JPH1189006A - Readhesion controller for idle running of electric vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an idle running readhesion controller of an electric vehicle, which can realize the optimum idle running readhesion control. SOLUTION: From a reference acceleration α0, the upper limit and the lower limit of acceleration are obtained. In an idle running readhesion control condition, a current command level Ii, which changes into a value obtained by multiplying a set gain to an output current command value Ip, when an instantaneous acceleration αis larger than the upper limit of acceleration and which changes into a value the same as that of a current command value Ir at the time of non-idle running when the instantaneous acceleration a is smaller than the lower limit of acceleration, is obtained from a selection switch 11 and then is input into a first-order delay system 12 to obtain an output current command value Ip. The output current command value Ip is so controlled that the instantaneous acceleration α may come between the upper limit value and the lower limit value of acceleration, and therefore the output current command value Ip never be held and the fluctuation is small.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle idling and re-adhesion control device for preventing an electric vehicle driven by an electric motor from slipping and sliding, and more particularly to a technique for realizing an optimum control state as the slip and re-adhesion control. It is.

[0002]

2. Description of the Related Art FIG. 19 shows, for example, Mitsubishi Electric Technical Report Vol.
It is a block diagram for demonstrating operation | movement of the idling re-adhesion control apparatus described on page 114 of No.4,1992. In this example, it is assumed that the four wheels of the driving wheel axle, that is, four induction motors are driven by one inverter, and that the slipping re-adhesion is obtained. PG1 to PG4 are pulse generators for detecting the number of revolutions of each induction motor, 1 is a filter processing unit for removing noise components included in output signals of PG1 to PG4, and 2 is an output signal of the filter processing unit 1. And calculates the speed of each axle driven by each induction motor.

[0003] Reference numeral 3 denotes a high-priority logic unit for selecting the maximum axle speed from the axle speeds fm1 to fm4 calculated by the axle speed calculation unit 2, and 4 denotes the minimum axle speed from the speeds fm1 to fm4. , A reference axis speed calculator for setting the axle speed to the reference axis speed V0, a reference acceleration calculator for inputting the reference axis speed V0 and calculating a reference acceleration α0, and a reference speed calculator 6 for using the speeds fm1 to fm4. Each axis acceleration calculator 7 calculates the accelerations α1 to α4 of each axle, and 7 is an adder that calculates a speed deviation ΔV between the maximum axle speed and the minimum axle speed.
8 is a speed deviation ΔV, a reference axis speed V0, a reference acceleration α0,
Based on the respective axis accelerations α1 to α4, it is determined whether the wheel corresponding to each axle is idling, and if it is determined that the wheel is idling, the current command value Ip for driving the induction motor is changed, and from the idling state to the re-adhesion state Is a slip re-adhesion control unit that shifts to.

[0004] Next, the operation when one-axis idling occurs will be described. It is assumed that an n-axis wheel of the four axes idles. When the slip occurs, the n-axis speed Vn changes as shown in the upper row of the slip / re-adhesion controller 8, and the n-axis acceleration changes like αn in the second row from the top. In the slip, the speed deviation ΔV is equal to or larger than a set value (for example, 2 km / hr + F (V 0), F (V 0) is a function of V 0) or the axial acceleration is a slip detection level (for example, K 1 * α 0). , K1 are constants) or more. Normally, the acceleration changes temporally faster than the shaft speed. Therefore, when the shaft acceleration becomes equal to or higher than the slip detection level, it is determined that the wheel is idling. This point is point A.

When the idling is detected, the current command value Ip is set to a predetermined time constant τ (eg,
τ = F (Δα1)). By doing so, the current command value Ip becomes smaller, so that αn also becomes smaller and becomes smaller than the idling detection level. This point is point B. Here, the point C is a point in time when αn becomes smaller than the return detection level (for example, α0−K2, K2 is a constant). After point C, the current command value Ip is set to a predetermined time constant τ (for example, τ = F (Δα
2)) Return with first order delay.

When idling occurs, the inverter is operated under the constant V / f control having the function of correcting the slip frequency of the induction motor using the current command value Ip and the deviation between the current command value Ip and the actual current. Therefore, when idling occurs, the torque of the induction motor is reduced, and the spinning wheels are re-adhered. After the re-adhesion, when the current command value Ip returns to the value before the slip detection, the torque also returns to the value before the slip. When the idling and re-adhesion control unit 8 detects the idling again during the return, the current command value is narrowed down and held as described above, and then the operation returns. FIG. 20 is a time chart showing the operation at the time of the slip re-adhesion control by the conventional slip re-adhesion control device.

[0007]

The conventional spinning and re-adhesion control device has the above configuration and operation. The slip re-adhesion control device has improved slip re-adhesion control characteristics, has a sufficient performance, and has been used in many applications. However, if the operation at the time of idling re-adhesion is reviewed from the viewpoint of further improving the adhesion control characteristics, the current command value I
It is desirable that the holding period of p be zero. If the condition of the road surface has not been recovered, the idling readhesion control is repeated. The change in the current command value at this time is relatively large, and as a result, the torque generated by the induction motor also changes. If the change in the current command value is reduced and the current command value according to the road surface condition at that time can be maintained, an optimal control state is obtained as the idling re-adhesion control. SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide an idling re-adhesion control device for an electric vehicle that can realize an optimal control state as the slip re-adhesion control.

