WO2009084359A1 - 回転電機制御システム - Google Patents
回転電機制御システム Download PDFInfo
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- WO2009084359A1 WO2009084359A1 PCT/JP2008/071800 JP2008071800W WO2009084359A1 WO 2009084359 A1 WO2009084359 A1 WO 2009084359A1 JP 2008071800 W JP2008071800 W JP 2008071800W WO 2009084359 A1 WO2009084359 A1 WO 2009084359A1
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- rotating electrical
- battery power
- electrical machine
- power
- torque
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- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/14—Preventing excessive discharging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/44—Series-parallel type
- B60K6/445—Differential gearing distribution type
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- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
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- B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
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- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/50—Control strategies for responding to system failures, e.g. for fault diagnosis, failsafe operation or limp mode
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- B60L2210/40—DC to AC converters
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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Definitions
- the present invention relates to a rotating electrical machine control system including a rotating electrical machine, an inverter that is interposed between a battery and the rotating electrical machine and controls a current flowing through the rotating electrical machine.
- Patent Document 1 shows a power load device 100 including a battery B, an AC motor M1 as a rotating electrical machine, and an inverter 14 that is interposed between the battery and the rotating electrical machine and controls a current flowing through the rotating electrical machine.
- the control device 30 allows the increase amount (corresponding to the rate of change in the present application) of the consumed power (corresponding to the battery power in the present application) in the AC motor M1 to be supplied from the capacitor 13 to the inverter 14.
- the increase amount of power consumption in AC motor M1 is limited to a range in which driving of electric load device 100 can be continued.
- the technique disclosed in Patent Document 1 is a technique related to a traveling vehicle or the like that travels by the driving force generated from the AC motor M1, and protects the inverter by limiting the amount of increase in power consumption to a predetermined range. be able to.
- a hybrid system that includes an engine as a driving source and a rotating electrical machine that functions as a motor and obtains driving force from either or both of them is in a practical stage.
- an engine and a pair of rotating electrical machines are provided, the drive output from the engine is distributed to the wheel side and one rotating electrical machine, and power is generated in the one rotating electrical machine, while the other
- the split-type hybrid system that compensates for the shortage of engine drive sent to the wheel side.
- the engine can be operated along the optimum fuel consumption line, so that the vehicle can travel with extremely high fuel consumption.
- the other rotating electrical machine mainly functions as a motor.
- a rotating electrical machine that mainly generates torque for driving the wheels (acts as a motor in the other rotating electrical machine described above) and a rotating electrical machine that mainly controls the rotational speed of the engine (front end). Is connected in parallel to a single battery via an inverter. And regarding control of these rotary electric machines, it controls so that the sum total of the power consumption of the rotary electric machine which functions as a motor, and the rotary electric machine which functions as a generator does not exceed the discharge power limit of a battery.
- the motor and the generator are controlled so that the sum of the output of the motor and the generator does not exceed the discharge power limit of the battery.
- the control for the rotating electrical machine that works as a motor is torque control, when the load torque of the motor suddenly decreases such as when the wheel slips or when the wheel idles, the rotational speed of the motor increases rapidly. . For this reason, electric power is rapidly taken out from the battery, and a large current flows through the element between the battery and the motor, which may cause an overcurrent. Further, in this situation, the battery discharges electric power that exceeds the discharge power limit, and thus has an influence such as a reduction in battery life.
- One object of the present application is to provide a rotating electrical control system for a rotating electrical machine that receives electric power from a battery via an inverter and works as a motor, so that overcurrent does not flow and reliable protection from the battery to the inverter is ensured.
- Another object of the present invention is to provide a hybrid system having a pair of rotating electric machines that receive power supply from a common battery, with one rotating electric machine acting as a generator and the other rotating electric machine acting as a motor, so that no overcurrent flows.
- An object of the present invention is to obtain a rotating electrical machine control system that can reliably protect a battery to an inverter.
- the rotating electrical machine control system including the rotating electrical machine and an inverter that is interposed between the battery and the rotating electrical machine and controls a current flowing through the rotating electrical machine includes: Battery power deriving means for deriving battery power required to be supplied from the battery; Torque limiting means for limiting the output torque of the rotating electrical machine; A battery power sudden change estimating means for estimating a sudden change state in which the battery power suddenly changes based on at least one of the battery power change rate and the rotation speed change rate of the rotating electrical machine; The torque limiting means changes the output torque limiting form when the sudden change state is estimated by the battery power sudden change estimating means with respect to the output torque limiting form in the non-rapid change state where the battery power does not change suddenly. It is to adopt the structure to do.
- the battery power deriving means derives the battery power supplied from the battery when the rotating electrical machine operates at the rotational speed and the output torque
- the battery power sudden change estimating means includes the battery power deriving means. Based on at least one of the rate of change of electric power and the rate of change of the rotational speed of the rotating electrical machine, it is estimated whether or not the battery power is in a sudden change state where it changes suddenly.
- a state where the battery power changes suddenly is called a sudden change state
- a state where the battery power does not change suddenly is called a non-rapid change state
- the output torque limiting mode by the torque limiting means between the sudden change state and the non-rapid change state. change.
- the sudden change state and the non-sudden change state are discriminated separately, and according to each state.
- the limited form of output torque it is possible to execute torque restriction suitable for each operation state.
- the stage at which the output torque limit is executed is an important problem. However, this problem can be accurately handled in the vehicle state.
- the torque limiting means performs torque when the battery power derived by the battery power deriving means is excessively greater than an excessive threshold for determining whether the battery power is excessive.
- the torque limiting means executes torque limitation when the battery power is suddenly changed larger than a sudden change threshold value which is smaller than the excessive time threshold value.
- the necessity of torque limitation is determined based on the over-threshold threshold, and in the case of sudden change, the necessity of torque limitation is determined based on the sudden change threshold smaller than the over-threshold threshold.
- the torque or the rotational speed gradually increases, and in a state where the battery electric power is gradually increasing, the torque or In a state where the rotational speed changes suddenly and the battery power rapidly increases, the determination is made based on a relatively small threshold value, and it is possible to reliably prevent an overcurrent from flowing through the battery and the inverter circuit.
- the latter sudden change includes a case where the battery power change itself is large and a case where the rotational speed of the rotating electrical machine acting as a motor changes suddenly (see FIG. 5).
- the battery power sudden change estimation means when the battery power is larger than a battery power sudden change threshold that is a determination threshold for determining whether or not the battery power change rate is large, or A configuration can be adopted in which it is estimated that the battery power is suddenly changed when the rotational speed change rate is larger than a rotational speed rapid change threshold value that is a determination threshold value for determining whether or not the rotational speed change rate is large.
- the reason for this configuration is that the battery power that needs to be supplied from the battery changes abruptly when the rate of change of the battery power is large or when the rate of change of the rotational speed of the rotating electrical machine is large. is there.
- the torque limiting means executes torque limitation. To do.
- the over-time threshold for example, it is possible to directly prevent overcurrent, and the battery discharges power that exceeds the discharge power limit of the battery, Problems such as a decrease in battery life can be avoided.
- battery power change rate deriving means for deriving the rate of change of battery power is provided, and the battery power change rate derived by the battery power change rate deriving means is The battery power sudden change threshold is larger than the battery power sudden change threshold for determining whether or not the battery power change rate is large, and the battery power derived by the battery power deriving means is suddenly larger than the sudden change threshold that is smaller than the excessive threshold.
- the torque limiting means is configured to execute torque limitation. In the case of this configuration, a state that may cause a problem if left as it is determined from the relationship between the battery power change rate and the battery power sudden change threshold, and further, at the time when the possibility occurs.
- the sudden change threshold By comparing the battery power itself with the sudden change threshold, it is possible to reliably grasp a sudden change state that may cause a problem and apply torque limitation. As a result, by setting the sudden change threshold appropriately, for example, when there is a high possibility that overcurrent will occur, it is possible to directly prevent the occurrence of overcurrent, and the battery is connected to the discharge power limit of the battery. It is also possible to avoid problems such as a decrease in battery life by discharging the above power.
- the rotational speed derived from the rotational speed change rate deriving means is provided with rotational speed change rate deriving means for deriving the rate of change of the rotational speed of the rotating electrical machine.
- the torque limiter is configured to execute torque limit at a larger sudden change.
- the rotational speed of the rotating electrical machine that functions as a motor changes suddenly, and the state that may cause a problem if left as it is is determined from the relationship between the rotational speed change rate and the rotational speed sudden change threshold. Furthermore, by comparing the battery power at the time when the possibility occurs with the sudden change threshold value, it is possible to reliably grasp the sudden change state that may cause a problem and apply the torque limit. As a result, by setting the sudden change threshold appropriately, for example, when there is a high possibility that overcurrent will occur, it is possible to directly prevent the occurrence of overcurrent, and the battery is connected to the discharge power limit of the battery. It is also possible to avoid problems such as a decrease in battery life by discharging the above power.
- Battery power change rate deriving means for deriving the battery power change rate
- a rotation speed change rate deriving means for deriving a change rate of the rotation speed of the rotating electrical machine
- the battery power change rate derived by the battery power change rate deriving means is Rotation to determine whether the battery power change rate is larger than the battery power sudden change threshold value, or whether the rotation speed change rate derived by the rotation speed change rate deriving means is large.
- the torque limiting unit executes torque limitation.
- the torque limitation based on the battery power itself or the rotational speed of the rotating electrical machine is executed, the actions and effects described in 2-1 and 2-2 can be obtained.
- the battery power derivation by the battery power deriving means can be performed based on the actual rotational speed of the rotating electrical machine and the required torque required for the rotating electrical machine, and the rotation required for the rotating electrical machine.
- the required rotational speed and the required torque which are speed and torque, are determined, the required rotational speed and the required torque can be used.
- the rotating electrical machine control system can be applied to a vehicle drive system including a rotating electrical machine that functions as a motor, or a hybrid system including a rotating electrical machine that functions as a generator in addition to the rotating electrical machine that functions as a motor. .
- a vehicle drive system including a rotating electrical machine that functions as a motor
- a hybrid system including a rotating electrical machine that functions as a generator in addition to the rotating electrical machine that functions as a motor.
- at least a first rotating electrical machine that works as a generator and a second rotating electrical machine that works as a motor are controlled.
- the battery power derived by the battery power deriving means is such that the second rotating electrical machine operates as a motor when the second rotating electrical machine operates at the required rotational speed and the required torque
- a configuration derived as the sum of the electric power necessary for the first rotating electric machine to function as a generator is adopted.
