電動機駆動車両の出力特性と車両の起動時
の走行抵抗を示す特性図。FIG. 7 is a characteristic diagram showing output characteristics of each wheel motor driven vehicle and running resistance at the time of starting the vehicle.
【図８】ステアリングハンドル角度に対する車両速度に
対応した内側及び外側電動機の設定速度の関係を示す特
性図。FIG. 8 is a characteristic diagram showing a relationship between a steering wheel angle and a set speed of an inner motor and an outer motor corresponding to a vehicle speed.
１…車両、２…アクセルパタン、３…トランスデュー
サ、４，５…インバータ、６，７…電動機、８…車輪、
９…ハンドル、１０，１１…速度センサ、１２…ステア
リングパタン，ジェネレータ、１３，１４…信号加算
器、１５…速度差補償器、１６…速度大小判別器。DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Accel pattern, 3 ... Transducer, 4, 5 ... Inverter, 6, 7 ... Electric motor, 8 ... Wheels,
9 Handle, 10, 11 Speed sensor, 12 Steering pattern, generator, 13, 14 Signal adder, 15 Speed difference compensator, 16 Speed discriminator.
Claims (5)
る電動機を有し、該電動機を定トルク制御系又は定出力
制御系の構成によって制御を行う車両制御装置に於い
て、直進運転中、左右の電動機の速度が異なる場合、ど
ちらか一方の電動機速度に他方の電動機速度を合致させ
る速度制御を採り入れた事を特徴とする電動機駆動車両
の制御装置。In a vehicle control device having a motor for independently driving each of the left and right wheel drives or the endless track, and controlling the motor by a configuration of a constant torque control system or a constant output control system, the vehicle is running straight ahead. And a speed control for matching the speed of one of the motors with the speed of the other motor when the speeds of the left and right motors are different from each other.
いて、車両の起動時は、定トルク制御系又は定出力制御
系を定速度制御系に切換えて起動し起動完了後、所定の
速度に達した時、請求項１の制御方式に切換えることを
特徴とする電動機駆動車両の制御装置。In a vehicle having the control device according to the first aspect, when the vehicle is started, the constant torque control system or the constant output control system is switched to a constant speed control system and started. 2. A control device for a motor-driven vehicle, wherein the control method is switched to the control method according to claim 1 when the vehicle reaches a speed.
いて、ステアリング扱い時に於いて、ハンドル角度に対
して車両速度に対応した曲進内側と曲進外側の電動機各
々の基準速度を設定し、指定されたハンドル角度に於い
て車両速度に対する内側電動機及び外側電動機が基準速
度で運転されるようなステアリング時の速度制御を採用
したことを特徴とする電動機駆動車両の制御装置。3. A vehicle having the control system according to claim 1, wherein when steering is performed, the reference speed of each of the motors inside and outside the curve corresponding to the vehicle speed with respect to the steering wheel angle is set. A control device for a motor-driven vehicle, wherein speed control during steering is employed such that the inner motor and the outer motor are driven at a reference speed with respect to the vehicle speed at a designated steering wheel angle.
いて、車両速度に対し、上記内側電動機の速度差と、外
側電動機の速度差の絶対値が等しくなるような速度制御
を採用したことを特徴とする車両制御装置。4. A vehicle having a control system according to claim 3, wherein speed control is employed such that the absolute value of the speed difference between the inner motor and the outer motor is equal to the vehicle speed. A vehicle control device characterized by the above-mentioned.