[0008]

According to the first aspect of the present invention, there is provided an idling re-adhesion control apparatus for an electric vehicle in which a single inverter drives a predetermined number of induction motors corresponding to a predetermined number of wheel shafts in parallel. The slip control device outputs a reference control signal, an instantaneous acceleration signal, and a first control signal indicating whether or not the vehicle is in a slip detection state, based on each axle speed. A slip detection unit that outputs a second control signal indicating whether or not the vehicle is in the slip re-adhesion control state based on the deviation of the command value and the first control signal; When the output current command value is increased, a first current command level which is a value obtained by multiplying the output current command value by the set gain is output.
A hysteresis comparator that outputs a second current command level equal to the current command value during non-idling when the instantaneous acceleration is smaller than the acceleration lower limit value obtained from the reference acceleration; and that the first control signal is in the idling detection state. When it is indicated, a third current command level smaller than the first current command level is output, and then a second current command level is output until the instantaneous acceleration becomes larger than the acceleration upper limit value. During a period in which the signal indicates that the vehicle is in the idling readhesion control state, a first selection switch for outputting a current command level output from the hysteresis comparator and a current command level output from the first selection switch are input. A first-order lag system that outputs a current command value during idling, and a period in which the second control signal indicates that it is in the idling re-adhesion control state A current command value output from the first-order lag system, the other periods in which and a second selection switch for outputting the current command value at the time of non-idle as an output current command value.

A second aspect of the present invention relates to an idle rotation re-adhesion control device for a case where a single inverter drives a predetermined number of induction motors corresponding to a predetermined number of wheel shafts in parallel. Outputs a reference control signal based on each axle speed, an instantaneous acceleration, and a first control signal indicating whether or not an idling detection state is detected. An idle detection unit that outputs a second control signal indicating whether or not the vehicle is in an idle re-adhesion control state based on the first control signal; A first torque command level which is a value obtained by multiplying an output torque command value by a set gain is output, and when the instantaneous acceleration becomes smaller than an acceleration lower limit value obtained from the reference acceleration, A hysteresis comparator for outputting a second torque command level equal to the torque command value, and a third torque command level smaller than the first torque command level when the first control signal indicates that the idling is detected. And then outputs a second torque command level until the instantaneous acceleration becomes larger than the acceleration upper limit value. After that, the hysteresis comparator outputs a second control signal indicating that the second control signal is in the idling re-adhesion control state. A first selection switch that outputs a torque command level to be output, a first-order lag system that receives the torque command level output from the first selection switch and outputs a torque command value during idling, and a second control The torque command value output from the first-order lag system is used during the period in which the signal indicates that the wheel is in the idling readhesion control state. In which and a second selection switch for outputting the torque command value at the time of rolling as an output torque command value.

An anti-skid re-adhesion control device for an electric vehicle according to a third aspect of the present invention is a slip-re-adhesion control device when a predetermined number of induction motors corresponding to a predetermined number of wheel shafts are operated in parallel by one inverter. Output a first control signal indicating whether or not the vehicle is in an instantaneous acceleration and idling detection state on the basis of each axle speed; further, a deviation between a current command value and an output current command value during non-idling and a first control An idling detection unit that outputs a second control signal indicating whether or not the vehicle is in a slipping and re-adhesion control state based on a signal; a torque calculator that calculates a torque command value from an output current command value; A subtractor for subtracting the calculated torque command value and load torque, a divider for dividing the output of the subtractor by an equivalent moment of inertia at the time of adhesion to obtain a reference acceleration, and an instantaneous acceleration for obtaining the instantaneous acceleration from the reference acceleration. Be A first current command level that is a value obtained by multiplying the output current command value at that time by the set gain when the speed becomes larger than the upper speed limit value is output, and when the instantaneous acceleration becomes smaller than the acceleration lower limit value obtained from the reference acceleration, A hysteresis comparator that outputs a second current command level equal to the current command value during idling, and a first control signal when the first control signal indicates that the idling is detected.
A third current command level smaller than the current command level is output, and then a second current command level is output until the instantaneous acceleration becomes larger than the acceleration upper limit value.
A first selection switch for outputting a current command level output from the hysteresis comparator during a period in which the control signal of the first control signal indicates that the vehicle is in the idling readhesion control state;
And a first-order lag system that inputs the current command level output from the selection switch and outputs a current command value at the time of idling, and a first-order lag system during which the second control signal indicates that it is in the idling re-adhesion control state. And a second selection switch for outputting a current command value output from the motor as a current command value during non-idling as an output current command value during other periods.