- An excessive torque limit value deriving means that obtains a torque limit value based on an excessive limit power that is the maximum value of the battery power that can be tolerated when the torque limit means performs torque limit when the torque limit means is excessive. Prepare. By deriving and setting the torque limit value based on the maximum limit power that is acceptable for excessive battery power, excessive power from the battery can be prevented and overcurrent can be prevented. it can.
- sudden change torque limit value deriving means for obtaining the torque limit value based on the sudden change limit power that is the maximum value of the battery power that can be tolerated at the time of sudden change.
- the torque limit value is derived and set based on the sudden change limit power that is the maximum value of the battery power that can be tolerated even if a sudden change occurs, preventing excessive power from being taken out of the battery. It is possible to prevent overcurrent.
- An over-time torque limit value deriving means for obtaining a torque limit value based on an over-time limit power, which is the maximum value of battery power that can be allowed in the over time, when the torque limit means executes torque limit in an over-range;
- a sudden change torque limit value deriving means for obtaining a torque limit value based on the sudden change limit power that is the maximum value of the battery power that can be tolerated during a sudden change when the torque limit means executes torque limit during a sudden change;
- Appropriate torque limitation can be realized by setting the excessive power limit power to be larger than the sudden change power limit.
- the rotating electrical machine control system includes a vehicle drive system including a rotating electrical machine that functions as a motor, or a rotating electrical machine that functions as a generator in addition to the rotating electrical machine that functions as a motor. It can also be used in hybrid systems. Hereinafter, derivation of the torque limit value in each system will be described.
- a first rotating electrical machine that functions as a generator and a second rotating electrical machine that functions as a motor are controlled, and a torque limit value is set.
- the limit power that is the maximum allowable battery power the power required for the second rotating electrical machine to function as a motor, and the power required for the first rotating electrical machine to function as a generator. It can be set as the structure derived
- the sudden change threshold described above includes an upper sudden change threshold used when the battery power increases and a lower sudden change threshold used when the battery power decreases.
- This configuration gives hysteresis to the sudden change threshold, but it can absorb the control delay by giving hysteresis in this way, and when the battery power changes oscillating across the sudden change threshold, It is possible to prevent problems such as hunting.
- the current value and the predicted value can be used as a method for absorbing the control delay.
- the torque limit value is obtained by adding the integrated value of the coefficient based on the rate of change of the motor rotation speed and the control delay and the current motor rotation speed.
- the control delay can be absorbed.
- the generator power the power of the rotating electrical machine acting as a generator
- the torque limit value is calculated by adding the integrated value of the coefficient based on the rate of change of the generator power and the control delay and the current generator power.
- the control delay can be absorbed by obtaining the torque limit value based on the estimated power generator estimated value obtained as follows.
- FIG. 2 is a diagram showing a configuration of a drive device that includes a single rotating electrical machine that functions as a motor without a rotating electrical machine that functions as a generator.
- This rotating electrical machine control system 100 is incorporated in a vehicle drive system 200 shown in FIG. 3 as a whole, and performs operation control of the rotating electrical machines MG1 and MG2 provided in the vehicle drive system 200.
- FIG. 1 is a diagram showing an outline of a drive system of the vehicle drive system 200
- FIG. 2 is a diagram showing an outline of a rotating electrical machine control system mainly including an inverter In provided for controlling the rotating electrical machines MG1 and MG2.
- FIG. 3 is a diagram showing an overall outline of a vehicle drive system 200 including a control device ECU unique to the present application.
- a solid line arrow indicates various information transmission paths
- a double solid line indicates a driving force transmission path
- a double broken line indicates a power transmission path.
- the vehicle includes an engine E and a pair of rotating electrical machines MG1 and MG2, and is configured to be able to travel by obtaining driving force from the engine E or a rotating electrical machine that functions as a motor.
- the driving force generated by the engine E is converted into electric power in the rotating electrical machine that functions as a generator, and is used for charging the battery B or driving the rotating electrical machine that functions as a motor.
- the braking force can be regenerated by the rotating electrical machine and stored in the battery B as electric power.
- the vehicle drive system 200 is a so-called hybrid system, and includes the hybrid drive device 1 between the engine E and the wheels W.
- the engine E various known internal combustion engines such as a gasoline engine and a diesel engine can be used.
- the input shaft I of the hybrid drive device 1 is connected to an output rotation shaft such as a crankshaft of the engine E.
- an output rotation shaft such as a crankshaft of the engine E.
- the output is connected to the wheel W through the differential device D or the like so that the rotational driving force can be transmitted.
- the input shaft I is coupled to the carrier ca of the power distribution mechanism P1, and the intermediate shaft M connected to the wheels W via the differential device D is coupled to the ring gear r.
- the first rotating electrical machine MG1 includes a stator St1 and a rotor Ro1 that is rotatably supported on the radially inner side of the stator St1.
- the rotor Ro1 of the first rotating electrical machine MG1 is connected to rotate integrally with the sun gear s of the power distribution mechanism P1.
- the second rotating electrical machine MG2 includes a stator St2 and a rotor Ro2 that is rotatably supported on the radially inner side of the stator St2.
- the rotor Ro2 of the second rotating electrical machine MG2 is coupled to rotate integrally with the output gear O, and is connected to the input side of the differential device D.
- the first rotating electrical machine MG1 and the second rotating electrical machine MG2 are electrically connected to the battery B via the inverter In, as shown in FIGS.
- the inverter In employs a structure that is cooled by heat exchange with cooling water.
- Each of the first rotating electrical machine MG1 and the second rotating electrical machine MG2 can perform a function as a motor that generates power by receiving power supply and a function as a generator that generates power by receiving power supply. It is possible.
- the first rotating electrical machine MG1 mainly functions as a generator that generates power by the driving force input via the sun gear s of the power distribution mechanism P1, and charges the battery B or the second rotating electrical machine MG2. Supply power to drive.
- the first rotating electrical machine MG1 may function as a motor when the vehicle travels at a high speed.
- the second rotating electrical machine MG2 mainly functions as a motor that assists the driving force for traveling the vehicle.
- the second rotating electrical machine MG2 functions as a generator that regenerates the inertial force of the vehicle as electric energy.
- Such operation of the first rotating electrical machine MG1 and the second rotating electrical machine MG2 is performed according to a control command from the control device ECU.
- the power distribution mechanism P1 is configured by a single pinion type planetary gear mechanism arranged coaxially with the input shaft I. That is, the power distribution mechanism P1 includes a carrier ca that supports a plurality of pinion gears, and a sun gear s and a ring gear r that mesh with the pinion gears, respectively, as rotating elements.
- the sun gear s is connected to rotate integrally with the rotor Ro1 of the first rotating electrical machine MG1.
- the carrier ca is connected to rotate integrally with the input shaft I.
- the ring gear r is connected to rotate integrally with the intermediate shaft M.
- the ring gear r is connected to the differential device D via the intermediate shaft M.
- FIG. 2 shows an operation control system of each rotating electric machine mainly including the inverter In.
- the rotating electrical machine control system includes a battery B, the rotating electrical machines MG1 and MG2, and an inverter In interposed therebetween.
- the inverter In includes a voltage conversion unit 4 and a frequency conversion unit 5 from the battery B side.
- the frequency converters 5 are individually provided for the pair of rotating electrical machines MG1 and MG2.
- current sensors first rotating electrical machine current sensor Se7, second rotating electrical machine current sensor Se8 for measuring the amount of current flowing through the rotating electrical machine are provided. ing.
- the battery B is capable of supplying electric power to the rotating electrical machines MG1 and MG2, and is capable of storing electric power received from the rotating electrical machines MG1 and MG2.
- the voltage conversion circuit forming the voltage conversion unit 4 includes a reactor 4a, a filter capacitor 4b, and a pair of upper and lower switching elements 4c and 4d.
- MOSFETs MOS field effect transistors
- the source of the upper switching element 4c is connected to the drain of the lower switching element 4d, and is connected to the positive side of the battery B via the reactor 4a.
- the drain of the upper switching element 4 c is the input plus side of the frequency converter 5.
- the gates of the upper switching element 4c and the lower switching element 4d are connected to the driver circuit 7, and the source of the lower switching element 4d is connected to the negative side (ground) of the battery B.
- These switching elements 4c and 4d are PWM controlled from the driver circuit 7 based on a required voltage which is a voltage command output from a rotating electrical machine control means 14 described later, thereby boosting the voltage from the battery B and converting the frequency. Supply to part 5. On the other hand, when receiving electric power from the rotating electrical machine MG2 side, the voltage is stepped down and supplied to the battery B.
- the inverter circuit that constitutes the frequency conversion unit 5 includes switching elements 8a, 8b, 8c, 8d, 8e, and 8f at both upper and lower stages.
- switching elements 8a, 8b, 8c, 8d, 8e, and 8f MOSFETs (MOS field effect transistors) can be employed.
- the drains of the upper switching elements 8a, 8b, 8c are connected to the output plus side of the voltage converter 4, the gate is connected to the driver circuit 7, the source is connected to the drains of the lower switching elements 8d, 8e, 8f, The gates of the lower switching elements 8d, 8e, and 8f are connected to the driver circuit 7, and the source is connected to the output minus side of the voltage converter 4, and immediately to the minus side (ground) of the battery B.
- the intermediate points 9u, 9v, 9w of the upper and lower switching elements (8a, 8d), (8b, 8e), (8c, 8f) to be paired are the U phase, V phase, W of the rotating electrical machines MG1, MG2, respectively. Each is connected to a phase winding.
- the energization current to each winding is detected by current detection sensors Se7 and Se8, and the detected value is sent to the driver circuit 7 and further sent to the control unit ECU.
- switching elements 8a, 8b, 8c, 8d, 8e, and 8f are PWM-controlled from the driver circuit based on the required rotational speed and the required torque output from the rotating electrical machine control means 14 described later, whereby each rotating electrical machine MG1. , MG2 is operated at the required rotational speed and the required torque (or torque limit when torque is limited). When electric power is received from the rotating electrical machines MG1, MG2, the alternating current with a predetermined frequency is converted into direct current.
- the inverter In includes a heat exchanger 9 for lowering the temperature of the switching elements 4 c, 4 d, 8 a, 8 b, 8 c, 8 d, 8 e, 8 f that generate heat and become high temperature when energized. ing.
- a switching element 8a (other switching elements are not shown) are closely fixed to one side surface of the heat exchanger 9, and a cooling water passage 9a through which cooling water as a coolant flows is formed.
