WO2012043116A1 - モータ制御装置 - Google Patents

モータ制御装置 Download PDF

Info

Publication number
WO2012043116A1
WO2012043116A1 PCT/JP2011/069703 JP2011069703W WO2012043116A1 WO 2012043116 A1 WO2012043116 A1 WO 2012043116A1 JP 2011069703 W JP2011069703 W JP 2011069703W WO 2012043116 A1 WO2012043116 A1 WO 2012043116A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
value
abnormality
control device
current
Prior art date
Application number
PCT/JP2011/069703
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
安島　俊幸
浩志 田村
則和 松崎
悟 大野
賢 佐久間
Original Assignee
日立オートモティブシステムズ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日立オートモティブシステムズ株式会社 filed Critical 日立オートモティブシステムズ株式会社
Publication of WO2012043116A1 publication Critical patent/WO2012043116A1/ja

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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

Definitions

  • the present invention relates to a motor control device that detects motor abnormality during motor operation.
  • Japanese Patent Application Laid-Open No. 2004-228561 describes a technique for detecting a motor abnormality by performing a self-test during the initial operation of the motor.
  • An object of the present invention is to provide a motor control device capable of detecting intermediate-level motor abnormalities such as motor interlayer drop and position sensor error increase during motor operation from zero speed to high speed rotation.
  • a motor control device that solves the above-described problem is a motor control device that detects a current value of an output current output to a motor and controls the current value according to a target torque.
  • the motor operation state value is calculated based on the output current value and the output voltage value, and it is determined whether an abnormality has occurred in the motor based on the calculated motor operation state value. It has a motor abnormality determination part.
  • the motor operation state value is calculated based on the current value of the output current output to the motor and the voltage value of the output voltage during operation of the motor, and the calculated motor operation state value Therefore, it is determined whether or not an abnormality has occurred in the motor, so that it is possible to detect an intermediate level motor abnormality such as a motor interlayer drop or an increase in position sensor error during motor operation.
  • This specification includes the contents described in the specification and / or drawings of Japanese Patent Application No. 2010-220166, which is the basis of the priority of the present application.
  • the block diagram which shows the structure of the motor apparatus of this invention The wave form diagram which shows the change of the operation state of the motor in 1st Embodiment.
  • the vector diagram which carried out relative conversion of the output voltage and output current of a motor control apparatus.
  • the wave form diagram which shows the change of the operation state at the time of abnormality of the position sensor of a motor.
  • FIG. 1 is a block diagram showing a configuration of a motor device having a motor control device of the present invention.
  • the motor device 300 is suitable for use in fail-safe by detecting a motor abnormality in an operation state from zero speed (stop state) to high speed rotation during motor operation.
  • the motor device 300 includes a motor 310 and a motor control device 100.
  • the motor control device 100 includes a current detection unit 120, a current control unit 110, an inverter 130, a motor position detection unit 150, and a motor abnormality determination unit 140.
  • the battery 200 is a DC voltage source of the motor control device 100, and the DC voltage of the battery 200 is converted into a variable voltage and variable frequency three-phase AC by the inverter 130 of the motor control device 100 and applied to the motor 310.
  • the motor 310 is a synchronous motor that is rotationally driven by supplying three-phase alternating current.
  • a position sensor unit 320 is attached to the motor 310 in order to control the phase of the three-phase AC applied voltage in accordance with the phase of the induced voltage of the motor 310.
  • the current detection unit 120 detects the three-phase motor current values Iu, Iv, and Iw, and the current control unit 110 controls the current values according to the target torque.
  • the position detection unit 150 detects the position detection value ⁇ s from the signal of the position sensor unit 320 and calculates the motor rotation speed ⁇ r.