[0011] An anti-slip re-adhesion control device for an electric vehicle according to a fourth aspect of the present invention is an anti-slip re-adhesion control device in which a single inverter drives a predetermined number of induction motors corresponding to a predetermined number of wheel shafts in parallel. And outputting a first control signal indicating whether or not the vehicle is in an instantaneous acceleration and idling detection state based on each axle speed, furthermore, a deviation between a torque command value and an output torque command value during non-idling and a first control. An idle detection unit that outputs a second control signal indicating whether or not the vehicle is in an idle rotation re-adhesion control state based on a signal; a subtractor that subtracts an output torque command value and a load torque; and an output of the subtractor. When the instantaneous acceleration is greater than the acceleration upper limit obtained from the reference acceleration, the output torque command value at that time is multiplied by the set gain. A hysteresis comparator for outputting a first torque command level as a value, and outputting a second torque command level equal to the non-idling torque command value when the instantaneous acceleration becomes smaller than an acceleration lower limit value obtained from the reference acceleration; When the first control signal indicates that the vehicle is in the idling detection state, a third torque command level smaller than the first torque command level is output, and then the second torque command level is output until the instantaneous acceleration becomes larger than the acceleration upper limit value. A first selection switch that outputs a torque command level output from the hysteresis comparator during a period in which the second control signal indicates that the vehicle is in the idling re-adhesion control state. First-order lag of inputting torque command level output from first selection switch and outputting torque command value during idling And a torque command value output from the first-order lag system during a period in which the second control signal indicates that the vehicle is in the idling re-adhesion control state, and a torque command value during non-slip operation during the other periods. And a second selection switch that outputs the data as

According to a fifth aspect of the present invention, in the electric vehicle idling re-adhesion control device according to the first or third aspect of the invention, the time constant of the first-order lag system is such that the first or third current from the first selection switch is changed. When the command level is output, it is set to be shorter than when the second current command level is output from the first selection switch.

According to a sixth aspect of the present invention, there is provided the idling re-adhesion control device for an electric vehicle according to the second or fourth aspect of the invention, wherein the time constant of the first-order lag system is obtained by setting the first or third torque from the first selection switch. When the command level is output, it is set to be shorter than when the second torque command level is output from the first selection switch.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below. Embodiment 1 FIG. FIG. 1 is a block diagram showing an idling re-adhesion control device for an electric vehicle according to Embodiment 1 of the present invention. In the figure, 9 is the speed fm of each axle as in the conventional example.
1 to fm4, a slip detection unit 10 for determining the adhesion state of each wheel; a hysteresis comparator 10 which receives the reference acceleration α0 and the instantaneous acceleration α output from the slip detection unit 9 and outputs a current command level Ih; Numeral 11 designates one of the current command levels Ih, Io, Ir as a control signal csw1, c
A first selection switch selected by sw2, 12 is a first-order lag system of a time constant tc, 13 is a first selection switch which selects one of the current command value Is and the current command value Ir output from the first-order lag system 12 by a control signal csw2. 2 is a selection switch. Here, the current command value Ir is a current command value during non-idling.

FIG. 2 is a block diagram showing the configuration of the idling detecting section 9. As shown in FIG. 2, parts corresponding to those in FIG. 20 are denoted by the same reference numerals, and detailed description thereof will be omitted. In the figure, reference numeral 14 denotes a reference acceleration α obtained by the reference acceleration calculation unit 5
0 and the respective axis accelerations α1 to α4 obtained by the respective axis acceleration calculators 6 are inputted, and it is determined whether or not each axis is idling as in the conventional example, and each axis acceleration α1 to α4 is calculated from the reference acceleration α0. The idle rotation detection signal generator 15 outputs the idle rotation detection signals cs1 to cs4 at “1” during a period in which the idle rotation detection level is equal to or more than the determined idle rotation detection level.
And outputs a logical sum of them as a control signal csw1. Reference numeral 16 denotes an average value calculator for inputting each of the axial accelerations α1 to α4 and outputting an average value thereof as an instantaneous acceleration α, and 17 calculates a deviation ΔI between the current command value Ir and the output current command value Ip during non-idling. The subtractor 18 is a slip / re-adhesion control state discriminator that receives a control signal (slip detection signal) csw1 and a current deviation ΔI and outputs a control signal csw2 representing a slip / re-adhesion control state based on those signals.

Next, the operation of the idling readhesion control device for a vehicle shown in FIG. 1 will be described. As shown in FIG. 3, during the period from time t1 to time t2, the adhesive force of all the four axes decreases and the four axes idle, and the adhesive force increases from time t2 to the state before idling. Assume the operation until returning. When the adhesive force decreases at time t1, as shown in FIG. 3, each axis acceleration calculated by each axis acceleration calculation unit 6 of the slip detection unit 9 (when all axes spin, each axis acceleration α1 to α4 is calculated as an average value). Since it is equivalent to the instantaneous acceleration α calculated by the unit 16, it is set to α in the figure). Thereafter, when the instantaneous acceleration α becomes higher than the slip detection level (point A in FIG. 3), the output signals cs1 to cs1 of the slip detection signal generator 14 of the slip detector 9 are output.
cs4 becomes “1”, and the control signal csw1 output from the OR circuit 15 also becomes “1”. And the discriminator 18
The control signal csw2 output from the control signal csw1
Becomes “1” at the same time as “1”.