- One end and the other end of the cooling water circulation path 10 are connected to the inlet and the outlet of the cooling water passage 9a.
- the cooling water circulation path 10 lowers the temperature of the high-temperature cooling water sent from the heat exchanger 9 and lowers the temperature.
- the cooled water is returned to the heat exchanger 9.
- the entire vehicle drive system 200 will be described based on FIG. 3 with a focus on the control device ECU that forms the core of the system.
- the control unit ECU uses the information acquired by the sensors Se1 to Se8 provided in each part of the vehicle to control the operation of the engine E, the first rotating electrical machine MG1, the second rotating electrical machine MG2, and the like. I do.
- the operation control of the first rotating electrical machine MG1 and the second rotating electrical machine MG2 is performed via the inverter In described above.
- the first rotating electrical machine rotational speed sensor Se1, the second rotating electrical machine rotational speed sensor Se2, the engine rotational speed sensor Se3, the battery state detection sensor Se4, the vehicle speed sensor Se5, the accelerator operation detection sensor Se6, and the first rotation are used as sensors.
- An electric machine current sensor Se7 and a second rotating electric machine current sensor Se8 are provided.
- the first rotating electrical machine rotational speed sensor Se1 is a sensor for detecting the rotational speed of the rotor Ro1 of the first rotating electrical machine MG1.
- the second rotating electrical machine rotational speed sensor Se2 is a sensor for detecting the rotational speed of the rotor Ro2 of the second rotating electrical machine MG2.
- the engine rotation speed sensor Se3 is a sensor for detecting the rotation speed of the output rotation shaft of the engine E. In the case of this example, since the input shaft I rotates integrally with the output rotation shaft of the engine E, the rotation speed of the engine E detected by the engine rotation speed sensor Se3 matches the rotation speed of the input shaft I.
- the battery state detection sensor Se4 is a sensor for detecting the charge amount of the battery B, the current flowing through the battery, the voltage of the battery, and the like.
- the vehicle speed sensor Se5 is a sensor for detecting the rotational speed of the input shaft (not shown) of the differential device D in order to detect the vehicle speed.
- the accelerator operation detection sensor Se6 is a sensor for detecting the operation amount of the accelerator pedal 18.
- the first rotating electrical machine current sensor Se7 and the second rotating electrical machine current sensor Se8 are provided in the inverter In and detect currents flowing through the first rotating electrical machine MG1 and the second rotating electrical machine MG2, respectively.
- the control device ECU includes required driving force determining means 11, traveling condition determining means 12, engine control means 13, and rotating electrical machine control means 14. Further, the control device ECU is provided with torque limiting means 15 having a configuration unique to the present application and executing torque limitation under predetermined conditions.
- the torque limiting means 15 includes battery power deriving means 15a, battery power A change rate deriving unit 15b, a rotation speed change rate deriving unit 15c, a torque limit determining unit 15d, and a torque limit value deriving unit 15e are provided.
- control unit ECU includes an arithmetic processing unit such as a CPU as a core member, and a functional unit for performing various processes on input data is performed by hardware or software (program) or both. Implemented and configured.
- the required driving force determination means 11 calculates and acquires the required driving force by the driver based on the outputs from the vehicle speed sensor Se5 and the accelerator operation detection sensor Se6.
- the engine control means 13 starts and stops the operation of the engine E, and performs operations such as engine speed control and output torque control in accordance with the engine speed and output torque required by the engine determined by the travel condition determining means 12. Take control.
- the rotating electrical machine control means 14 is connected to the first rotating electrical machine MG1 and the second rotating electrical machine MG2 via the inverter In according to the rotational speed and output torque required for each rotating electrical machine MG1, MG2 determined by the traveling condition determining means 12. Operation control such as rotational speed control and torque control is performed.
- the traveling condition determining means 12 is preliminarily determined according to the vehicle speed information obtained by the vehicle speed sensor Se5, the requested driving force information obtained by the requested driving force determining means 11, the battery charge amount information obtained by the battery state detection sensor Se4, and the like. According to the provided map or the like, the rotational speed (required rotational speed) and output torque (required torque) of the engine E, which are traveling conditions required for the vehicle, the rotation of each of the first rotating electrical machine MG1 and the second rotating electrical machine MG2. A speed (required rotational speed) and an output torque (required torque) are determined.
- the engine E can be set to a driving condition that allows the engine E to exhibit the optimum fuel efficiency.
- the required rotational speed and torque are set, the torque that is insufficient under the operating conditions of the engine E is set as the torque required for the second rotating electrical machine MG2, and the torque distributed to the first rotating electrical machine MG1 side by the power distribution mechanism P1
- the torque required for the first rotating electrical machine MG1 (in this state, the required torque is negative because the first rotating electrical machine MG1 functions as a generator).
- the rotational speed that the first rotating electrical machine MG1 and the second rotating electrical machine MG2 should take is determined as the required rotational speed according to the configuration of the power distribution mechanism P1 and the gear ratio of the gear provided in the drive system.
- the required rotational speed and the required torque for the engine E determined by the traveling condition determining means 12 are sent to the engine control means 13, and the operation of the engine E is controlled so as to satisfy the required rotational speed and the required torque.
- the required rotational speed and the required torque for the first rotating electrical machine MG1 and the second rotating electrical machine MG2 are respectively sent to the rotating electrical machine control means 14, and operation control information for each rotating electrical machine is generated, corresponding to the required rotational speed.
- the frequency command and the current command corresponding to the required torque are converted and sent to the inverter In, and the individual rotating electrical machines MG1 and MG2 are operated and controlled via the driver circuit 7.
- the rotating electrical machine control means 14 is provided with an inverter voltage determination unit 14a.
- the inverter In employed in the present example includes a common voltage conversion unit 4, and a DC voltage converted by the common voltage conversion unit 4 (this voltage is called an inverter voltage) is supplied to the frequency conversion unit 5. Take it.
- the rotating electrical machine control means 14 the frequency for each rotating electrical machine required for controlling the rotating electrical machines MG1 and MG2 by the inverter In from the required rotational speed and required torque required for each rotating electrical machine MG1 and MG2 and A current value is obtained, and a DC voltage required for each rotating electrical machine MG1, MG2 (this voltage is referred to as a first voltage and a second voltage, respectively) is obtained. And in the rotary electric machine control means 14, based on the 1st voltage and 2nd voltage which are calculated
- the rotating electrical machine control means 14 obtains the inverter voltage Vc as a command value for the inverter In, obtains the frequency and current value for each of the rotating electrical machines MG1 and MG2, and sends the obtained value to the inverter In.
- the above is a description of the case where the engine E and the pair of rotating electrical machines MG1 and MG2 are operated in accordance with the traveling conditions determined by the traveling condition determining means 12.
- the torque of the rotating electrical machine that functions as a motor is limited to the torque limit value.
- the torque limiting unit 15 includes a battery power deriving unit 15a, a battery power change rate deriving unit 15b, a rotation speed change rate deriving unit 15c, a torque limit determining unit 15d, and a torque limit value deriving unit 15e.
- the battery power deriving means 15a is means for deriving battery power at present, and in this embodiment, the battery power is determined by the travel condition determining means 12 for a pair of rotating electrical machines. In accordance with the running conditions (required torque and required rotational speed), this is the electric power taken out from the battery when the one works as a motor and the other works as a generator (the electric power that the battery needs to supply).
- the battery power is derived as a sum of motor power (Equation 1), generator power (Equation 2), boost converter loss and capacitor charge power (Equation 3) shown below. These are all estimated values and can be obtained according to the following formulas, but some of them (motor loss, generator loss, boost converter loss) can be obtained by using a map that has been obtained in advance according to the driving conditions. Ask. These values may be obtained on the basis of an estimation equation obtained in advance by experience.
- Motor power [W] Motor required torque x Motor required rotational speed x 2 ⁇ / 60 + Motor loss: Here, the motor loss uses an empirical value.
- Generator power [W] Generator required torque ⁇ Generator required rotational speed ⁇ 2 ⁇ / 60 + Generator loss:
- the generator loss uses an empirical value.
- the unit of torque is [Nm]
- the unit of rotational speed is [rpm] (the same applies hereinafter).
- the step-up converter loss is a loss generated by changing the voltage across the converter in the configuration including the voltage conversion unit 4 (step-up unit) as in this example. Specifically, the loss occurs between p1 and p2 in FIG. This value is also obtained empirically, and FIG. 4 shows the relationship between the battery current [A] and the boost converter loss [W]. Therefore, this loss can be obtained from the battery current, and the boost converter loss at that time can be obtained from FIG. 4 or according to the approximate expression shown in the figure. In the approximate expression, a1, a2, and a3 are predetermined constants.
- the battery current the current detected by the battery state detection sensor Se4 described above can be used.
- the battery power immediately before is obtained by dividing the battery power obtained immediately before by the current battery voltage measured by the battery state detection sensor Se4. May be.
- the capacitor charge power is obtained based on the following equation, where C [F] is the capacity of the smoothing capacitor 17 (see FIG. 2) and ⁇ t is a time step.
- Capacitor charge power [C ⁇ (boosted voltage) 2/2-C ⁇ (last boosted voltage) 2/2] / ⁇ t ⁇ formula 3
- Battery power Motor power + generator power + boost converter loss + capacitor charge power Formula 4
- Battery power change rate deriving means The battery power change rate deriving means 15b obtains the absolute value of the difference between the current battery power and the battery power before the unit time step as the battery power change rate.
- Rotational speed change rate deriving means 15c relates to the rotating electrical machine working as a motor and calculates the absolute value of the difference between the current rotational speed and the rotational speed before the unit time step. Asking.
- This torque limit determination unit 15d is a unit that determines whether to limit torque.
- torque is limited under any of the following conditions. When torque limitation is not performed, each rotating electrical machine is controlled with the required torque and the required rotational speed.
- FIG. 5 shows an outline of conditions for torque limitation in the present application. In the present application, torque limitation is applied in either a state where the battery power is excessive (condition 1) or a case where the battery power is suddenly changing (condition 2).
- Condition 1 (Excessive)
- the torque limiting means unconditionally performs torque limiting. Execute.
- the rotating electrical machine that functions as a motor is controlled based on the required rotational speed and the required torque, except for the case of Condition 2 below.
- the “battery power sudden change estimation means” estimates a sudden change state in which the battery power changes suddenly based on at least one of the change rate of the battery power and the change rate of the rotation speed of the rotating electrical machine.
- the rotating electric machine that functions as a motor is controlled based on the requested rotational speed and the requested torque, except for the case of Condition 1.