  • the current control unit 110 uses the position detection value ⁇ s and the motor current values Iu, Iv, and Iw to generate a current command (a three-phase current command for AC control and a d-axis for vector control. , A known pulse width modulated (PWM) drive signal is generated so as to coincide with the q-axis current command. The generated drive signal is used to turn on / off the semiconductor switch element of the inverter 130.
  • PWM pulse width modulated
  • the motor abnormality determination unit 140 detects the motor operating state by calculation from the output voltage Vu, the output current Iu, and the motor rotation speed ⁇ r of the motor control device 100, and outputs a motor abnormality signal when determining that the motor is abnormal. The detailed operation of the motor abnormality determination unit 140 will be described later with reference to FIG.
  • a voltage command is created so that the rotational speed calculated using the motor rotational speed ⁇ r matches the speed command from the host controller.
  • the motor current is detected, the motor output torque is calculated from the detected motor current, and the calculated motor output torque matches the torque command from the host controller. Create a current command.
  • FIG. 2 is an operation waveform showing a calculation result of the motor state when the motor rotates at a constant speed.
  • the motor torque when the motor is normal is output as a substantially constant torque by current control
  • the motor operating state value is as shown by the solid line in FIG. 2 (b).
  • a stable constant value is shown.
  • the motor operation state value does not depend on the acceleration / deceleration state of the motor by correcting and calculating a portion corresponding to the counter electromotive voltage generated according to the motor rotation speed. A substantially constant value of the motor operating state can be obtained.
  • the motor operating state value when the motor is abnormal greatly fluctuates within one electrical angle cycle as shown by the broken line in FIG.
  • the motor abnormality determination unit 140 detects the motor abnormality by detecting the change in the motor operation state value. That is, when the motor operation state value reaches a predetermined determination value set in advance, it is determined that a motor abnormality has occurred and a motor abnormality signal is output.
  • a state in which the motor operating state value is detected with a fluctuation range within one cycle of electrical angle and the fluctuation range of the motor operating state value is equal to or greater than a predetermined determination value Th is set using a level of the fluctuation range.
  • the current control unit 110 operates so as to adjust the applied voltage such as a PWM pulse so that the current becomes constant, so the ratio between the output voltage of the inverter 130 and the output current changes.
  • the applied voltage is cyclically repeated as an AC voltage. That is, a state where a large amount of current is passed through a normal motor winding and a state where a large amount of current is passed through an abnormal winding are periodically repeated as the motor rotates, and the motor operation state value is determined by the output voltage of the inverter 130. Then, periodic pulsation is generated in accordance with the change in the ratio of the output current.
  • a motor abnormality can be determined by comparing the peak value of the pulsation component that is periodically repeated with a preset determination value.
  • the motor abnormality is determined by comparing the motor operation state value with the determination value. For example, the motor winding or the like according to the magnitude of the peak value of the pulsation component that is periodically repeated in the motor operation state value. Therefore, it is also possible to notify the user of the degree of motor abnormality steplessly using the detected degree of deterioration or the average value thereof.
  • FIG. 3 is a vector diagram obtained by dq conversion (relative conversion) of the output voltage and output current of the motor control device.
  • the voltage vector V has a magnitude Vu and a lead phase ( ⁇ + ⁇ ), and the current vector I has a magnitude Iu and a lead phase ⁇ .
  • the angle ⁇ formed by the voltage and current is a power factor angle, and the effective power P and the apparent power S for one phase are expressed by the following equations (1) and (2).
  • pp is the number of pole pairs
  • ke is an induced voltage constant
  • the output Po and the input Pi of the inverter 130 are expressed by the following equations (4) and (5).
  • Edc is a DC voltage and Idc is a DC current.
  • the q-axis output voltage Vq is expressed by the following formula (7).