The hysteresis comparator 10 has an input / output relationship as shown in FIG. Now, the train is in a power running state because it is assumed that the vehicle is idling, but the power running will be described. Set gains Kp1 and K to reference acceleration α0
The acceleration upper limit value αd and the acceleration lower limit value αu are determined by multiplying p2. The current command level Ih, which is an output, is either I1 or I2. Here, I1 is a value obtained by multiplying the current command value Ip by the set gain Gp, and I2 is a current command value Ir during non-idling. During braking, the set gains kp1, kp2, and Gp are set to kb1, kb2, and Gb, respectively.

The first selection switch 11 controls the control signal cs
w1 and csw2, three types of current command levels Ih and I
One of o and Ir is selected as the current command level Ii according to the logic table of FIG. Here, Io is the current command level when the control signal csw1 is "1", and is set to zero or the exciting current as in the conventional case. The first-order lag system 12 is a first-order lag system with a time constant tc, and receives a current command value Ii and outputs a current command value Is during idling control. At this time, as the time constant tc, Ii = Io, Ii
When I = I1, a short value ts is set, and when Ii = Ir, a longer value tl is set. Second selection switch 1
3 are two kinds of current command values I by the control signal csw2.
One of s and Ir is selected as the current command value Ip according to the logic table of FIG.

After detecting the point A in FIG. 3, the current command level Ii becomes Io, the time constant tc is set to ts, and the current command value Is decreases. Since the idling has been detected, the current command value I
Since p becomes Is, the current command value Ip also decreases, and the torque generated by the induction motor driven by the current command value Ip also decreases. Therefore, the instantaneous acceleration α also decreases, and becomes smaller than the idling detection level at the point B. At this point, the idling detection signal c
sw1 becomes “0”. Thereafter, the current command value Ii becomes Ir
And the time constant tc is set to tl, and the current command value Ip
= Is starts to increase. Due to the control delay, the instantaneous acceleration α begins to increase after the current command value Ip starts to increase for a while and then decreases.

Thereafter, when the instantaneous acceleration α exceeds the acceleration upper limit value αd at the point C, the current command level Ih output from the hysteresis comparator 10 becomes I1, and the time constant t
c is set to ts, and the current command value Ip decreases again.
The current command value Ip for obtaining I1 is a value at point C. As a result, the instantaneous acceleration α starts to decrease as in the case of the slip detection, and when it becomes smaller than the lower acceleration limit αu at the point D, the current command level Ih output from the hysteresis comparator 10 becomes I2 = Ir and the time constant tc becomes tl, and the current command value Ip increases again. Thereafter, until the adhesive force increases at time t2, the above points C and D
Repeat point detection.

When the adhesive force increases at time t2, the current command value Ip also increases, and the current command value Ip is calculated by the subtractor 17 of the idling detection unit 9.
I approaches zero. In this case, when this ΔI becomes smaller than the set value, the control signal cs
It is assumed that w2 is set to “0” and the re-adhesion control is completed.
At this time, the current command level Ii output from the first selection switch 11 becomes Ir, and the second selection switch 13
The output current command value Ip is also Ir.

As described above, according to the electric vehicle re-adhesion control device shown in FIG. 1, the output current command value Ip is controlled so that the instantaneous acceleration α falls between the acceleration upper limit value and the acceleration lower limit value.
The holding period of the current command value Ip can be made zero, the fluctuation width of the current command value Ip can be made small, and an optimal control state can be realized as the idling re-adhesion control. Here, as can be seen from FIG. 20 showing a case where the same idling state as in FIG. 3 is controlled in the conventional example, a control signal (idling detection signal) in the conventional example.
Since the current command value Ip is controlled every time csw1 becomes “1”, the fluctuation range of the current command value Ip is large, and the holding period of the current command value Ip is provided. Not being used effectively.

Embodiment 2 FIG. FIG. 7 shows a configuration of an idling re-adhesion control device for an electric vehicle as a second embodiment of the present invention. 1 has a function of using the current command value Ip as in the conventional example and correcting the slip frequency of the induction motor based on a deviation between the current command value Ip and the actual current. The slip / re-adhesion control device when the inverter is operated under constant V / f control is the same. The slip / re-adhesion control device for an electric vehicle shown in FIG. 7 is a slip / re-adhesion control device when the induction motor is vector-controlled. . In this case, the current command value is merely changed to the torque command value, and the configuration, operation, and effects are the same as those in the first embodiment.

Therefore, although detailed description is omitted, FIG.
The electric vehicle idling and re-adhesion control device shown in FIG. 1 is a current command level Ih,
Io, Ii and current command values Is, Ir, Ip are respectively converted into torque command levels Th, To, Ti, and torque command value T.
s, Tr, and Tp. FIG.
12 are diagrams corresponding to FIGS. 2 to 6, respectively.
The same applies to these figures. In FIGS. 7 and 8, portions corresponding to those in FIGS. 1 and 2 are denoted by reference numerals with "A" added to the reference numerals in FIGS.

