WO2007001079A1 - 電動車両 - Google Patents
電動車両 Download PDFInfo
- Publication number
- WO2007001079A1 WO2007001079A1 PCT/JP2006/313196 JP2006313196W WO2007001079A1 WO 2007001079 A1 WO2007001079 A1 WO 2007001079A1 JP 2006313196 W JP2006313196 W JP 2006313196W WO 2007001079 A1 WO2007001079 A1 WO 2007001079A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- motor
- electric
- control unit
- torque
- motors
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
-
- 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
- Y02T10/64—Electric machine technologies in electromobility
-
- 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
Definitions
- the present invention relates to an electric vehicle that drives the same shaft by two or more electric motors.
- Japanese Patent Laid-Open No. 2 04-14-135 371 discloses an electric vehicle configured to drive the same shaft by two independent drive sources, and there is an abnormality in one of the systems. If this occurs, a part of the output of the normal drive source is regenerated by the drive source in which the abnormality has occurred, and regenerative power is supplied to the auxiliary machine of the system gun in which the abnormality has occurred, allowing continuous running This technology is disclosed.
- the present invention can appropriately protect a circuit component such as an inverter in an electric vehicle that drives the same shaft by two or more electric motors when one of the electric motors is kept in a non-driving state and travel is continued.
- the purpose is to provide a control technology that can be used.
- an electric vehicle is an electric vehicle including a drive shaft that outputs a driving force, and at least two electric motors that output power to the drive shaft.
- the motor When the motor is in the non-driving state, it is characterized by comprising control means for performing torque limitation on the motor in the driving state based on the back electromotive force of the non-driving motor.
- the control means electrically cuts off the power supply path to the electric motor so that the electric motor is not driven.
- control means is characterized in that when there is an electric motor executing torque limitation, the torque limitation is canceled on the condition that it is determined that the vehicle is stopped.
- control means controls and releases the torque limit value so as to increase stepwise.
- a control device of the present invention is a control device for an electric vehicle including a drive shaft that outputs a driving force and at least two electric motors that output power to the drive shaft, and any one of the electric motors When the motor is in the non-driven state, torque limitation is performed on the motor in the driven state based on the back electromotive force of the motor in the non-driven state.
- FIG. 1 is a diagram showing a schematic configuration of an electric vehicle in the present embodiment.
- Figure 2 a flow chart of the operation control process in the first embodiment.
- Fig. 3 A flowchart of the operation control process in the first embodiment.
- FIG. 4 is a flowchart of the operation control process in the second embodiment.
- FIG. 5 is a flowchart of the operation control process in the second embodiment.
- Fig. 6 Flow chart of operation control processing in the second embodiment.
- FIG. 1 is an explanatory diagram showing a schematic configuration of the electric vehicle according to the present embodiment.
- This electric vehicle is equipped with two independent driving sources for outputting power, the right side and the left side.
- the left drive source has a polymer electrolyte fuel cell 2 2 as a main power source and a battery 21 as an auxiliary power source.
- the power supplied from these power sources is converted into AC by the inverter 24 as the drive circuit. And supplied to the AC motor 25.
- the right drive source has the same configuration.
- a fuel cell 3 2, a battery 3 1, an inverter 3 4, and an AC motor 3 5 are provided as the right drive source.
- the output characteristics and capacity of the right drive source and the left drive source are the same.
- Fuel gas to fuel cells 2 2 and 3 2 is supplied from a common hydrogen tank (not shown).
- the rotating shaft 26 of the motor 25 and the rotating shaft 36 of the motor 35 are connected to the gears 4 2 and 4 3 in the gear box 40, respectively.
- Gears 4 2 and 4 3 are spur gears that mesh with drive gear 4 1.
- the drive gear 41 is connected to the drive shaft 12.
- the power of each motor 25, 35 is output to the drive shaft 12 via each gear of the gear box 40, and is transmitted to each wheel 14 L, 14 R via the differential gear 13.
- each drive source is connected to auxiliary drive circuits 2 3 and 3 3 for receiving various power supplies and driving various auxiliary machines.
- Auxiliary drive circuits 2 3 and 3 3 consist of a pump that supplies fuel gas and cooling water to the fuel cells 2 2 and 3 2, an oil pump for power steering, an outlet for supplying power to the electrical equipment of the vehicle, and a battery 2 It has 1 cooling compressor, air-conditioning compressor, air-conditioning electric heater, and brake air compressor.
- the control unit 10 is configured as a microcomputer having CPU, ROM, and RAM inside, and controls the operation of each part of the vehicle according to a control program prepared in ROM.