- the state of the battery power change rate is equivalent to the battery power change rate when the battery power change rate is larger than the battery power sudden change threshold for determining whether or not the battery power change rate is large. is there.
- the situation of the rotational speed change rate is assumed to correspond to a sudden change when viewed from the rotational speed when the rotational speed change rate is larger than a rotational speed sudden change threshold for determining whether the rotational speed change rate is large. .
- the torque limit value deriving means 15e works to obtain the torque limit value at that time.
- 5 Torque limit value deriving means With regard to this torque limit value, in the present application, a system is constructed so as to obtain a different torque limit value between an excessive torque limit value and a sudden torque limit value. Yes. That is, as shown in FIG. 3, as the torque limit value deriving means 15e, an excessive torque limit value deriving means 15f and a sudden change torque limit value deriving means 15f are provided. Excessive Torque Limit Value Deriving Unit The excessive torque limit value deriving unit 15f obtains a torque limit value based on the excessive limit power that is the maximum value of the battery power that can be tolerated during an excessive time. This excessive time limit power is substantially the same value as the excessive time threshold set in advance for the battery power described so far. Specifically, the torque limit value at the time of excess is obtained by the following formula 5.
- Abrupt change torque limit value deriving means The sudden change torque limit value deriving means 15g obtains a torque limit value based on the sudden change limit power, which is the maximum value of the battery power that can be allowed during the sudden change.
- This sudden change limit power is substantially the same value as the sudden change threshold set in advance for the battery power described so far.
- the torque limit value at the time of sudden change is obtained by the following formula 6.
- FIG. 6 is a flowchart of the torque limiting process in the present embodiment.
- the torque limiting process is always repeated at predetermined time steps from the ignition key ON operation to the OFF operation.
- the required torque for the generator and the motor is taken in, and the rotational speeds of the generator and the motor are detected (step # 1).
- the required torque is described as a torque command value.
- the detected rotational speed corresponds to the required rotational speed.
- the battery power deriving unit 15a derives the battery power at that time (step # 2), and the battery power change rate deriving unit 15b derives the rate of change of the battery power (step # 2). # 3).
- the rotational speed change rate deriving means 15c derives the rotational speed change rate of the rotating electrical machine acting as a motor from the sequentially acquired motor rotational speed (step # 4). Through the above processing, the battery power, the battery power change rate, and the rotation speed change rate at that time are obtained.
- the torque limit determination unit 15d determines whether the battery power change rate is equal to or higher than the battery power rapid change threshold value, or whether the rotational speed change rate is equal to or greater than the rotational speed sudden change threshold value. Whether any of these conditions is satisfied is determined (step # 5). In this way, the occurrence of a sudden change in terms of the rate of change is determined. If either condition is satisfied (step # 5: yes), it is determined whether the battery power is equal to or greater than the sudden change threshold (step # 6). Therefore, the occurrence of a sudden change as determined from the magnitude of the battery power is determined.
- step # 6 If the occurrence of sudden change is confirmed (step # 6: yes), the sudden change torque limit value deriving means 15g derives the sudden change torque limit value (step # 7), and the motor torque limit based on that value is calculated. Is executed (step # 8). If the occurrence of a sudden change is not confirmed (step # 6: no), no limitation is made (step # 9), and the rotating electrical machine acting as a motor is operated at the required torque and the required rotational speed.
- step # 10 it is determined whether the battery power is greater than or equal to the excessive threshold. Accordingly, it is determined that the battery power is excessively large. If it is confirmed that an excessive occurrence has occurred (step # 10: yes), an excessive torque limit value deriving means 15f derives an excessive torque limit value (step # 11), and a motor torque limit based on that value is calculated. Is executed (step # 8). When the occurrence of an excessive amount is not confirmed (step # 10: no), no limitation is performed (step # 9), and the rotating electrical machine acting as a motor is operated with the required torque and the required rotational speed.
- FIG. 7 and FIG. 8 each show a state when torque limitation is executed.
- FIG. 7 shows a state in which a sudden change has occurred and the torque limit is being executed (at the time of the sudden change described so far) on the left side of the figure, and a normal operation state without a torque change without sudden change or overshooting. Is shown on the right side of the figure (in the case of the non-sudden change and non-excessive time described so far).
- FIG. 7 shows a state in which a sudden change has occurred and the torque limit is being executed (at the time of the sudden change described so far) on the left side of the figure, and a normal operation state without a torque change without sudden change or overshooting. Is shown on the right side of the figure (in the case of the non-sudden change and non-excessive time described so far).
- FIG. 7 shows a state in which a sudden change has occurred and the torque limit is being executed (at the time of the sudden change described so far) on the
- the horizontal axis is time, and the vertical axis is from the bottom, in FIG. 7, the battery power sudden change flag, the motor rotational speed sudden change flag, the torque limit flag, the motor rotational speed, the battery power, A sudden change threshold value (battery power threshold value used for determination of sudden change) and a motor torque command value are shown.
- the motor torque command value corresponds to the required torque for the rotating electrical machine that functions as the motor described so far.
- an excessive threshold for determination of excessive (Battery power threshold to be used).
- FIG. 7 shows a state in which the motor rotation speed and the battery power change suddenly and the motor rotation speed and the battery power increase.
- the torque limit is applied in a state where the motor rotation speed changes suddenly and the battery power exceeds the sudden change threshold. Therefore, the torque limit flag is set.
- the motor torque command value is sequentially reduced.
- the motor torque designation value also changes in an upward trend. And from the rate of change of the battery power, there is a possibility that it will still be determined to be a sudden change, but the torque limitation is eliminated when the battery power falls below the sudden change threshold.
- the right side of FIG. 7 shows a state where the motor rotation speed and battery power are gradually increased. In this state, even if the battery power exceeds the sudden change threshold value, since the motor rotation speed and the battery power are not suddenly changed, the torque is not limited.
- FIG. 8 shows a state similar to that of FIG. 7 and shows a state in which torque limitation is applied due to a sudden change.
- the motor rotation speed and the battery power change suddenly, and the motor rotation speed and the battery power are increased.
- FIG. 8 shows a state in which the battery power is excessive without suddenly changing the motor rotation speed and the battery power.
- torque limitation is applied in a state where the motor rotation speed gradually increases and the battery power exceeds the excessive threshold. Therefore, the torque limit flag is set.
- the motor torque command value is sequentially reduced.
- the motor torque designation value also changes in an upward trend. Then, when the battery power falls below the excessive threshold, the torque limitation is eliminated.
- FIG. 10 shows a state where an upper threshold value upper side and an upper threshold value lower side are provided as the excessive threshold value in addition to the sudden change threshold value.
- the upper threshold value upper side is used, and when the battery power is increased, the lower threshold value upper side is used, so that a control delay or the like can be absorbed, and stable torque limitation that hardly causes hunting or the like can be realized.
- the split type hybrid drive device including the engine and the pair of rotating electric machines has been described.
- the present application relates to a hybrid drive device including a single rotating electric machine. It can be adopted.
- the present invention can also be applied to a drive device (a travel device that travels only by an electric motor) including a rotating electrical machine that functions as a motor.
- (3) As a configuration of a hybrid drive device including a single rotating electric machine, it can be employed in drive devices having various configurations shown in FIG. Each figure shows the following structure.
- the rotary electric machine MG is connected to a continuously variable transmission CVT connected to wheels (not shown) on the downstream side of transmission, and the output from the engine can be transmitted to the transmission CVT via the clutch C.
- (B) employs a structure in which the structure of (a) is directly connected to a wheel (denoted as a tire in the figure) without using an unrestricted transmission.
- (C) shows that a rotary electric machine MG is connected via a torque converter TC to a continuously variable transmission CVT connected to a wheel (not shown) on the downstream side of transmission, and further a rotor shaft RX of the rotary electric machine MG.
- the structure which made it possible to connect the output from an engine via the clutch C to the transmission upper side is shown.
- (D) employs a structure that is directly connected to a wheel (denoted as a tire in the figure) without using an unrestricted transmission in the configuration of (c).
- (E) is provided with a planetary gear mechanism PG on the input shaft IX of the transmission TM connected to a wheel (not shown) on the downstream side of transmission, and is connected to one element of the planetary gear mechanism PG from the engine via a damper DA.
- the rotating electrical machine MG is connected to other elements of the planetary gear mechanism PG, and traveling with the rotating electrical machine MG alone or traveling with both the engine and the rotating electrical machine MG is obtained.
- the possible configurations are shown.
- (F) employs a structure that is directly connected to a wheel (denoted as a tire in the drawing) without using a transmission in the configuration of (e).
- Battery power deriving means The battery power deriving means 15a also derives battery power in this case.
- the battery power is the power that the battery needs to supply in a state where the rotating electrical machine works according to the required torque and the required rotational speed with respect to the rotating electrical machine that works as a motor. concern.
- This battery power is derived as the following motor power (formula 11).
- Motor power [W] motor required torque ⁇ motor required rotational speed ⁇ 2 ⁇ / 60 + motor loss:
- the motor loss uses an empirical value.
- the battery power is expressed by the following equation.
- Battery power Motor power ... 12
- FIG. 12 the battery power can be directly obtained from the detected value as the product of the battery current and the battery voltage. This is because there is no need to consider the generator side.
- Battery power change rate deriving means The battery power change rate deriving means 15b obtains the absolute value of the difference between the current battery power and the battery power before the unit time step as the battery power change rate. Therefore, it is not different from the one described above.
- Rotational speed change rate deriving means 15c relates to the rotating electrical machine working as a motor and calculates the absolute value of the difference between the current rotational speed and the rotational speed before the unit time step. Asking. Therefore, it is not different from the one described above.
- This torque limit determination unit 15d is a unit that determines whether or not to limit the torque when a predetermined condition unique to the present application is satisfied.
- Condition 1 Excessive
- an excessive threshold value for determining whether the battery power is excessive which is the state shown at the bottom in FIG. 5
- the torque limiting means unconditionally executes torque limiting.
- torque limitation is not executed except in the case of condition 2 below.
- Condition 2 (at sudden change) In the situation shown in the upper three stages of FIG. 5, the battery power change rate situation or the motor rotation speed change rate situation at the time of sudden change larger than the sudden change threshold value for determining whether or not the battery power is suddenly changed. , When any of the change rates is larger than a predetermined value set, the torque limiting means executes torque limiting. When the battery power is not suddenly changed, which is smaller than the sudden change threshold value, torque limitation is not executed except in the case of the above condition 1.