  • the current control unit 110 also matches the d-axis current command value Id * corresponding to the target output torque and the q-axis current command value Iq * even when an intermediate level motor abnormality such as an interlayer short circuit occurs. Since the motor operates, the motor power consumption is constant, the motor output fluctuates, and the active power fluctuates.
  • the presence or absence of an abnormality or the state quantity may be determined from the fluctuation of the active power.
  • a q-axis current value and a q-axis voltage value related to active power are shown in the following formula (8).
  • Ke ′ including a back electromotive voltage constant changes depending on the motor rotation position.
  • the change in active power is taken as an index, but the same effect can be obtained even with reactive power.
  • the current command value (Id * or Iq *) is a substantially constant value, it can be simplified only by the output voltage or the q-axis voltage value, and the load of the control processing calculation can be reduced.
  • a motor abnormality fluctuation in motor operation state value
  • the motor abnormality can be detected using only the d-axis current Iq and the q-axis voltage Vq.
  • the active power is larger than the reactive power. Under such conditions, the motor abnormality is detected using the q-axis current Iq and the q-axis voltage Vq.
  • the measurement of the active power and the power factor requires one cycle or more in electrical angle, resulting in a slower response than the normal inverter overcurrent protection operation.
  • a protective operation can be performed by comparison.
  • the motor operation can be continued within the allowable range in which the temperature rise of the motor 310 or the inverter 130 is set in advance or the allowable current range of the inverter 130. At this time, it is preferable to limit the motor operation according to the motor operation state value.
  • the q-axis current value and the q-axis voltage value are used, and when the instantaneous motor operation state value is at the abnormality determination level, one electrical angle cycle is measured. Therefore, it is possible to hold the motor abnormality and promptly notify the user of the motor abnormality.
  • FIG. 4 is a waveform diagram showing changes in the operating state when the position sensor unit of the motor is abnormal.
  • FIG. 2 is different from FIG. 2 in that the abnormal state of the motor is not an interlayer short circuit but an abnormality of the position sensor unit 320 attached to the motor 310, and the others are the same as FIG.
  • the position detection error is a case where an error is superimposed on the position detection value ⁇ due to an abnormality of the position sensor unit 320 such as a resolver, and the detection signal line from the position sensor unit 320 is contacted.
  • the output voltage modulation rate indicates the PWM modulation rate. As shown in FIG. 4B, the modulation rate changes according to the position detection error, and as a result, the output current changes.
  • the motor current detection value (Id, Iq) that is the output signal of the current detection unit 120. included. That is, although the current control unit 110 operates so that the current command value (Id *, Iq *) matches the motor current detection value (Id, Iq), the output current (Iu, Iv, Iw) indicates that the three-phase current value obtained from the current command value (Id *, Iq *) does not match.
  • the peak value of the absolute value of the three-phase output voltage greatly fluctuates, and the abnormality of the position sensor unit 320 can be detected using the peak value of the absolute value of the three-phase output voltage.
  • the abnormality of the position sensor unit 320 can be detected and the abnormality can be notified to the user.
  • an upper limit value Tha and a lower limit value Thb are set in advance as determination values for the motor operation state value, and the motor operation state value exceeds the upper limit value Tha, or the lower limit value. When the value is less than Thb, it can be determined that the position sensor unit 320 is abnormal.
  • the motor operation state value is calculated based on the current value of the output current output to the motor 310 and the voltage value of the output voltage during the operation of the motor 310, and the calculated motor operation. Since it is determined whether or not an abnormality has occurred in the motor 310 based on the state value, it is possible to detect an intermediate-level motor abnormality such as a drop in the interlayer of the motor 310 or an increase in error in the position sensor unit 320 during the motor operation.