- the control unit 10 of the present embodiment limits torque based on the back electromotive force of a non-driving motor relative to a driving motor when any motor is in a non-driving state. Is configured to run.
- the sensor signal input to the control unit 10 is as follows: accelerator opening sensor 1 1; vehicle speed sensor 1 2 s; motor speed sensor 2 5 s, 3 5 s; fuel cell 2 2 and 3 2 error Sensors for detection 2 2 s, 3 2 s; remaining capacity sensors 2 1 s, 3 1 s for detecting the remaining capacity (SOC) of batteries 2 1 and 3 1 are included.
- Output signals from the control unit 10 include output control signals for the fuel cells 2 2 and 3 2; control signals for the auxiliary drive circuits 2 3 and 3 3; control signals for the inverters 2 4 and 3 4 .
- FIGS 2 and 3 are flowcharts of the operation control process in the first embodiment.
- the operation control process is repeatedly executed by the control unit 10 while the electric vehicle is traveling or when the vehicle is stopped.
- each process (including partial processes to which no reference numerals are assigned) can be executed in any order or in parallel as long as there is no contradiction in the processing contents. The same applies to the examples.
- the control unit 10 acquires an accelerator opening, a vehicle speed, and the like as parameters used for control (step S 10).
- R means the value for the right side system
- L means the value for the left side system.
- the control unit 10 sets various required powers shown below based on these parameters (step S 1 2).
- the total required power P tr is a required power for driving the vehicle, and is set by referring to a map that gives the total required power P tr in advance in relation to the accelerator opening and the vehicle speed.
- Auxiliary machine powers P R a and P La are required powers for driving the auxiliary machines, and vary depending on the operating state of each auxiliary machine.
- the charging powers P R b and P L b are powers for charging the batteries 2 1 and 3 1.
- charging starts when the remaining capacity of the batteries 2 1 and 3 1 falls below a preset lower limit value. Therefore, the charging power PR b, PL b depends on the remaining capacity at that time. Is determined. When the remaining capacity of the battery 31 is equal to or greater than the lower limit value, charging is not required, and thus the charging powers P R b and P L b are 0.
- control unit 10 determines whether or not the motors 25 and 35 are normal (step S 14).
- the determination of motor normality / abnormality can be performed using conventional technology.
- step S1 both of the motors 25 and 35 are abnormal
- step S1 both are abnormal
- the control unit 10 determines that the vehicle cannot continue running. Stop the system (step S 1 6). At the same time, the driver may be notified that the motors 25 and 35 are abnormal.
- step S 16 if the control unit 10 determines that either one of the motors 25 or 35 is abnormal (step S 16: one abnormality), the motor (hereinafter referred to as “abnormal”).
- the motor hereinafter referred to as “abnormal”.
- the power supply path is electrically cut off and put into a non-driven state (step S 18).
- the inverter on the abnormal motor side down the shirt and electrically disconnect the inverter and motor. In this case as well, the driver may be informed that one of the motors 25 and 35 is abnormal.
- control unit 10 maintains the driving state and sets the torque limit mode for the motor that is determined to be normal (hereinafter referred to as “normal motor”) (step S 2 0).
- normal motor For example, it is conceivable to provide a status flag indicating the torque limit state for each motor, and set “torque limit ONJ” in the status flag corresponding to the normal motor.
- control unit 10 obtains the maximum number of revolutions in the torque limit mode for the motor in the drive state in which the torque limit mode is set based on the following formula (step S 2 2).
- the back electromotive voltage generated in the motor in the non-driven state as the drive shaft 12 driven by the motor in the driven state is rotated becomes a circuit component such as an inverter of the motor in the non-driven state.
- the maximum number of rotations in the torque limit mode can be determined so that the withstand voltage of is not exceeded.
- the back EMF constant of the motor in the equation can be obtained by referring to a map that defines the relationship between the temperature and the back EMF constant and applying the motor temperature at the time of processing execution.
- control unit 10 refers to a map that defines the relationship between the maximum rotation speed and the torque limit value in the torque limit mode, and controls the torque control corresponding to the calculated maximum rotation speed.
- the limit value Tm ax is obtained (step S 24).
- control unit 10 sets the target power M of the motor in the driving state and the power target value E of the fuel cell corresponding to the motor (step S26).
- each target value can be set as follows.
- control unit 10 is a parameter for controlling the operation of the motor and the fuel cell.
- the value Em a X is detected (step S28). If the motor rotation speed N exceeds the maximum rotation speed determined in step S24, it is possible to set the motor target power to be negative and control the motor rotation to reduce the rotation speed due to motor regeneration. It is
- control unit 10 applies an upper limit guard to the motor target power M by calculating the following equation (step S30).