- the state of the battery power change rate is equivalent to the battery power change rate when the battery power change rate is larger than the battery power sudden change threshold for determining whether or not the battery power change rate is large. is there.
- the situation of the rotational speed change rate is assumed to correspond to a sudden change when viewed from the rotational speed when the rotational speed change rate is larger than a rotational speed sudden change threshold for determining whether the rotational speed change rate is large. . Therefore, it is not different from the one described above.
- the torque limit value deriving means 15e works to obtain the torque limit value at that time.
- 5 Torque limit value deriving means Overtime torque limit value deriving means
- Overtime torque limit value deriving means 15f calculates the torque limit value based on the overtime limit power, which is the maximum value of the battery power that can be allowed at the time of overload. Ask. This excessive time limit power is substantially the same value as the excessive time threshold set in advance for the battery power described so far. Specifically, the torque limit value at the time of excess is obtained by the following equation (13).
- Abrupt change torque limit value deriving means The sudden change torque limit value deriving means 15g obtains a torque limit value based on the sudden change limit power, which is the maximum value of the battery power that can be allowed during the sudden change.
- This sudden change limit power is substantially the same value as the sudden change threshold set in advance for the battery power described so far.
- the torque limit value at the time of sudden change is obtained by the following equation (14).
- Torque limit value during sudden change [Nm] (Power limit at the time of sudden change-motor loss) / [(2 ⁇ / 60) ⁇ motor rotation speed] ⁇ ⁇ Equation 14
- FIG. 12 is a flowchart of the torque limiting process in the present embodiment.
- the torque limiting process is always repeated at predetermined time steps from the ignition key ON operation to the OFF operation.
- the battery voltage, the battery current, and the motor rotation speed are detected (step # 51) as shown in the uppermost stage in the flowchart of FIG.
- the battery power deriving unit 15a derives the battery power at that time (step # 52)
- the battery power change rate deriving unit 15b derives the rate of change of the battery power (step # 52). # 53).
- the rotational speed change rate deriving means 15c derives the rotational speed change rate of the rotating electrical machine acting as a motor from the sequentially acquired motor rotational speed (step # 54).
- the torque limit determination unit 15d determines whether the battery power change rate is equal to or higher than the battery power rapid change threshold value, or whether the rotational speed change rate is equal to or greater than the rotational speed sudden change threshold value. Whether any of the above conditions is satisfied is determined (step # 55). In this way, the occurrence of a sudden change in terms of the rate of change is determined. If either condition is satisfied (step # 55: yes), it is determined whether the battery power is equal to or greater than the sudden change threshold (step # 56). Therefore, the occurrence of a sudden change as determined from the magnitude of the battery power is determined.
- step # 56 If the occurrence of a sudden change is confirmed (step # 56: yes), the sudden change torque limit value deriving means 15g derives the sudden change torque limit value (step # 57), and the motor torque limit based on that value is determined. Is executed (step # 58). If the occurrence of a sudden change is not confirmed (step # 56: no), no limitation is made (step # 59), and the rotating electrical machine that operates as a motor is operated at the required torque and the required rotational speed.
- step # 60 When neither condition is satisfied in view of the battery power change rate and the rotation speed change rate (step # 55: no), it is determined whether the battery power is greater than or equal to an excessive threshold (step # 60). Accordingly, it is determined that the battery power is excessively large. If it is confirmed that an excessive occurrence has occurred (step # 60: yes), an excessive torque limit value deriving means 15f derives an excessive torque limit value (step # 61), and a motor torque limit based on that value is calculated. Is executed (step # 58). If the occurrence of an excessive amount is not confirmed (step # 60: no), no limitation is made (step # 59), and the rotating electrical machine acting as a motor is operated with the required torque and the required rotational speed.
- the current detected value is used for deriving the torque limit value.
- the predicted value of the motor rotation speed or the predicted value of the generator power for the derivation of the torque limit value by the torque limit value deriving means.
- values derived based on the following formulas can be adopted as the predicted motor rotation speed value and the predicted generator power value.
- Motor rotation speed prediction value current motor rotation speed + control delay ⁇ motor rotation speed change rate (21)
- Estimated generator power value Current generator power + Control delay ⁇ Generator power change rate Equation 22
- a rotating electrical machine control system for a rotating electrical machine that receives power from a battery via an inverter and works as a motor