  • FIG. 5 is a configuration diagram of an electric power steering device to which the motor control device shown in each embodiment of the present invention is applied.
  • the electric actuator includes a torque transmission mechanism 902, a motor 310, and a motor control device 100.
  • the electric power steering apparatus includes an electric actuator, a handle (steering) 900, a steering detector 901, and an operation amount command unit 903, and the operation force of the handle 900 steered by the driver is torque-assisted using the electric actuator.
  • the torque command ⁇ * of the electric actuator is a steering assist torque command (created by the operation amount command unit 903) of the handle 900, and the steering force of the driver is reduced by using the output of the electric actuator.
  • the motor control device 100 receives the torque command ⁇ * as an input command, and controls the motor current so as to follow the torque command value from the torque constant of the motor 310 and the torque command ⁇ *.
  • the motor output ⁇ m output from the output shaft directly connected to the rotor of the motor 310 transmits torque to the rack 910 of the steering device via a torque transmission mechanism 902 using a reduction mechanism such as a worm, a wheel, a planetary gear, or a hydraulic mechanism. Then, the steering force (operation force) of the driver's handle 900 is reduced (assisted) by the electric force, and the steering angles of the wheels 920 and 921 are operated.
  • a reduction mechanism such as a worm, a wheel, a planetary gear, or a hydraulic mechanism.
  • the assist amount is detected by a steering detector 901 that detects a steering state incorporated in the steering shaft, and an operation amount is detected as a steering angle or a steering torque, and an operation amount command unit is added in consideration of a state amount such as a vehicle speed or a road surface state. 903 is determined as the torque command ⁇ *.
  • the motor control device 100 of the present invention is capable of high-efficiency motor drive by correcting the phase difference generated in the rotation sensor for the torque command ⁇ * required for the electric actuator that rapidly accelerates and decelerates. Even in the field-weakening region of high-speed and high-torque operation, it can be driven without reducing the motor efficiency.
  • the motor can be driven with stable and low torque fluctuation by reducing sensor mounting errors. That is, the electric power steering apparatus to which the motor control apparatus 100 is applied can provide an electric power steering apparatus with high torque and high response without impairing the steering feeling to the driver.
  • the electric power steering device has been described, but the same effect can be obtained even with an electric brake device.
  • FIG. 6 is a configuration diagram of a hybrid vehicle system to which the motor control device of the present invention is applied
  • FIG. 7 is a waveform diagram showing changes in the operating state of the motor.
  • the hybrid vehicle system has a power train in which a synchronous motor 620 is applied as a motor / generator.
  • reference numeral 600 denotes a vehicle body.
  • a front wheel axle 601 is rotatably supported at the front portion of the vehicle body 600, and front wheels 602 and 603 are provided at both ends of the front wheel axle 601.
  • a rear wheel axle 604 is rotatably supported at the rear portion of the vehicle body 600, and rear wheels 605 and 606 are provided at both ends of the rear wheel axle 604.
  • a differential gear 611 that is a power distribution mechanism is provided at the center of the front wheel axle 601, and the rotational driving force transmitted from the engine 610 via the transmission 612 is distributed to the left and right front wheel axles 601. ing.
  • the engine 610 and the synchronous motor 620 are mechanically connected via a belt to a pulley provided on the crankshaft of the engine 610 and a pulley provided on the rotating shaft of the synchronous motor 620.
  • the rotational driving force of the synchronous motor 620 can be transmitted to the engine 610, and the rotational driving force of the engine 610 can be transmitted to the synchronous motor 620.
  • synchronous motor 620 when the three-phase AC power controlled by motor control device 100 is supplied to the stator coil of the stator, the rotor rotates, and a rotational driving force corresponding to the three-phase AC power is generated.
  • the synchronous motor 620 is controlled by the motor control device 100 and operates as a motor.
  • the rotor rotates by receiving the rotational driving force of the engine 610, an electromotive force is induced in the stator coil of the stator. Operates as a generator that generates AC power.