- M I N in the following expression is an operator that means to select the minimum of two values.
- Motor target power M M I N (motor target power M, upper limit value Em ax of output power); As a result, the motor is driven within the range of power that can be supplied from the fuel cell.
- control unit 10 sets the motor target torque T by dividing the motor target power M by the motor rotation speed N (step S32).
- control unit 10 applies the upper limit guard to the target torque T based on the torque limit value Tmax by the calculation of the following equation (step S34).
- Target torque T M I N (target torque, torque limit value Tm a x);
- the target torque ⁇ is set so as not to exceed the withstand voltage of circuit components such as barters.
- control unit 10 controls the motor and the power supply using the target torque T and the power target value E as command values (step S36).
- step S14 determines that both of the motors 25 and 35 are normal (step S14: both are normal), refer to the status flag, for example, for either of the motors 25 and 35. It is determined whether or not the torque limit mode is set (step S38). If it is determined that the torque limit mode is not set for any of them, the process proceeds to the normal control, and the process proceeds to step S40, while it is determined that the torque limit mode is set for either of them. If yes, go to Step S50.
- step S 40 the control unit 10 is the target power M of the motors 25, 35.
- Each target value can be set as follows, for example.
- control unit 10 is used as a parameter for controlling the operation of the motors 25 and 35 and the fuel cells 22 and 32.
- the rotation speed NR and NL of each motor and the upper limit value E of the output power of each fuel cell E Rm ax and E Lm ax are detected (step S 42).
- control unit 10 applies the upper limit guard of the motor target power MR, ML by the calculation of the following equation (step S44).
- control unit 10 sets the target torques TR and TL of each motor by dividing the target power MR and ML by the motor rotational speeds NR and NL, respectively (step S 46).
- control unit 10 controls the power supply and the motor using the target torques T R and T L and the power target values E R and E L as command values (step S 48).
- step S 3 8 if it is determined in step S 3 8 that the torque limit mode is set for either of the motors 25 and 36, the control unit 10 determines whether or not the vehicle is in a stopped state.
- Step S50 For example, the vehicle is stopped when a certain amount of time has elapsed when the accelerator opening is equal to or less than a predetermined value, the brake depression is detected, and the vehicle speed is equal to or less than the predetermined value. It is possible to judge that.
- control unit 10 determines that the vehicle is not stopped, the control unit 10 continues to limit the torque to the motor in the drive state and continues to cut off the power to the motor in the non-drive state. Proceed to step 2.
- control unit 10 sets, for example, “torque limit OFF” in the status flag for the motor for which the torque limit mode is set, and cancels the torque limit mode. (Step S52).
- the configuration is such that the torque limit is released on condition that the vehicle is in a stopped state as described above, thereby preventing the feeling of popping out when the torque limit is released.
- control unit 10 puts the power supply path into the drive state for the motor in the non-drive state (step S 54). Then, the process proceeds to step S 40 to shift to the normal control.
- FIGS 4 and 5 are flowcharts of the operation control process in the second embodiment.
- the second embodiment is different from the first embodiment in that the torque limit value is controlled to increase stepwise when the torque limit is released.
- Steps S 10 to 48 are the same as those in the first embodiment.
- control unit 10 sets the elapsed time T between 0 and step S36 (after step S36 in Fig. 3) and sets the timer one start flag to 1 Is set (step S 1 0 0).
- control unit 10 determines that the torque limit mode is set for either of the motors 25 and 36 in step S 3 8, the control unit 10 electrically supplies power to the motor that is not driven. To the driving state (step 100).
- the control unit 1 0 sets the timer start flag to 0 and sets the elapsed time t based on an internal timer or the like. Start measurement (step S 1 0 6).
- control unit 10 determines whether or not the elapsed time t has exceeded the predetermined time tX (step S 1 0 8). If it has not elapsed, the process proceeds to step S 1 16.
- the control unit 1 0 Tmax + 0?
- the torque limit value Tmax is updated (step S1 1 0), and the timer start flag is set to 1 (step S1 1 2).
- Can be a predetermined constant for example, a constant corresponding to 5% of the torque upper limit value Tu ⁇ of a normal motor).
- step S 1 1 4 determines whether or not the torque limit value T max exceeds the torque upper limit value T up (step S 1 1 4). If it is determined that the torque limit value T max does not exceed the torque upper limit value T up, step S 1 1 Proceed to 6.
- step S 1 1 6 the control unit 1 0 is the target power of the motors 25, 35.