- a rotating electrical machine control system that can reliably protect the battery from the inverter without overcurrent flow. I was able to get it. Further, in a hybrid system including a pair of rotating electric machines that receive power supply from a common battery, one rotating electric machine serving as a generator and another rotating electric machine serving as a motor, an overcurrent does not flow, and A rotating electrical machine control system that can reliably protect the inverter was obtained.
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Abstract
Description
この電力負荷装置100において、制御装置30は、交流モータM1における消費パワー(本願におけるバッテリ電力に相当する)の増加量(本願における変化率に相当する)がコンデンサ13からインバータ14へ供給可能な許容パワーを超えたとき、交流モータM1における消費パワーの増加量を、電気負荷装置100の駆動を継続可能な範囲に制限する。
この特許文献1に開示の技術は、交流モータM1から発生される駆動力により走行する走行車等に関する技術であり、消費パワーの増加量を所定の範囲に制限することで、インバータの保護を図ることができる。
また、消費パワーの絶対量が大きいが、消費パワーの変化量が小さい場合には、トルク制限が行われず、過電流によりバッテリ自体或いはバッテリからインバータに到るまでの回路にダメージを与えてしまうという問題があった。
他の目的は、共通のバッテリから電力の供給を受ける一対の回転電機を備え、一の回転電機が発電機として他の回転電機がモータとして働く形態のハイブリッドシステムにおいて、過電流が流れることがなく、バッテリからインバータまでの保護を確実に行える回転電機制御システムを得ることにある。
前記バッテリから供給することが必要とされるバッテリ電力を導出するバッテリ電力導出手段と、
前記回転電機の出力トルクを制限するトルク制限手段と、
前記バッテリ電力の変化率及び前記回転電機の回転速度の変化率の少なくとも一方に基づいて、前記バッテリ電力が急変する急変状態を推定するバッテリ電力急変推定手段とを備え、
前記トルク制限手段は、前記バッテリ電力が急変しない非急変状態における出力トルクの制限形態に対して、前記バッテリ電力急変推定手段により前記急変状態が推定された場合に、前記出力トルクの制限形態を変更する構成を採用することにある。
本願では、バッテリ電力が急変する状態を急変状態と呼び、バッテリ電力が急変しない状態を非急変状態と呼び、この急変状態と非急変状態との間で、トルク制限手段による出力トルクの制限形態を変更する。
即ち、本願にあっては、通常の非急変時のトルク制限に加えて、バッテリ電力急変推定手段を設けることで、急変状態と、非急変状態とを別個に判別するとともに、それぞれの状態に応じた出力トルクの制限形態を採用することで、それぞれの運転状態に適合したトルク制限を実行することができる。ここでは、出力トルクの制限をどの段階で実行するかが、重要な問題であるが、この問題に対して、車両状態で的確な対応が可能となる。
前記バッテリ電力が急変しない非急変状態のとき、前記バッテリ電力導出手段で導出される前記バッテリ電力が、バッテリ電力が過大か否かを判定する過大時閾値より大きい過大時に、前記トルク制限手段がトルク制限を実行し、
前記バッテリ電力が急変する急変状態のとき、前記過大時閾値より小さい値とされる急変時閾値より前記バッテリ電力が大きい急変時に、前記トルク制限手段がトルク制限を実行することが好ましい。
このように構成できる理由は、バッテリ電力の変化率が大きい場合、あるいは、回転電機の回転速度の変化率が大きい場合は、共に、バッテリから供給する必要があるバッテリ電力が急激に変化するためである。
この場合は、バッテリ電力導出手段で導出されるバッテリ電力が、バッテリ電力が過大か否かを判定する過大時閾値より大きい過大時に、トルク制限手段がトルク制限を実行する構成とする。
このように構成することで、過大時閾値を適切に設定することで、例えば、過電流防止を直接的に図ることができるとともに、バッテリが、バッテリの放電電力限界以上の電力を放電して、バッテリの寿命が低下する等の問題を回避することができる。
2-1 バッテリ電力自体に基づく対応
この場合は、バッテリ電力の変化率を導出するバッテリ電力変化率導出手段を備え、バッテリ電力変化率導出手段により導出されるバッテリ電力変化率が、バッテリ電力変化率が大きいか否かを判定するバッテリ電力急変閾値より大きく、且つ、バッテリ電力導出手段で導出されるバッテリ電力が、前記過大時閾値より小さい値とされる急変時閾値より大きい急変時に、トルク制限手段がトルク制限を実行する構成とする。
この構成の場合、このまま放置しておくと問題となる可能性がある状態を、バッテリ電力変化率とバッテリ電力急変閾値との関係から判定し、さらに、その可能性が発生している時点でのバッテリ電力自体を急変時閾値と比較することで、問題となる可能性のある急変状態を確実に把握してトルク制限をかけることができる。結果、急変時閾値を適切に設定することで、例えば、過電流が発生する可能性が高い場合に、過電流の発生防止を直接的に図ることができるとともに、バッテリが、バッテリの放電電力限界以上の電力を放電して、バッテリの寿命が低下する等の問題を回避することもできる。
この場合は、回転電機の回転速度の変化率を導出する回転速度変化率導出手段を備え、回転速度変化率導出手段により導出される回転速度変化率が、回転速度変化率が大きいか否かを判定する回転速度急変閾値より大きく、且つ、バッテリ電力導出手段で導出されるバッテリ電力が、前記過大時閾値より小さい値とされる急変時閾値より大きい急変時に、トルク制限手段がトルク制限を実行する構成とする。
この構成の場合、モータとして働く回転電機の回転速度が急変しており、このまま放置しておくと問題となる可能性がある状態を、回転速度変化率と回転速度急変閾値との関係から判定し、さらに、その可能性が発生している時点でのバッテリ電力を急変時閾値と比較することで、問題となる可能性のある急変状態を確実に把握してトルク制限をかけることができる。結果、急変時閾値を適切に設定することで、例えば、過電流が発生する可能性が高い場合に、過電流の発生防止を直接的に図ることができるとともに、バッテリが、バッテリの放電電力限界以上の電力を放電して、バッテリの寿命が低下する等の問題を回避することもできる。
この場合は、上記の2-1、2-2の場合の何れかを条件として対応するのであるが、その場合、システムは以下のように構成することとなる。
バッテリ電力の変化率を導出するバッテリ電力変化率導出手段を備え、
回転電機の回転速度の変化率を導出する回転速度変化率導出手段を備え、
バッテリ電力変化率導出手段により導出されるバッテリ電力変化率が、
バッテリ電力変化率が大きいか否かを判定するバッテリ電力急変閾値より大きい、若しくは前記回転速度変化率導出手段により導出される回転速度変化率が、回転速度変化率が大きいか否かを判定する回転速度急変閾値より大きい場合で、かつ、
前記バッテリ電力導出手段で導出される前記バッテリ電力が、前記過大時閾値より小さい値とされる急変時閾値より大きい急変時に、前記トルク制限手段がトルク制限を実行する構成となる。
バッテリ電力自体、もしくは回転電機の回転電機の回転速度に基づくトルク制限が実行される場合、それぞれ先に2-1、2-2で説明した作用・効果を得ることができる。
この車両駆動システムの場合、モータとして働く回転電機のみを制御対象とすることとなるが、バッテリ電力導出手段で導出されるバッテリ電力が、回転電機が要求回転速度及び要求トルクで働く場合に、回転電機がモータとして働くために必要となる電力として導出される構成を採用する。
この導出構成を採用することで、モータとして働く回転電機のみを備えた走行駆動システムにおけるバッテリ電力を適切に求めることができる。
このハイブリッドシステムでは、少なくとも発電機として働く第1回転電機とモータとして働く第2回転電機とを制御対象とすることとなるが、バッテリ電力導出手段で導出されるバッテリ電力が、第2回転電機が要求回転速度及び要求トルクで働く場合に、第2回転電機がモータとして働くために必要となる電力と、第1回転電機が要求回転速度及び要求トルクで働く場合に、第1回転電機が発電機として働くために必要となる電力との和として導出される構成を採用する。この導出構成を採用することで、発電機として働く回転電機及びモータとして働く回転電機を備えたハイブリッドシステムにおけるバッテリ電力を適切に求めることができる。
過大時には、トルク制限手段がトルク制限を実行する場合に、過大時に許容できるバッテリ電力の最大値である過大時制限電力に基づいて、トルク制限値を求める過大時トルク制限値導出手段を備えておく。
過大時に許容できるバッテリ電力の最大値である過大時制限電力に基づいて、トルク制限値を導出して設定することで、バッテリからの過度の電力の持ち出しを防止、過電流の防止も図ることができる。
急変時には、トルク制限手段がトルク制限を実行する場合に、急変時に許容できるバッテリ電力の最大値である急変時制限電力に基づいて、トルク制限値を求める急変時トルク制限値導出手段を備えておく。
急変時に、その急変が起こったとしても許容できるバッテリ電力の最大値である急変時制限電力に基づいて、トルク制限値を導出して設定することで、バッテリからの過度の電力の持ち出しを防止、過電流の防止も図ることができる。
過大時に、トルク制限手段がトルク制限を実行する場合に、過大時に許容できるバッテリ電力の最大値である過大時制限電力に基づいて、トルク制限値を求める過大時トルク制限値導出手段と、
急変時に、トルク制限手段がトルク制限を実行する場合に、急変時に許容できるバッテリ電力の最大値である急変時制限電力に基づいて、トルク制限値を求める急変時トルク制限値導出手段とを備え、
過大時制限電力が、急変時制限電力より大きく設定されていることで、適切なトルク制限を実現できる。
この車両駆動システムでは、モータとして働く回転電機のみを制御対象とすることとなるが、トルク制限値が、許容できるバッテリ電力の最大値である制限電力と、回転電機がモータとして働くために必要となるモータ損失とに基づいて導出される構成とすることができる。この導出構成を採用することで、モータとして働く回転電機のみを備えた走行駆動システムにおけるトルク制限値を適切に求めることができる。
このハイブリッドシステムでは、発電機として働く第1回転電機とモータとして働く第2回転電機とを制御対象とし、トルク制限値が、許容できるバッテリ電力の最大値である制限電力と、第2回転電機がモータとして働くために必要となる電力と、第1回転電機が発電機として働くために必要となる電力とに基づいて導出される構成とすることができる。この導出構成を採用することで、発電機として働く回転電機及びモータとして働く回転電機を備えたハイブリッドシステムにおけるバッテリ電力を適切に求めることができる。
この構成は過大時閾値にヒステリシスを持たせることとなるが、このようにヒステリシスを持たせることで制御遅れを吸収でき、また、バッテリ電力が過大時閾値をまたいで振動的に変化する場合に、ハンチング等の問題が発生するのを防止できる。
この構成は急変時閾値にヒステリシスを持たせることとなるが、このようにヒステリシスを持たせることで制御遅れを吸収でき、また、バッテリ電力が急変時閾値をまたいで振動的に変化する場合に、ハンチング等の問題が発生するのを防止できる。
すなわち、モータ回転速度(モータとして働く回転電機の回転速度)に関しては、トルク制限値を求めるに、モータ回転速度の変化率と制御遅れに基づく係数の積算値と現在のモータ回転速度との和として得られるモータ回転速度予測値に基づいてトルク制限値を求めることで、制御遅れを吸収できる。
同様に、発電機電力(発電機として働く回転電機の電力)に関しては、トルク制限値を求めるに、発電機電力の変化率と制御遅れに基づく係数の積算値と現在の発電機電力との和として得られる発電機推定電力予測値に基づいてトルク制限値を求めることで、制御遅れを吸収できる。
図1、図3に示すように、車両にはエンジンEと一対の回転電機MG1,MG2とが備えられており、エンジンE若しくはモータとして働く回転電機から駆動力を得て走行可能に構成されるとともに、エンジンEにより発生される駆動力の少なくとも一部は、発電機として働く回転電機において電力に変換され、バッテリBの充電、あるいはモータとして働く回転電機の駆動の用に供される。さらに、制動時には、制動力を回転電機により回生して、バッテリBに電力として蓄電することも可能となっている。