  • the motor control device 100 is a power conversion device that converts DC power supplied from a high-voltage battery 622, which is a high-voltage (42V) system power supply, into three-phase AC power, and corresponds to the magnetic pole position of the rotor according to the operation command value.
  • the three-phase alternating current flowing in the stator coil of the synchronous motor 620 is controlled.
  • the three-phase AC power generated by the synchronous motor 620 is converted to DC power by the motor control device 100 and charges the high voltage battery 622.
  • the high voltage battery 622 is electrically connected to the low voltage battery 623 via a DC-DC converter 624.
  • the low-voltage battery 623 constitutes a low-voltage (14v) power source of the automobile, and is used as a power source for a starter 625, a radio, a light, and the like that initially starts the engine 610 (cold start).
  • the motor controller 100 drives the synchronous motor 620, The engine 610 is restarted.
  • the idle stop mode when the charge amount of the high voltage battery 622 is insufficient or when the engine 610 is not sufficiently warmed, the engine 610 is not stopped and the driving is continued. Further, during the idle stop mode, it is necessary to secure a drive source for auxiliary equipment that uses the engine 610 as a drive source, such as an air conditioner compressor. In this case, the synchronous motor 620 is driven to drive the auxiliary machines.
  • the synchronous motor 620 is driven to assist the driving of the engine 610 even in the acceleration mode or the high load operation mode. Conversely, when the high voltage battery 622 is in a charge mode that requires charging, the engine 610 causes the synchronous motor 620 to generate power and charge the high voltage battery 622. That is, the regeneration mode such as when the vehicle is braked or decelerated is performed.
  • the first determination value Th1 shown in FIG. 7 (b) is an abnormality determination level for determining whether the motor abnormality is such that the motor operation can be continued, and the second determination value Th2 shown in FIG. This is an abnormality determination level for determining whether it is a motor abnormality that makes it difficult to continue motor operation (Th1 ⁇ Th2).
  • the motor abnormality is notified to the driver and the vehicle is stopped or serviced promptly. It is possible to urge the vehicle to move to the station, and while restricting the output of the inverter (not shown) of the motor control device 100 as necessary, it is possible to move the vehicle to a safe stop or move the vehicle to the service station. Can be possible. At this time, it is possible to add a restriction on the motor operation state set in advance or a restriction on the motor operation according to the peak value of the motor operation state value.
  • one of the abnormalities that occur in motor windings is the insulation deterioration of the windings.
  • it is often caused by aging or repeated damage rather than rapid deterioration, and gradually after the motor operating state value (state value during operation) from a normal state to an abnormal state where continuous operation is possible, It reaches an abnormal state that should be stopped. Therefore, the motor operation can be more precisely controlled by determining the degree of abnormality of the motor using two or more determination values.
  • the motor torque also changes periodically within one electrical angle cycle, and is an abnormal level (a level exceeding the first determination value Th1 or the second determination value Th2) and a normal level (the first determination value Th1). It can be seen that the following levels occur repeatedly. That is, the abnormality level is detected by detecting the abnormality level with one period of electrical angle as the abnormality detection period. It is possible to prevent erroneous detection by determining that an abnormality is detected when an abnormality is detected for several consecutive cycles at each repetition period of the electrical angle. It should be noted that an abnormality in the position sensor unit 320 can be dealt with similarly.
  • the motor control apparatus 100 of the present invention can move to a place where it can safely stop or move to a service station even when such a synchronous motor 620 is applied as a motor / generator. Can be provided.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
PCT/JP2011/069703 2010-09-30 2011-08-31 モータ制御装置 WO2012043116A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2010-220166 2010-09-30
JP2010220166A JP5462121B2 (ja) 2010-09-30 2010-09-30 モータ制御装置