Embodiment 3 FIG. 13 shows a configuration of an idling re-adhesion control device for an electric vehicle according to Embodiment 3 of the present invention. In the idling readhesion control device for the electric vehicle shown in FIG. 1 described above, the reference acceleration input to the hysteresis comparator 10 is calculated by the reference acceleration α calculated by the slip detection unit 9.
Although it is the same as 0, the reference acceleration is set separately from the idling re-adhesion control device for the electric vehicle shown in FIG. In FIG. 13, 19 is a torque calculator for calculating a torque command value Tp by inputting a current command value Ip, 20 is a subtractor for subtracting the torque command value Tp and the load torque Tl, and 21 is an equivalent moment of inertia when sticking. This is a divider for dividing Tp-Tl by J. Other configurations of the slip control device of the electric vehicle shown in FIG. 13 are the same as those of the slip control device of the electric vehicle shown in FIG.

Next, the operation of the idling re-adhesion control device for an electric vehicle shown in FIG. 13 will be described. When the current command value Ip is determined, the current command value Ip can be converted into the torque command value Tp by the torque calculator 19 using the characteristics of the induction motor that is operating. The load torque T1 is determined from the running resistance and the gradient resistance of the electric vehicle if the train position and the train speed are known. Further, the equivalent moment of inertia J at the time of sticking is also determined if the structure of the induction motor, the axle load on the axle, the gear ratio, and the wheel diameter are known. Alternatively, the equivalent moment of inertia J during sticking can be calculated from the instantaneous acceleration α during sticking as (Tp−Tl) / α. In the divider 21, the reference acceleration α01 is obtained by using these calculation results. Note that the acceleration lower limit αu and the acceleration upper limit αd of the hysteresis comparator 10 are
Are αu = kp1 · α01 and αd = kp2 · α01, respectively. Other operations of the electric vehicle's anti-skid re-adhesion control device shown in FIG. 13 are the same as those of the electric vehicle's anti-skid re-adhesion control device shown in FIG. 1, and similar effects can be obtained.

Embodiment 4 FIG. 14 shows a configuration of a slip and re-adhesion control device for an electric vehicle according to Embodiment 4 of the present invention. 7, the reference acceleration input to the hysteresis comparator 10 is calculated by the reference acceleration α calculated by the slip detection unit 9.
Although it is the same as 0, the reference acceleration is set separately from the idling re-adhesion control device of the electric vehicle shown in FIG. In FIG. 14, 20A is a subtractor for subtracting the torque command value Tp and the load torque Tl,
21A is a divider for dividing Tp-Tl by an equivalent moment of inertia J at the time of adhesion. Other configurations of the slip control device for the electric vehicle shown in FIG. 14 are the same as those of the slip control device for the electric vehicle shown in FIG.

Next, the operation of the idling re-adhesion control device for an electric vehicle shown in FIG. 14 will be described. The load torque T1 is determined from the running resistance and the gradient resistance of the electric vehicle if the train position and the train speed are known. In addition, the equivalent moment of inertia J
This can be determined by knowing the structure of the induction motor, the axle load on the axle, the gear ratio, and the wheel diameter. Alternatively, the equivalent moment of inertia J during sticking is calculated from the instantaneous acceleration α during sticking by (Tp−T
l) / α. In the divider 21A,
Using these calculation results, a reference acceleration α01 is obtained. Note that the acceleration lower limit value αu and the acceleration upper limit value αd of the hysteresis comparator 10 are respectively αu = kp1 · α0
1, αd = kp2 · α01. Other operations of the electric vehicle anti-skid re-adhesion control device shown in FIG. 14 are the same as those of the electric vehicle anti-skid re-adhesion control device shown in FIG. 7, and the same effects can be obtained.

Embodiment 5 The anti-slip re-adhesion control device for an electric vehicle shown in FIG. 1 assumes the anti-slip re-adhesion control when four wheels, that is, four induction motors are driven by one inverter, but depending on the train, The shaft, that is, two induction motors may be driven by one inverter. In this case, the process of the idling detection unit 9 in FIG. 1 may be changed as shown in FIG. 15 instead of FIG. For example, when the axle speeds of two axes are fm1 and fm2, only the respective axis accelerations α1 and α2 are output from the respective axis acceleration calculators 6, and the instantaneous acceleration α is the average value of the respective axis accelerations α1 and α2. The calculation is performed by the calculation unit 18.

Embodiment 6 FIG. The anti-slip re-adhesion control device for an electric car shown in FIG. 2 assumes the anti-slip re-adhesion control when four wheels, that is, four induction motors are driven by one inverter. The shaft, that is, two induction motors may be driven by one inverter. In this case, the processing of the idling detection unit 9A in FIG.
Instead of FIG. 8, it may be changed as shown in FIG.
For example, when the axle speeds of two axes are fm1 and fm2,
Only the respective axis accelerations α1, α2 are output from the respective axis acceleration calculators 6A, and the instantaneous acceleration α is calculated by the average value calculator 16A as an average value of the respective axis accelerations α1, α2.

