WO2013098928A1 - Vehicle drive device - Google Patents
Vehicle drive device Download PDFInfo
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- WO2013098928A1 WO2013098928A1 PCT/JP2011/080132 JP2011080132W WO2013098928A1 WO 2013098928 A1 WO2013098928 A1 WO 2013098928A1 JP 2011080132 W JP2011080132 W JP 2011080132W WO 2013098928 A1 WO2013098928 A1 WO 2013098928A1
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- Prior art keywords
- power
- battery
- amount
- vehicle
- power transmission
- Prior art date
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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
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
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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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
- B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
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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]
- B60L58/15—Preventing overcharging
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/005—Mechanical details of housing or structure aiming to accommodate the power transfer means, e.g. mechanical integration of coils, antennas or transducers into emitting or receiving devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
- H02J7/00714—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery charging or discharging current
- H02J7/00716—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery charging or discharging current in response to integrated charge or discharge current
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
- H02J7/04—Regulation of charging current or voltage
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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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
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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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T90/14—Plug-in electric vehicles
Definitions
- the present invention relates to a vehicle drive device that supplies power to a vehicle motor to drive the vehicle.
- utilization of this invention is not restricted to the vehicle drive device mentioned above.
- an electric vehicle that is a moving body is provided with a motor and a wheel is driven, and an in-wheel motor structure is provided in which the motor is provided on the wheel. Is disclosed.
- the first technology has a structure in which a spiral portion is provided in the electrical wiring between the vehicle body and the wheel, and this spiral portion is supported by a link provided between the vehicle body and the accelerator.
- the electric wiring is prevented from drooping and can follow the operation such as the vertical stroke of the wheel (for example, see Patent Document 1 below).
- the second technology is related to the wiring structure of the in-wheel motor, and the wiring from the stator coil is connected to the wiring connection part of the terminal board and is electrically integrated for each phase.
- the third technology is that the vehicle has an inverter, a motor, and a speed reducer on the side closer to the wheel. Thereby, the size of the loop of the high-frequency current path is reduced to suppress the generation of radiation noise caused by the high-frequency current (see, for example, Patent Document 3 below).
- the fourth technology has a configuration in which the electric wire from the vehicle body to the motor is wound in a spiral shape around the kingpin center line Ki of the suspension.
- the part wound in a spiral shape is wound or unwound around the center line of the kingpin, preventing the hindrance of the steering by the electric wire, improving the steerability, and the durability of the electric wire (For example, refer to Patent Document 4 below).
- the fifth technology is related to the connection of electric wires (power supply cables) that feed power from the vehicle to the wheel motor, and a connection terminal box is provided on the downstream side in the wheel rotation direction when the vehicle moves forward.
- the sixth technology is related to the support structure for the electric power supplied from the vehicle to the wheel motor.
- the electric cable (three-phase high-voltage cable) is encased in a sheath and supported by the cable support member.
- the support portion is configured to be installed on the vehicle body so as to be movable in any direction such as the front-rear direction, the width direction, and the height direction of the vehicle body.
- Patent Documents 1 to 6 are all separated into a vehicle-side inverter and a wheel-side motor, a power cable that allows a high-voltage large current to flow between the inverter and the wheels. Is required.
- This high-voltage, high-current power cable is subjected to a bending load due to wheel rotation by steering, etc., but because of its large diameter, the durability of the cable is reduced and the steering performance cannot be improved.
- since there is a thick power cable in the wheel space between the vehicle and the wheel it is difficult to wire so as not to interfere with the suspension, and mud, dust, rain, snow, etc. are likely to adhere and deteriorate. Because it is easy, maintenance such as replacement takes time.
- a vehicle drive device is connected to a first storage battery that stores DC power acquired from an external power source, and the first storage battery, and the DC power is converted to AC power.