Publications (1)

Publication Number Publication Date
WO2012043116A1 true WO2012043116A1 (ja) 2012-04-05

Family

ID=45892590

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2011/069703 WO2012043116A1 (ja) 2010-09-30 2011-08-31 モータ制御装置

Country Status (2)

Country Link
JP (1) JP5462121B2 (enrdf_load_stackoverflow)
WO (1) WO2012043116A1 (enrdf_load_stackoverflow)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110168923A (zh) * 2017-02-28 2019-08-23 株式会社日立产机系统 交流电动机的控制装置
JP2019170056A (ja) * 2018-03-23 2019-10-03 ファナック株式会社 モータ制御装置およびモータ制御装置の制御方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6033172B2 (ja) * 2013-07-02 2016-11-30 アイシン精機株式会社 駆動切替用制御装置
JP6435993B2 (ja) * 2015-06-01 2018-12-12 株式会社デンソー 回転電機の制御装置
JP7718154B2 (ja) * 2021-08-06 2025-08-05 富士電機株式会社 診断装置、電力変換装置、診断方法、プログラム

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0458778A (ja) * 1990-06-26 1992-02-25 Fuji Electric Co Ltd ベクトル制御形可変電圧・可変周波数インバータ
JP2004328828A (ja) * 2003-04-22 2004-11-18 Toshiba Mitsubishi-Electric Industrial System Corp 電動ファン異常検出装置
JP2007202220A (ja) * 2006-01-23 2007-08-09 Fanuc Ltd ファンモータ異常検出装置、ファンモータおよび電動機

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0458778A (ja) * 1990-06-26 1992-02-25 Fuji Electric Co Ltd ベクトル制御形可変電圧・可変周波数インバータ
JP2004328828A (ja) * 2003-04-22 2004-11-18 Toshiba Mitsubishi-Electric Industrial System Corp 電動ファン異常検出装置
JP2007202220A (ja) * 2006-01-23 2007-08-09 Fanuc Ltd ファンモータ異常検出装置、ファンモータおよび電動機

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110168923A (zh) * 2017-02-28 2019-08-23 株式会社日立产机系统 交流电动机的控制装置
EP3591835A4 (en) * 2017-02-28 2020-12-09 Hitachi Industrial Equipment Systems Co., Ltd. ALTERNATIVE CURRENT ELECTRIC MOTOR CONTROL DEVICE
US11273712B2 (en) 2017-02-28 2022-03-15 Hitachi Industrial Equipment Systems Co., Ltd. AC electric motor control device
CN110168923B (zh) * 2017-02-28 2022-10-28 株式会社日立产机系统 交流电动机的控制装置
JP2019170056A (ja) * 2018-03-23 2019-10-03 ファナック株式会社 モータ制御装置およびモータ制御装置の制御方法
US10924039B2 (en) 2018-03-23 2021-02-16 Fanuc Corporation Motor control device and control method for motor control device

Also Published As

Publication number Publication date
JP5462121B2 (ja) 2014-04-02
JP2012075293A (ja) 2012-04-12

Similar Documents

Publication Publication Date Title
JP5993616B2 (ja) 電動機の駆動制御装置
US7495411B2 (en) Controller for an electric four-wheel-drive vehicle
EP2839983B1 (en) Electric-vehicle control device, and method for controlling electric vehicle
JP6445937B2 (ja) 電動パワーステアリング装置
JP5511973B2 (ja) 電気機械のトルクの妥当性検査の方法を実行し、電気機械を制御する機械制御器
JP6062327B2 (ja) インバータ装置および電動車両
US20070216327A1 (en) Vehicle drive control system, motor control device and a method for drive control of a vehicle
WO2009119215A1 (ja) 回転電機制御システム及び当該回転電機制御システムを備えた車両駆動システム
US20080179122A1 (en) Electric motor control system, series hybrid vehicle, electric motor control apparatus, and electric motor control method
JP6266280B2 (ja) 電気自動車のスリップ制御装置
EP2097290A1 (en) Method and apparatus for controlling motor for skid mode of electric vehicle
CN106330035A (zh) 旋转电机控制装置
CN103796868B (zh) 旋转电机控制系统和旋转电机控制方法
JP2013510555A5 (enrdf_load_stackoverflow)
US9428079B2 (en) Electric vehicle
JP5462121B2 (ja) モータ制御装置
CN111869092B (zh) 永磁体同步电动机的控制装置、电动助力转向装置及电动车辆
JP2016052164A (ja) 車輪独立駆動式車両の駆動制御装置
JP5476795B2 (ja) 電動車両の制御装置
WO2015001849A1 (ja) 電動車両の制動制御装置
JP5786500B2 (ja) 駆動装置
CN108111061A (zh) 电机驱动装置以及电机驱动装置的控制装置
JP5884747B2 (ja) 交流電動機の制御装置
JP6137045B2 (ja) 車両の駆動電動機制御装置
JP2013153594A (ja) 電動車両の制御装置および制御方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11828677

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 11828677

Country of ref document: EP

Kind code of ref document: A1