図2は、インバータInを主体とする各回転電機の動作制御系を示したものである。この回転電機制御系は、バッテリBと各回転電機MG1,MG2と、両者の間に介装されるインバータInとを備えて構成されている。そして、インバータInは、バッテリB側から、電圧変換部4、周波数変換部5を備えている。図2からも判明するように、一対の回転電機MG1,MG2に対して、それぞれ周波数変換部5は個別に設けられている。周波数変換部5と各回転電機MG1,MG2との間には、回転電機を流れる電流量を測定するための電流センサ(第1回転電機電流センサSe7,第2回転電機電流センサSe8)が備えられている。
上段のスイッチング素子4cのソースは下段のスイッチング素子4dのドレインに接続されるとともに、リアクトル4aを介してバッテリBのプラス側に接続されている。上段のスイッチング素子4cのドレインが周波数変換部5の入力プラス側とされる。上段のスイッチング素子4c及び下段のスイッチチイグ素子4dのゲートはドライバー回路7に接続され、下段のスイッチング素子4dのソースはバッテリBのマイナス側(グランド)に接続される。
これらスイッチング素子4c,4dが、後述する回転電機制御手段14から出力される電圧指令である要求電圧に基づいてドライバー回路7からPWM制御されることで、バッテリBからの電圧を昇圧して周波数変換部5に供給する。一方、回転電機MG2側から電力を受ける場合は、降圧してバッテリBに供給することとなる。
上段のスイッチング素子8a,8b,8cのドレインは電圧変換部4の出力プラス側に接続され、ゲートはドライバー回路7に接続され、ソースは下段のスイッチング素子8d,8e,8fのドレインに接続され、下段のスイッチング素子8d,8e,8fのゲートはドライバー回路7に接続され、ソースは、電圧変換部4の出力マイナス側、即、バッテリBのマイナス側(グランド)に接続されている。
対となる上下両段のスイッチング素子(8a,8d),(8b,8e),(8c,8f)の各中間点9u,9v,9wは、回転電機MG1,MG2のU相、V相、W相の巻線にそれぞれ接続されている。各巻線への通電電流は、電流検出センサSe7,Se8によって検出されており、この検出値はドライバー回路7に送出され、さらに制御装置ECUにも送られる。
以下、図3に基づいて、本願に係る車両駆動システム200の全体について、システムの中核を成す制御装置ECUを中心に説明する。
図3に示すように、制御装置ECUは、車両の各部に設けられたセンサSe1~Se8で取得される情報を用いて、エンジンE、第1回転電機MG1、第2回転電機MG2等の運転制御を行う。ここで、第1回転電機MG1、第2回転電機MG2の運転制御は、先に説明したインバータInを介するものとなる。
エンジン制御手段13は、エンジンEの運転開始、停止を行う他、走行条件決定手段12により決定されるエンジンに要求される回転速度及び出力トルクに従って、エンジンの回転速度制御、出力トルク制御等の運転制御を行う。回転電機制御手段14は、走行条件決定手段12により決定される各回転電機MG1,MG2に要求される回転速度及び出力トルクに従って、インバータInを介して、第1回転電機MG1及び第2回転電機MG2の回転速度制御、トルク制御等の運転制御を行う。
従って、回転電機制御手段14では、インバータInに対する指令値として、前記インバータ電圧Vcが求められるとともに、回転電機MG1,MG2別に周波数及び電流値が求められ、インバータInに送られる。
このような通常状態における走行状態に対して、本願にあっては、トルク制限手段15により、バッテリに過電流が流れる可能性がある場合に、所定の条件下でモータとして働く回転電機のトルクを制限するように構成されている。トルク制限が実行される状態にあっては、モータとして働く回転電機のトルクが、トルク制限値に制限される。
このトルク制限手段15は、バッテリ電力導出手段15a、バッテリ電力変化率導出手段15b、回転速度変化率導出手段15c、トルク制限判定手段15d、トルク制限値導出手段15eから構成されている。
このバッテリ電力導出手段15aは、現状でバッテリ電力を導出する手段であり、本実施形態の場合、バッテリ電力は、一対の回転電機に関して、前記走行条件決定手段12により決定される走行条件(要求トルク及び要求回転速度)に従って、一方がモータとして他方が発電機として働く場合に、バッテリから取り出される電力(バッテリが供給することが必要となる電力)である。
これらの式でトルクの単位は〔Nm〕で、回転速度の単位は〔rpm〕である(以下同じ)。
具体的には、図2のp1、p2間で発生する損失である。この値も経験的に得られている値であり、図4に、バッテリ電流〔A〕と昇圧コンバータ損失〔W〕の関係を示した。従って、この損失は、バッテリ電流を得て、図4から、もしくは同図上掲の近似式に従って、その時点の昇圧コンバータ損失を求めることができる。近似式において、a1,a2,a3は予め定められている定数である。ここで、バッテリ電流は、先に示したバッテリ状態検出センサSe4により検出される電流を使用することができる。さらに、本願にあっては、バッテリ電力が経時的に逐次求められるため、その逐次求められたバッテリ電力で直前のバッテリ電力をバッテリ状態検出センサSe4により計測される現在のバッテリ電圧で除算して求めてもよい。
[C×(昇圧後電圧)2/2-C×(前回の昇圧後電圧)2/2]/Δt・・式3
バッテリ電力=
モータ電力+発電機電力+昇圧コンバータ損失+コンデンサチャージ電力
・・・・式4
このバッテリ電力変化率導出手段15bは、現在のバッテリ電力と、単位タイムステップ前のバッテリ電力との差の絶対値をバッテリ電力変化率として求める。
この回転速度変化率導出手段15cは、モータとして働いている回転電機に関し、現在の回転速度と、単位タイムステップ前の回転速度との差の絶対値を回転速度変化率として求める。
このトルク制限判定手段15dは、トルク制限を行うか否かの判定を実行する手段である。本願にあっては、以下のいずれかの条件においてトルク制限をかける。トルク制限を行わない場合は、各回転電機は、要求トルク、要求回転速度で制御される。図5に、本願におけるトルク制限の条件の概略を示した。
本願にあっては、バッテリ電力が過大である場合(条件1)とバッテリ電力が急変している場合(条件2)とのいずれかの状態で、トルク制限をかける。
図5の最も下側に示されている状況である、現在のバッテリ電力が、バッテリ電力が過大か否かを判定する過大時閾値より大きい過大時に、無条件に、トルク制限手段がトルク制限を実行する。
バッテリ電力が、過大時閾値より小さい非過大時には、下記条件2の場合を除いて、トルク制限を実行せず、モータとして働く回転電機が、要求回転速度及び要求トルクに基づいて制御される。
図5の上側3段に示されている状況である、バッテリ電力が急変しているか否かを判定する急変時閾値より大きい急変時に、バッテリ電力変化率の状況、或いはモータ回転速度変化率の状況を見て、いずれかの変化率がそれぞれ設定される所定の値よりも大きい場合にトルク制限手段がトルク制限を実行する。本願においては、このバッテリ電力が急変しているか否かを判定する急変時閾値より大きい急変時に、バッテリ電力変化率の状況、或いはモータ回転速度変化率の状況を判断している機能部位が「バッテリ電力急変推定手段」を構成する。即ち、この「バッテリ電力急変推定手段」は、バッテリ電力の変化率及び回転電機の回転速度の変化率の少なくとも一方に基づいて、バッテリ電力が急変する急変状態を推定する。
バッテリ電力が、急変時閾値より小さい非急変時には、上記条件1の場合を除いて、トルク制限を実行せず、モータとして働く回転電機が、要求回転速度及び要求トルクに基づいて制御される。
一方、回転速度変化率の状況とは、回転速度変化率が、回転速度変化率が大きいか否かを判定する回転速度急変閾値より大きい場合に、回転速度からみて急変時に相当するとするものである。
5 トルク制限値導出手段
このトルク制限値に関しても、本願にあっては、過大時のトルク制限値と、急変時のトルク制限値との別異のトルク制限値を求めるようにシステムが構築されている。すなわち、図3に示すように、トルク制限値導出手段15eとして、過大時トルク制限値導出手段15f、及び急変時トルク制限値導出手段15fが備えられている。
過大時トルク制限値導出手段
過大時トルク制限値導出手段15fは、過大時に、当該過大時に許容できるバッテリ電力の最大値である過大時制限電力に基づいて、トルク制限値を求める。この過大時制限電力は、実質的に、これまで説明してきたバッテリ電力について予め設定されている過大時閾値と同じ値とされている。
具体的には、下記の式5で過大時のトルク制限値が求められる。
(過大時制限電力-発電機電力-モータ損失-昇圧コンバータ損失-コンデンサチャージ電力)/[(2π/60)×モータ回転速度]・・・・・・・・・式5
急変時トルク制限値導出手段15gは、急変時に、当該急変時に許容できるバッテリ電力の最大値である急変時制限電力に基づいて、トルク制限値を求める。この急変時制限電力は、実質的に、これまで説明してきたバッテリ電力について予め設定されている急変時閾値と同じ値とされている。
具体的には、下記の式6で急変時のトルク制限値が求められる。
(急変時制限電力-発電機電力-モータ損失-昇圧コンバータ損失-コンデンサチャージ電力)/[(2π/60)×モータ回転速度]・・・・・・・・・式6
以上が、本願に係る回転電機制御システムの構成の説明である。
以下、図6、図7、図8に基づいて、当該回転電機制御システムにおけるトルク制限に関して説明する。
トルク制限処理は、イグニッションキーのON操作からOFF操作に到るまで常時、所定のタイムステップで繰り返される。
処理にあたっては、図6のフローチャートで最上段に示されるように、発電機及びモータに対する要求トルクが取り込まれるとともに、発電機及びモータの回転速度が検出される(ステップ#1)。図6にあっては、要求トルクをトルク指令値として記載している。また、検出される回転速度(実回転速度)は要求回転速度に相応している。
これらの情報を得た後、バッテリ電力導出手段15aは、その時点でのバッテリ電力を導出する(ステップ#2)とともに、バッテリ電力変化率導出手段15bが、バッテリ電力の変化率を導出する(ステップ#3)。一方、逐次取り込まれるモータ回転速度から、回転速度変化率導出手段15cは、モータとして働く回転電機の回数数変化率を導出する(ステップ#4)。
以上の処理を経て、その時点におけるバッテリ電力、バッテリ電力変化率、回転速度変化率が得られる。
図7、図8は、それぞれ、トルク制限を実行した場合の状態を示している。ここで、図7は、急変が起こってトルク制限を実行している状態(これまで説明してきた急変時)を同図左側に、急変あるいは過大が起こらずトルク制限を行うことなく通常の運転状態が保たれている状態(これまで説明してきた非急変時であるとともに、非過大時)を同図右側に示している。
一方、図8は、急変が起こってトルク制限を実行している状態を同図左側に、急変とは認められないままにバッテリ電力が過大となった状態(これまで説明してきた過大時)に、トルク制限を行っている状態を示している。
図7の左側には、モータ回転速度及びバッテリ電力が急変し、モータ回転速度、バッテリ電力が増加した状態を示している。図示する状態にあっては、モータ回転速度が急変し、バッテリ電力が急変時閾値を超えた状態で、トルク制限がかけられる。従って、トルク制限フラグが立つこととなる。トルク制限がかけられるとモータトルク指令値が順次低減されるが、モータ回転速度が減少に向かうに従って、モータトルク指定値も上昇傾向に変化する。そして、バッテリ電力の変化率からすると、なお急変と判断される可能性があるが、バッテリ電力が急変時閾値を下回ることで、トルク制限が解消される。
図8の左側には、図7と同様な状態を示し、急変に伴ってトルク制限がかかる状態を示している。モータ回転速度及びバッテリ電力が急変し、モータ回転速度、バッテリ電力が増加した状態を示している。
(1) 上記の実施形態にあっては、バッテリ電力の閾値として、それぞれ単一の急変時閾値、過大時閾値を使用する例を示した。しかしながら、各閾値にバッテリ電力が増加する状態で使用する上側の閾値と、バッテリ電力が減少する状態で使用する下側の閾値とを設けてもよい。このように閾値を一対の値とする目的は、閾値にヒステリシスを持たせて制御遅れ等を吸収することである。この構成を採用してトルク制限を実行した場合の状況を、図7に対応して図9に、図8に対応して図10に示した。
図9には、急変時閾値として、急変時閾値上側および急変時閾値下側が設けられている。この構成では、バッテリ電力の増加時には急変時閾値上側を使用し、減少時には急変時閾値下側を使用することで、制御遅れ等を吸収でき、ハンチング等を起こし難い安定したトルク制限を実現できる。
図10には、急変時閾値に加えて、過大時閾値として、過大時閾値上側および過大時閾値下側が設けられている状態を示している。この構成では、バッテリ電力の増加時には過大時閾値上側を使用し、減少時には過大時閾値下側を使用することで、制御遅れ等を吸収でき、ハンチング等を起こし難い安定したトルク制限を実現できる。
(2) これまで説明してきた実施形態にあっては、エンジンと一対の回転電機とを備え