置に於いて、ステアリングハンドルの操作角速度に応じ
た速度補正を速度制御に採り入れた事を特徴とする電動
機駆動車両の制御装置。5. A control device for a motor-driven vehicle according to claim 3, wherein a speed correction according to an operating angular speed of a steering wheel is incorporated in the speed control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10022955A JPH11225405A (en) | 1998-02-04 | 1998-02-04 | Controller of motor-driven vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10022955A JPH11225405A (en) | 1998-02-04 | 1998-02-04 | Controller of motor-driven vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH11225405A true JPH11225405A (en) | 1999-08-17 |
Family
ID=12097044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10022955A Pending JPH11225405A (en) | 1998-02-04 | 1998-02-04 | Controller of motor-driven vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH11225405A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007143350A (en) * | 2005-11-22 | 2007-06-07 | Hitachi Ltd | Electric drive vehicle |
| JP2007195386A (en) * | 2006-01-23 | 2007-08-02 | Nissan Motor Co Ltd | Driving force controller of electric vehicle and driving force control method of car and electric vehicle |
| JP2008109787A (en) * | 2006-10-26 | 2008-05-08 | Mitsubishi Heavy Ind Ltd | Electric vehicle, and its slip controller and control method |
| CN104002698A (en) * | 2014-05-09 | 2014-08-27 | 蚌埠市唐人机械科技有限公司 | Multi-wheel electric car differential controller |
| EP2792532A1 (en) * | 2013-04-16 | 2014-10-22 | ABB Oy | Preventing of slip in an electrically powered vehicle |
-
1998
- 1998-02-04 JP JP10022955A patent/JPH11225405A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007143350A (en) * | 2005-11-22 | 2007-06-07 | Hitachi Ltd | Electric drive vehicle |
| JP4736742B2 (en) * | 2005-11-22 | 2011-07-27 | 株式会社日立製作所 | Electric drive vehicle |
| JP2007195386A (en) * | 2006-01-23 | 2007-08-02 | Nissan Motor Co Ltd | Driving force controller of electric vehicle and driving force control method of car and electric vehicle |
| JP4687471B2 (en) * | 2006-01-23 | 2011-05-25 | 日産自動車株式会社 | Driving force control device for electric vehicle, automobile and driving force control method for electric vehicle |
| JP2008109787A (en) * | 2006-10-26 | 2008-05-08 | Mitsubishi Heavy Ind Ltd | Electric vehicle, and its slip controller and control method |
| EP2792532A1 (en) * | 2013-04-16 | 2014-10-22 | ABB Oy | Preventing of slip in an electrically powered vehicle |
| CN104002698A (en) * | 2014-05-09 | 2014-08-27 | 蚌埠市唐人机械科技有限公司 | Multi-wheel electric car differential controller |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR950015169B1 (en) | Control system for induction motor driven electric car | |
| US7472766B2 (en) | Regeneration control system | |
| US5294871A (en) | Electric motor control system | |
| JP3578019B2 (en) | Hybrid vehicle | |
| JPS61207838A (en) | Accelerator control apparatus for vehicle | |
| JPH0311944B2 (en) | ||
| JPS63291769A (en) | Control device for electric power steering gear | |
| US20040094342A1 (en) | Hybrid car control apparatus | |
| JP2002120743A (en) | Motor-driven power steering device | |
| JP3689195B2 (en) | Vehicle driving force control device | |
| JPH11225405A (en) | Controller of motor-driven vehicle | |
| JPH11241976A (en) | Control circuit of chassis dynamo meter | |
| JP2685644B2 (en) | Electric car | |
| JPS61115771A (en) | Controller for motor power steering system | |
| JPH1023615A (en) | Controller for driving of electric vehicle | |
| JP3399396B2 (en) | Motor control system | |
| JP2001103618A (en) | Controller of electric vehicle | |
| JP3783661B2 (en) | Hybrid vehicle | |
| JPH10197409A (en) | Method for controlling vehicle velocity of vehicle automatic-driving apparatus | |
| JPH06219312A (en) | Electrically driven power steering device | |
| JPH08308017A (en) | Controller for motor car | |
| JPH09308281A (en) | Motor drive control apparatus in electric vehicle | |
| JP2670626B2 (en) | Vehicle attitude control device | |
| JPH09230939A (en) | Method and device for controlling travel of unmanned vehicle | |
| JP2821312B2 (en) | Electric power steering control device |