Embodiment 7 The anti-slip re-adhesion control device for an electric vehicle shown in FIG. 1 assumes the anti-slip re-adhesion control when four wheels, that is, four induction motors are driven by one inverter. The shaft, that is, one induction motor may be driven by one inverter. In this case, the process of the slip detection unit 9 in FIG. 1 may be changed as shown in FIG. 17 instead of FIG. For example, when the axle speed of one axis is fm1, only the axis acceleration α1 is output from each axis acceleration calculator 6, and the instantaneous acceleration α is equal to this axis acceleration α1. That is, the average value calculation unit 16 becomes unnecessary. Also, the OR circuit 15 is not required.

Embodiment 8 FIG. The anti-slip re-adhesion control device for an electric vehicle shown in FIG. 1 assumes the anti-slip re-adhesion control when four wheels, that is, four induction motors are driven by one inverter. The shaft, that is, one induction motor may be driven by one inverter. In this case, the processing of the idling detection unit 9A in FIG.
Instead of FIG. 8, it may be changed as shown in FIG.
For example, when the axle speed of one axis is fm1, only the axis acceleration α1 is output from each axis acceleration calculation unit 6A, and the instantaneous acceleration α is equal to this axis acceleration α1. That is, the average value calculation unit 16A becomes unnecessary. The OR circuit 15A
Is also unnecessary.

Embodiment 9 In addition, the above first to third embodiments
8 describes the operation at the time of idling, but can also be applied at the time of gliding during braking operation. Also, the setting constants kp1,
Usually, kp2, Gp, kb1, kb2, Gb, ts, tl, and the like are set to constant values. However, depending on the case, they may be functions of the reference axis speed and each axis acceleration. In this case, similarly, the slip / re-adhesion control can be performed by the slip / re-adhesion control device described in each of the above embodiments. The processing of the slip / re-adhesion control device according to the present invention is realized by software using a microcomputer, a digital signal processor, or the like.

[0034]

According to the first aspect of the present invention, when the instantaneous acceleration is greater than the acceleration upper limit value in the idling re-adhesion control state, the instantaneous acceleration changes to a value obtained by multiplying the output current command value by the set gain. When the instantaneous acceleration becomes smaller than the acceleration lower limit value, a current command level that changes to a value equal to the current command value at the time of non-idling is obtained, and this current command level is input to a first-order lag system to obtain an output current command value. The output current command value is controlled so that the instantaneous acceleration falls between the acceleration upper limit value and the acceleration lower limit value obtained from the reference acceleration, and the holding period of the output current command value can be made zero. The fluctuation range of the command value can also be reduced, and an optimal control state can be realized as the slip re-adhesion control.

According to the second aspect of the present invention, when the instantaneous acceleration is larger than the acceleration upper limit value in the idling readhesion control state, the instantaneous acceleration changes to a value obtained by multiplying the output torque command value at that time by the set gain. When the acceleration becomes smaller than the acceleration lower limit value, a torque command level that changes to a value equal to the torque command value at the time of non-idling is obtained, and this torque command level is input to a first-order lag system to obtain an output torque command value. Control the output torque command value so that the instantaneous acceleration falls between the acceleration upper limit value and the acceleration lower limit value obtained from the reference acceleration. The holding period of the output torque command value can be set to zero. Can be reduced,
The optimum control state can be realized as the slip re-adhesion control.

According to the third aspect of the present invention, when in the idling readhesion control state, when the instantaneous acceleration becomes larger than the acceleration upper limit value, the output current command value at that time is changed to a value obtained by multiplying by the set gain, and the instantaneous acceleration is changed. When the acceleration is smaller than the acceleration lower limit value, a current command level that changes to a value equal to the current command value at the time of non-idling is obtained, and this current command level is input to a first-order lag system to obtain an output current command value. Controlling the output current command value so that the instantaneous acceleration falls between the acceleration upper limit value and the acceleration lower limit value obtained from the reference acceleration, similarly to the first aspect of the present invention. It can be set to zero, the fluctuation range of the output current command value can be reduced, and an optimum control state can be realized as the idling readhesion control.

According to the fourth aspect of the present invention, when the instantaneous acceleration is larger than the acceleration upper limit value in the idling readhesion control state, the instantaneous acceleration changes to a value obtained by multiplying the output torque command value at that time by the set gain, and When the acceleration becomes smaller than the acceleration lower limit value, a torque command level that changes to a value equal to the torque command value at the time of non-idling is obtained, and this torque command level is input to a first-order lag system to obtain an output torque command value. Controlling the output torque command value so that the instantaneous acceleration falls between the acceleration upper limit value and the acceleration lower limit value obtained from the reference acceleration. The output torque command value can be reduced to zero, and the fluctuation range of the output torque command value can be reduced, so that an optimal control state can be realized as the idling readhesion control.