- Each target value can be set as follows, for example. Electric power target value
- control unit 10 is used as a parameter for controlling the operation of the motors 25 and 35 and the fuel cells 22 and 32.
- the rotation speed NR and NL of each motor and the upper limit value ERma of the output power of each fuel cell x and ELma x are detected (step S 1 1 8).
- the control unit 10 applies the upper limit guard of the motor target power MR, ML by the calculation of the following equation (step S 120).
- control unit 10 sets the target torques TR and TL of each motor by dividing the target powers MR and ML by the motor rotational speeds NR and NL, respectively (step S122).
- control unit 10 is operated based on the torque limit value Tma X by calculating Apply upper limit guard to target torque TR, TL (step S 1 24).
- TmaX The torque limit value TmaX is limited to the range.
- control unit 10 controls the power source and the motor using the target torques TR and T and the power target values ER and E L as command values (step S 1 26).
- step S 1 1 4 determines whether the torque limit has been exceeded, for a motor for which the torque limit mode is set, for example, “torque limit OF F” is set in the status flag, and torque limit The mode is canceled (step S 1 28), and the process proceeds to step S 40 to shift to the normal control.
- the back electromotive voltage generated in the non-driving motor due to the rotation of the driving shaft 12 driven by the driving motor is in the non-driving state. It is possible to control so that the withstand voltage of the circuit components such as the inverter of the motor in FIG.
- torque limit value Tma X is controlled and released so as to increase stepwise every predetermined time t X. The situation where the vehicle suddenly accelerates due to the release of the restriction can be prevented.
- the torque limit is determined by letting the driver perceive that the torque limit is gradually released. It is possible to effectively call attention to the release.
- control unit 10 may be realized by hardware as well as by software.
- the motor drive Z non-drive based on the normality of the motor.
- the motor drive Z non-drive may be switched based on the normality of another unit of the power source (for example, a fuel cell). .
- the torque limit value is controlled and released in a stepwise manner.
- a configuration that prevents the vehicle from suddenly accelerating by gradually increasing the response by gradually changing the first-order lag constant of the torque control system It can also be considered.
- a plurality of motors drive the same shaft, but each motor drives a different drive shaft (for example, motor 1 drives a front wheel and motor 2 a rear wheel).
- motor 1 drives a front wheel and motor 2 a rear wheel.
- circuit components such as an inverter can be appropriately protected when one of the electric motors is kept in a non-driven state and traveling is continued.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/921,798 US7757796B2 (en) | 2005-06-29 | 2006-06-27 | Electric vehicle |
DE112006001668.7T DE112006001668B4 (de) | 2005-06-29 | 2006-06-27 | Elektrofahrzeug |
CN2006800239548A CN101213105B (zh) | 2005-06-29 | 2006-06-27 | 电动车辆 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005-189536 | 2005-06-29 | ||
JP2005189536A JP4244385B2 (ja) | 2005-06-29 | 2005-06-29 | 電動車両、及び電動車両のための制御ユニット |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007001079A1 true WO2007001079A1 (ja) | 2007-01-04 |
Family
ID=37595312
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/313196 WO2007001079A1 (ja) | 2005-06-29 | 2006-06-27 | 電動車両 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7757796B2 (ja) |