たスプリットタイプのハイブリッド駆動装置に関して説明したが、本願は、回転電機を単一備えたハイブリッド駆動装置に採用可能である。さらに、モータとして働く回転電機を備えた駆動装置(電動モータのみにより走行する走行装置)にも適用可能である。
(3) 回転電機を単一備えたハイブリッド駆動装置の構成としては、図11に示す様々
な構成の駆動装置に採用できる。同図はそれぞれ、以下の構造を示している。
(a)は、伝動下流側で車輪(図外)に連結される無段変速機CVTに、回転電機MGを連結しておき、エンジンからの出力をクラッチCを介して変速機CVTに伝動可能とした構成を示している。
(b)は、(a)の構成において無断変速機を介することなく、直接車輪(図上タイヤと記載)に連結する構造を採用したものである。
(c)は、伝動下流側で車輪(図外)に連結される無段変速機CVTに、トルクコンバータTCを介して回転電機MGを連結しておき、さらに、その回転電機MGのロータ軸RXの伝動上手側にエンジンからの出力をクラッチCを介して連結可能とした構成を示している。
(d)は、(c)の構成において無断変速機を介することなく、直接車輪(図上タイヤと記載)に連結する構造を採用したものである。
(e)は、伝動下流側で車輪(図外)に連結される変速機TMの入力軸IXに遊星歯車機構PGを設け、遊星歯車機構PGの一要素に、ダンパDAを介してエンジンからの動力が伝達されるとともに、遊星歯車機構PGの他の要素に回転電機MGを連結しておき、回転電機MG単独での走行、エンジンと回転電機MGとの両方から駆動力を得ての走行を可能とした構成を示している。
(f)は、(e)の構成において変速機を介することなく、直接車輪(図上タイヤと記載)に連結する構造を採用したものである。
1 バッテリ電力導出手段
バッテリ電力導出手段15aは、この場合もバッテリ電力を導出する。
バッテリ電力は、モータとして働く回転電機に関して、当該回転電機が、要求トルク、要求回転速度に従って働く状態で、バッテリが供給することが必要となる電力であり、当該モータとして働く回転電機の要素のみが関与する。
バッテリ電力=モータ電力・・・・・・・・・・・・・・・・・・・式12
但し、このようにモータとして働く回転電機のみしかない場合は、下記の図12で示すように、バッテリ電流とバッテリ電圧の積として、その検出値から直接バッテリ電力を求めることもできる。この場合、発電機側は考慮する必要がないためである。
このバッテリ電力変化率導出手段15bは、現在のバッテリ電力と、単位タイムステップ前のバッテリ電力との差の絶対値をバッテリ電力変化率として求める。従って、先に説明したものと変わりはない。
この回転速度変化率導出手段15cは、モータとして働いている回転電機に関し、現在の回転速度と、単位タイムステップ前の回転速度との差の絶対値を回転速度変化率として求める。従って、先に説明したものと変わりはない。
このトルク制限判定手段15dは、本願独特の所定の条件を満たした場合にトルクを制限をかけるか否かを判定する手段である。
条件1(過大時)
図5の最も下側に示されている状況である、バッテリ電力が、バッテリ電力が過大か否かを判定する過大時閾値より大きい過大時に、無条件に、トルク制限手段がトルク制限を実行する。
バッテリ電力が、過大時閾値より小さい非過大時には、下記条件2の場合を除いて、トルク制限を実行することはない。
図5の上側3段に示されている状況である、バッテリ電力が急変しているか否かを判定する急変時閾値より大きい急変時に、バッテリ電力変化率の状況、或いはモータ回転速度変化率の状況を見て、いずれかの変化率がそれぞれ設定される所定の値よりも大きい場合にトルク制限手段がトルク制限を実行する。
バッテリ電力が、急変時閾値より小さい非急変時には、上記条件1の場合を除いて、トルク制限を実行することはない。
一方、回転速度変化率の状況とは、回転速度変化率が、回転速度変化率が大きいか否かを判定する回転速度急変閾値より大きい場合に、回転速度からみて急変時に相当するとするものである。従って、先に説明したものと変わりはない。
5 トルク制限値導出手段
過大時トルク制限値導出手段
過大時トルク制限値導出手段15fは、過大時に、当該過大時に許容できるバッテリ電力の最大値である過大時制限電力に基づいて、トルク制限値を求める。この過大時制限電力は、実質的に、これまで説明してきたバッテリ電力について予め設定されている過大時閾値と同じ値とされている。
具体的には、下記の式13で過大時のトルク制限値が求められる。
(過大時制限電力-モータ損失)/[(2π/60)×モータ回転速度]・・式13
急変時トルク制限値導出手段15gは、急変時に、当該急変時に許容できるバッテリ電力の最大値である急変時制限電力に基づいて、トルク制限値を求める。この急変時制限電力は、実質的に、これまで説明してきたバッテリ電力について予め設定されている急変時閾値と同じ値とされている。
具体的には、下記の式14で急変時のトルク制限値が求められる。
(急変時制限電力-モータ損失)/[(2π/60)×モータ回転速度]・・式14
以下、図6に対応して、図12に基づいて、当該回転電機制御システムにおけるトルク制限に関して説明する。
図12は、本実施形態におけるトルク制限処理のフローチャートである。
トルク制限処理は、イグニッションキーのON操作からOFF操作に到るまで常時、所定のタイムステップで繰り返される。
処理にあたっては、図12のフローチャートで最上段に示さえるように、バッテリ電圧とバッテリ電流及びモータ回転速度が検出される(ステップ#51)。
これらの情報を得た後、バッテリ電力導出手段15aは、その時点でのバッテリ電力を導出する(ステップ#52)とともに、バッテリ電力変化率導出手段15bが、バッテリ電力の変化率を導出する(ステップ#53)。一方、逐次取り込まれるモータ回転速度から、回転速度変化率導出手段15cは、モータとして働く回転電機の回数数変化率を導出する(ステップ#54)。
そして、急変の発生が確認された場合(ステップ#56:yes)は、急変時トルク制限値導出手段15gにより急変時トルク制限値が導出され(ステップ#57)、その値に基づいたモータトルク制限が実行される(ステップ#58)。急変の発生が確認されない場合(ステップ#56:no)は、制限は行われることなく(ステップ#59)、要求トルク、要求回転速度でモータとして働く回転電機は運転される。
そして、過大の発生が確認された場合(ステップ#60:yes)は、過大時トルク制限値導出手段15fにより過大時トルク制限値が導出され(ステップ#61)、その値に基づいたモータトルク制限が実行される(ステップ#58)。過大の発生が確認されない場合(ステップ#60:no)は、制限は行われることなく(ステップ#59)、要求トルク、要求回転速度でモータとして働く回転電機は運転される。
(4) これまで説明してきた実施形態にあっては、トルク制限値の導出に際しては、現時点の検出値を使用することとした。しかしながら、サンプルタイムあるいは制御遅れを考慮した場合、モータ回転速度の予測値や発電機電力の予測値を、トルク制限値導出手段によるトルク制限値の導出に採用することも好ましい形態である。この場合、モータ回転速度予測値、及び発電機電力予測値として以下の式に基づいて導出される値を採用できる。
・・・・・・式21
発電機電力予測値=現在の発電機電力+制御遅れ×発電機電力変化率
・・・・・・式22
(過大時制限電力-発電機電力予測値-モータ損失-昇圧コンバータ損失-コンデンサチャージ電力)/[(2π/60)×モータ回転速度予測値]・・式23
(急変時制限電力-発電機電力予測値-モータ損失-昇圧コンバータ損失-コンデンサチャージ電力)/[(2π/60)×モータ回転速度予測値]・・式24
Claims (11)
- 回転電機と、バッテリと前記回転電機との間に介在され、前記回転電機を流れる電流を制御するインバータを備えた回転電機制御システムであって、
前記バッテリから供給されるバッテリ電力を導出するバッテリ電力導出手段と、
前記回転電機の出力トルクを制限するトルク制限手段と、
前記バッテリ電力の変化率及び前記回転電機の回転速度の変化率の少なくとも一方に基づいて前記バッテリ電力が急変する急変状態を推定するバッテリ電力急変推定手段とを備え、
前記トルク制限手段は、前記バッテリ電力が急変しない非急変状態における出力トルクの制限形態に対して、前記バッテリ電力急変推定手段により前記急変状態が推定された場合に、前記出力トルクの制限形態を変更する回転電機制御システム。 - 前記バッテリ電力が急変しない非急変状態のとき、前記バッテリ電力導出手段で導出される前記バッテリ電力が、バッテリ電力が過大か否かを判定する過大時閾値より大きい過大時に、前記トルク制限手段がトルク制限を実行し、
前記バッテリ電力が急変する急変状態のとき、前記過大時閾値より小さい値とされる急変時閾値より前記バッテリ電力が大きい急変時に、前記トルク制限手段がトルク制限を実行する請求項1記載の回転電機制御システム。 - 前記バッテリ電力急変推定手段は、前記バッテリ電力の変化率が大きいか否かを判定する判定閾値であるバッテリ電力急変閾値より前記バッテリ電力が大きい場合、若しくは、前記回転電機の回転速度の変化率が大きいか否かを判定する判定閾値である回転速度急変閾値より回転速度の変化率が大きい場合に、バッテリ電力が急変していると推定する請求項1又は2記載の回転電機制御システム。
- 前記バッテリ電力導出手段は、前記回転電機の実回転速度と、前記回転電機に要求される要求トルクに基づいて前記バッテリ電力を導出する請求項1~3のいずれか一項記載の回転電機制御システム。
- 前記過大時に、前記トルク制限手段がトルク制限を実行するに、過大時に許容できるバッテリ電力の最大値である過大時制限電力に基づいて、トルク制限値を求める過大時トルク制限値導出手段を備える請求項2記載の回転電機制御システム。
- 前記急変時に、前記トルク制限手段がトルク制限を実行する場合に、急変時に許容できるバッテリ電力の最大値である急変時制限電力に基づいて、トルク制限値を求める急変時トルク制限値導出手段を備える請求項2又は5記載の回転電機制御システム。
- 前記過大時に、前記トルク制限手段がトルク制限を実行する場合に、過大時に許容できるバッテリ電力の最大値である過大時制限電力に基づいて、トルク制限値を求める過大時トルク制限値導出手段と、
前記急変時に、前記トルク制限手段がトルク制限を実行する場合に、急変時に許容できるバッテリ電力の最大値である急変時制限電力に基づいて、トルク制限値を求める急変時トルク制限値導出手段とを備え、
前記過大時制限電力が、前記急変時制限電力より大きい請求項2記載の回転電機制御システム。 - モータとして働く前記回転電機のみを制御対象とし、
前記トルク制限値が、許容できるバッテリ電力の最大値である制限電力と、前記回転電機がモータとして働くために必要となるモータ損失とに基づいて導出される請求項5~7のいずれか一項記載の回転電機制御システム。 - 発電機として働く第1回転電機とモータとして働く第2回転電機とを制御対象とし、
前記トルク制限値が、許容できるバッテリ電力の最大値である制限電力と、
前記第2回転電機がモータとして働くために必要となる電力と、
前記第1回転電機が発電機として働くために必要となる電力とに基づいて導出される請求項5~7のいずれか一項記載の回転電機制御システム。 - 前記トルク制限値を求めるに、モータ回転速度の変化率と制御遅れに基づく係数の積算値と現在のモータ回転速度との和として得られるモータ回転速度予測値に基づいて前記トルク制限値を求める請求項5~7のいずれか一項記載の回転電機制御システム。
- 前記トルク制限値を求めるに、発電機電力の変化率と制御遅れに基づく係数の積算値と現在の発電機電力との和として得られる発電機推定電力予測値に基づいて前記トルク制限値を求める請求項10記載の回転電機制御システム。
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Also Published As
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US20100201293A1 (en) | 2010-08-12 |
WO2009084358A1 (ja) | 2009-07-09 |
CN101796718B (zh) | 2012-10-03 |
EP2226931A1 (en) | 2010-09-08 |
EP2226931B1 (en) | 2014-03-05 |
JP5057180B2 (ja) | 2012-10-24 |
JPWO2009084359A1 (ja) | 2011-05-19 |
KR101085568B1 (ko) | 2011-11-25 |
EP2226931A4 (en) | 2013-08-07 |
CN101796718A (zh) | 2010-08-04 |
KR20100039414A (ko) | 2010-04-15 |
US8405335B2 (en) | 2013-03-26 |
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