According to the fifth aspect of the present invention, in the first or third aspect of the invention, the time constant of the first-order lag system is such that when a current command level of a value obtained by multiplying an output current command value by a set gain is input, It is shorter than when a current command level equal to the current command value during non-slip is input, and the output current command value in the slip / re-adhesion control state can be gradually increased, and the slip / re-adhesion control can be performed satisfactorily. There are effects that are performed.

According to the invention of claim 6, in the invention of claim 2 or 4, the time constant of the first-order lag system is such that when a torque command level of a value obtained by multiplying an output torque command value by a set gain is input, It is shorter than when the torque command level equal to the torque command value during non-slip is input, and the output torque command value in the slip / re-adhesion control state can be gradually increased, and the slip / re-adhesion control can be performed well. There are effects that are performed.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of an idling re-adhesion control device for an electric vehicle according to a first embodiment of the present invention.

FIG. 2 is a time chart showing an operation at the time of idling readhesion control according to the first embodiment.

FIG. 3 is a block diagram illustrating a configuration of an idling detection unit according to the first embodiment.

FIG. 4 is a diagram showing an input / output relationship of a hysteresis comparator in the first embodiment.

FIG. 5 is a diagram showing a switching relationship of a first selection switch according to the first embodiment.

FIG. 6 is a diagram showing a switching relationship of a second selection switch according to the first embodiment.

FIG. 7 is a block diagram showing a configuration of an idling re-adhesion control device for an electric vehicle according to Embodiment 2 of the present invention.

FIG. 8 is a time chart showing an operation at the time of idling readhesion control according to the second embodiment.

FIG. 9 is a block diagram illustrating a configuration of an idling detection unit according to the second embodiment.

FIG. 10 is a diagram showing an input / output relationship of a hysteresis comparator according to the second embodiment.

FIG. 11 is a diagram showing a switching relationship of a first selection switch according to the second embodiment.

FIG. 12 is a diagram illustrating a switching relationship of a second selection switch according to the second embodiment.

FIG. 13 is a block diagram showing a configuration of an idling re-adhesion control device for an electric vehicle according to Embodiment 3 of the present invention.

FIG. 14 is a block diagram showing a configuration of an idling re-adhesion control device for an electric vehicle according to Embodiment 4 of the present invention.

FIG. 15 is a block diagram showing a configuration of a spin detection unit according to a fifth embodiment.

FIG. 16 is a block diagram showing a configuration of a spin detection unit according to a sixth embodiment.

FIG. 17 is a block diagram illustrating a configuration of a slip detection unit according to a seventh embodiment.

FIG. 18 is a block diagram showing a configuration of a spin detection unit according to an eighth embodiment.

FIG. 19 is a block diagram showing a conventional example of a slip re-adhesion control device.

FIG. 20 is a time chart showing an operation at the time of slip re-adhesion control by the conventional slip re-adhesion control device.

[Explanation of symbols]

Reference Signs List 1 filter processing unit, 2 axle speed calculation unit, 3 high-priority logic unit, 4 reference axis speed calculation unit, 5 reference acceleration calculation unit, 6 each axis acceleration calculation unit, 7 adder, 8 idle re-adhesion control unit, 9 idle rotation Detection unit, 10 hysteresis comparator, 11 first selection switch, 12 primary delay system, 1
3 second selection switch, 14 idling detection signal generator,
15 logical sum circuit, 16 average value calculation circuit, 17, 20
Subtractor, 18 idling re-adhesion control state discriminator, 19 torque calculator, 21 divider.

Claims (6)