JP (1) | JP4244385B2 (ja) |
CN (1) | CN101213105B (ja) |
DE (1) | DE112006001668B4 (ja) |
WO (1) | WO2007001079A1 (ja) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010011688A (ja) * | 2008-06-30 | 2010-01-14 | Hitachi Ltd | 回転電機駆動制御装置 |
KR100992630B1 (ko) | 2008-10-14 | 2010-11-05 | 기아자동차주식회사 | 연료전지 하이브리드 차량용 멀티구동계의 비상운전방법 |
CN101780776B (zh) * | 2010-03-30 | 2012-05-23 | 奇瑞汽车股份有限公司 | 一种基于两档变速箱的电动车控制方法和系统 |
JP5520903B2 (ja) * | 2011-09-15 | 2014-06-11 | 本田技研工業株式会社 | 電動機の制御装置 |
KR101272393B1 (ko) * | 2012-02-10 | 2013-06-07 | 엘에스산전 주식회사 | 인버터 제어방법 |
CN104736361A (zh) * | 2012-08-30 | 2015-06-24 | 沃尔沃卡车集团 | 用于操作车辆空调系统的方法和车辆 |
CN103248281B (zh) * | 2013-04-18 | 2016-05-11 | 奇瑞新能源汽车技术有限公司 | 一种电动汽车超速保护控制方法、系统以及电动汽车 |
JP6449598B2 (ja) * | 2014-09-03 | 2019-01-09 | 株式会社デンソー | 電動車両 |
JP2016054599A (ja) * | 2014-09-03 | 2016-04-14 | 株式会社デンソー | 電動車両 |
JP6314788B2 (ja) * | 2014-10-22 | 2018-04-25 | 株式会社デンソー | 電動車両 |
JP6788621B2 (ja) * | 2018-01-31 | 2020-11-25 | 株式会社Subaru | 車両の駆動力制御装置 |
JP6977611B2 (ja) * | 2018-02-22 | 2021-12-08 | トヨタ自動車株式会社 | 複数の燃料電池ユニットを搭載した車両 |
CN112590564B (zh) * | 2021-01-04 | 2022-08-05 | 潍柴动力股份有限公司 | 电机扭矩的控制方法、装置、电子设备以及存储介质 |
US20220333527A1 (en) * | 2021-04-01 | 2022-10-20 | ZeroAvia, Ltd. | Dynamic optimization of system efficiency for an integrated hydrogen-electric engine |
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JPS6039398A (ja) * | 1983-08-10 | 1985-03-01 | Mitsubishi Electric Corp | 交流可変速駆動装置の試験装置 |
JPH0799704A (ja) * | 1993-09-24 | 1995-04-11 | Nissan Motor Co Ltd | 電気自動車用動力制御装置 |
JP2003032805A (ja) * | 2001-07-06 | 2003-01-31 | Toyota Motor Corp | 制御装置および動力出力装置並びにこれを搭載するハイブリッド自動車、制御装置の制御方法、動力出力装置の制御方法 |
Family Cites Families (9)
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DE3743471A1 (de) * | 1987-12-22 | 1989-07-13 | Bosch Gmbh Robert | Antriebsschlupfregelsystem |
JP3077434B2 (ja) | 1993-01-21 | 2000-08-14 | トヨタ自動車株式会社 | 電気自動車の制御装置 |
JP4010085B2 (ja) | 1998-12-28 | 2007-11-21 | トヨタ自動車株式会社 | 電気自動車およびハイブリッド自動車 |
JP3529680B2 (ja) * | 1999-10-13 | 2004-05-24 | 本田技研工業株式会社 | ハイブリッド車両のモータ制御装置 |
CN2442873Y (zh) * | 2000-06-28 | 2001-08-15 | 尹载东 | 交流电动汽车的推进装置 |
JP3918552B2 (ja) * | 2001-12-26 | 2007-05-23 | アイシン・エィ・ダブリュ株式会社 | 電動車両駆動制御装置、電動車両駆動制御方法及びそのプログラム |
JP3966144B2 (ja) * | 2002-10-08 | 2007-08-29 | トヨタ自動車株式会社 | 電動車両 |
JP3949047B2 (ja) | 2002-11-05 | 2007-07-25 | ダイハツ工業株式会社 | 車両の制御装置 |
JP2004175230A (ja) | 2002-11-27 | 2004-06-24 | Toyota Motor Corp | 車両制御装置 |
-
2005
- 2005-06-29 JP JP2005189536A patent/JP4244385B2/ja active Active
-
2006
- 2006-06-27 US US11/921,798 patent/US7757796B2/en active Active
- 2006-06-27 DE DE112006001668.7T patent/DE112006001668B4/de active Active
- 2006-06-27 WO PCT/JP2006/313196 patent/WO2007001079A1/ja active Application Filing
- 2006-06-27 CN CN2006800239548A patent/CN101213105B/zh not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6039398A (ja) * | 1983-08-10 | 1985-03-01 | Mitsubishi Electric Corp | 交流可変速駆動装置の試験装置 |
JPH0799704A (ja) * | 1993-09-24 | 1995-04-11 | Nissan Motor Co Ltd | 電気自動車用動力制御装置 |
JP2003032805A (ja) * | 2001-07-06 | 2003-01-31 | Toyota Motor Corp | 制御装置および動力出力装置並びにこれを搭載するハイブリッド自動車、制御装置の制御方法、動力出力装置の制御方法 |
Also Published As
Publication number | Publication date |
---|---|
DE112006001668T5 (de) | 2008-05-08 |
CN101213105A (zh) | 2008-07-02 |
JP4244385B2 (ja) | 2009-03-25 |
US20090205887A1 (en) | 2009-08-20 |
US7757796B2 (en) | 2010-07-20 |
JP2007014077A (ja) | 2007-01-18 |
CN101213105B (zh) | 2011-01-26 |
DE112006001668B4 (de) | 2021-06-17 |
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