[Claims] 1. An idling and re-adhesion control device in which one inverter drives a predetermined number of induction motors corresponding to a predetermined number of wheel shafts in parallel, wherein a reference acceleration, an instantaneous acceleration and a slipping are determined based on each axle speed. It outputs a first control signal indicating whether or not it is in a detection state, and is in an idling re-adhesion control state based on a deviation between the current command value and the output current command value in the non-slip state and the first control signal. An idling detection unit that outputs a second control signal indicating whether the instantaneous acceleration is greater than an acceleration upper limit value obtained from the reference acceleration, and a value obtained by multiplying the output current command value at that time by a set gain. And when the instantaneous acceleration becomes smaller than an acceleration lower limit value obtained from the reference acceleration, a second current command level equal to the current command value at the time of non-idling is output. A hysteresis comparator that outputs a command level; and a third current command level that is smaller than the first current command level when the first control signal indicates that the idling is detected. The second current command level is output until the acceleration becomes larger than the acceleration upper limit value. After that, the hysteresis comparator outputs the second control signal during the period in which the second control signal indicates that the vehicle is in the idling re-adhesion control state. A first selection switch for outputting a current command level, a first-order lag system for receiving a current command level output from the first selection switch and outputting a current command value during idling, and a second control signal Is the idle command, the current command value output from the first-order lag system during the period indicating that it is in the slip-adhesion control state, and the non-slip Electric vehicle a current command value, characterized in that it comprises a second selection switch for outputting as the output current command value of idling readhesion control device. 2. An idling and re-adhesion control device in which a single inverter drives a predetermined number of induction motors corresponding to a predetermined number of wheel shafts in parallel, wherein a reference acceleration, an instantaneous acceleration and a slipping are calculated based on each axle speed. It outputs a first control signal indicating whether or not it is in a detection state, and is in an idling re-adhesion control state based on a deviation between a torque command value during non-idling and an output torque command value and the first control signal. An idling detection unit that outputs a second control signal indicating whether the instantaneous acceleration is greater than an acceleration upper limit value obtained from the reference acceleration, and a value obtained by multiplying the output torque command value at that time by a set gain. When the instantaneous acceleration becomes smaller than the acceleration lower limit value obtained from the reference acceleration, the first torque command level becomes equal to the non-idling torque command value. Second hysteresis comparator that outputs a torque command level, the first when the control signal indicates that the idling detection state of the first smaller third than the torque command level
And then outputting the second torque command level until the instantaneous acceleration becomes greater than the acceleration upper limit value. Further, the second control signal is in the idling re-adhesion control state. During the illustrated period, a first selection switch that outputs a torque command level output from the hysteresis comparator, and a torque command level output from the first selection switch are input and a torque command value during idling is output. The first-order lag system, the torque command value output from the first-order lag system during a period in which the second control signal indicates that the vehicle is in the idling re-adhesion control state, and the torque command during the non-slip period during other periods. And a second selection switch for outputting a value as the output torque command value. 3. An anti-skid re-adhesion control device in which one inverter drives a predetermined number of induction motors corresponding to a predetermined number of wheel axles in parallel, wherein the instantaneous acceleration and the slip detection are detected based on each axle speed. And outputting a first control signal indicating whether or not there is a slipping and re-adhesion control state based on the deviation between the current command value and the output current command value during non-slip and the first control signal. And a torque calculator for calculating a torque command value from the output current command value, and subtracting the torque command value and the load torque calculated by the torque calculator. A subtracter that performs the calculation; a divider that obtains a reference acceleration by dividing an output of the subtractor by an equivalent moment of inertia at the time of adhesion; and an instantaneous acceleration that is larger than an acceleration upper limit value that is obtained from the reference acceleration. A first current command level that is a value obtained by multiplying the output current command value at that time by a set gain, and when the instantaneous acceleration is smaller than an acceleration lower limit value obtained from the reference acceleration. And a third hysteresis comparator that outputs a second current command level equal to the current command value of the third current command level when the first control signal indicates the idling detection state. Outputting a current command level, then outputting the second current command level until the instantaneous acceleration becomes greater than the acceleration upper limit value, and further indicating that the second control signal is in an idling re-adhesion control state. A first selection switch for outputting a current command level output from the hysteresis comparator during the period of the operation, and a first selection switch for the first selection switch. A first-order lag system that inputs a current command level output from the first-order lag system and outputs a current command value at the time of idling, and a period during which the second control signal indicates that it is in the idling re-adhesion control state. A second selection switch for outputting the current command value to be output and the current command value in the non-slip state as the output current command value during other periods. . 4. An anti-skid re-adhesion control device in which a predetermined number of induction motors corresponding to a predetermined number of wheel axles are operated in parallel by a single inverter, wherein an instantaneous acceleration and a slip detection state are set based on each axle speed. And outputting a first control signal indicating whether or not there is a slipping re-adhesion control state based on the deviation between the torque command value and the output torque command value at the time of non-idling and the first control signal. A slip detection unit that outputs a second control signal indicating the following: a subtractor that subtracts the output torque command value and the load torque; and a reference acceleration obtained by dividing the output of the subtractor by an equivalent inertia moment when sticking. And a first torque command that is a value obtained by multiplying the output torque command value at that time by a set gain when the instantaneous acceleration is greater than an acceleration upper limit value obtained from the reference acceleration. A hysteresis comparator that outputs a second torque command level equal to the torque command value at the time of non-idling when the instantaneous acceleration is smaller than an acceleration lower limit value obtained from the reference acceleration. When the control signal indicates the idling detection state, the third torque smaller than the first torque command level is set.
And then outputting the second torque command level until the instantaneous acceleration becomes greater than the acceleration upper limit value. Further, the second control signal is in the idling re-adhesion control state. During the illustrated period, a first selection switch that outputs a torque command level output from the hysteresis comparator, and a torque command level output from the first selection switch are input and a torque command value during idling is output. The first-order lag system, the torque command value output from the first-order lag system during a period in which the second control signal indicates that the vehicle is in the idling re-adhesion control state, and the torque command during the non-slip period during other periods. And a second selection switch for outputting a value as the output torque command value. 5. The time constant of the first-order lag system is such that when the first or third current command level is output from the first selection switch, the second current command is output from the first selection switch. 4. The apparatus according to claim 1, wherein the level is set shorter than when the level is output. 6. The time constant of the first-order lag system is such that when the first or third torque command level is output from the first selection switch, the second torque command is output from the first selection switch. 5. The control device according to claim 2, wherein the level is set to be shorter than when the level is output. 6.