- a first converter that has a first converter that converts the AC power into power, a power transmission antenna that wirelessly transmits the AC power, a power reception antenna that wirelessly receives the AC power transmitted by the power transmission antenna, and the AC power as DC
- First power receiving means having a second converter for converting to electric power; an in-wheel motor that is mounted on a wheel hub and drives the wheel; and DC power that is provided on the wheel and received by the first power receiving means
- a second storage battery for storing the battery, an inverter provided on the wheel for converting the DC power of the second storage battery into AC power, and controlling the rotational drive of the in-wheel motor Dynamic control means, power supply control means for controlling wireless power supply from the first power transmission means to the first power reception means, monitoring means for monitoring the amount of charge stored in the second storage battery
- FIG. 1 is a schematic diagram illustrating a configuration of a vehicle on which the vehicle drive device according to the embodiment is mounted.
- FIG. 2 is a block diagram illustrating a configuration of the vehicle drive device according to the embodiment.
- FIG. 3 is a diagram illustrating a circuit example of the inverter.
- FIG. 4 is a diagram illustrating a circuit example of the bidirectional chopper.
- FIG. 5 is a diagram showing an outline of power transmission between batteries.
- FIG. 6 is a flowchart showing the entire control content related to power transmission.
- FIG. 7 is a flowchart showing the control content of the power running torque control.
- FIG. 8 is a flowchart showing the control content of the regenerative torque control.
- FIG. 1 is a schematic diagram illustrating a configuration of a vehicle on which the vehicle drive device according to the embodiment is mounted.
- FIG. 2 is a block diagram illustrating a configuration of the vehicle drive device according to the embodiment.
- FIG. 3 is a diagram illustrating a circuit
- FIG. 9 is a flowchart illustrating an example of a wireless power transmission control procedure according to the embodiment.
- FIG. 10 is a chart showing torque command values during power running.
- FIG. 11 is a chart showing torque command values during regeneration.
- FIG. 12 is a chart showing torque command values when the pedal is released.
- FIG. 13 is a chart showing a motor efficiency map.
- FIG. 14 is a diagram illustrating an example of torque redistribution when the remaining battery level is low.
- FIG. 15A is a diagram illustrating a control characteristic of the cooperative brake used in the embodiment.
- FIG. 15-2 is a diagram illustrating another control characteristic of the cooperative brake used in the embodiment.
- FIG. 16 is a diagram showing an outline of another power transmission between batteries.
- FIG. 15A is a diagram illustrating a control characteristic of the cooperative brake used in the embodiment.
- FIG. 15-2 is a diagram illustrating another control characteristic of the cooperative brake used in the embodiment.
- FIG. 16 is a diagram showing an outline of another power transmission
- FIG. 17 is a flowchart illustrating another example of a wireless power transmission control procedure.
- FIG. 18A is a diagram of a structure example of a wheel and a power transmission antenna (part 1).
- FIG. 18-2 is a diagram of a structure example of a wheel and a power transmission antenna (part 2).
- FIG. 19A is a diagram of an example of a moving structure of the power transmission antenna (part 1).
- FIG. 19-2 is a diagram illustrating an example of a moving structure of the power transmission antenna (part 2).
- FIG. 20 is a block diagram showing a configuration of antenna position control when a position detector is used.
- FIG. 21 is a block diagram showing a circuit configuration of the antenna position control unit shown in FIG. FIG.
- FIG. 22 is a diagram illustrating a power transmission system between the vehicle and each wheel.
- FIG. 23 is a chart showing an example of changes in power consumption and regenerative power during vehicle travel.
- FIG. 24 is a diagram showing an outline of power transmission to a plurality of second batteries and motors.
- FIG. 25 is a diagram illustrating a change state of transmitted power.
- FIG. 26 is a diagram illustrating a change state of the power consumption of the motor.
- FIG. 27 is a diagram illustrating changes in the amount of power consumed by the motor and the amount of remaining power in the second battery.
- FIG. 28 is a flowchart showing an overall procedure of power transmission prediction.
- FIG. 29 is a flowchart illustrating a detailed procedure of the prediction process (processing example 1).
- FIG. 30 is a diagram illustrating an example of a change state of the gradient resistance and the rolling resistance.
- FIG. 31 is a chart showing changes in transmission efficiency of the power transmission antenna during turning.
- FIG. 32 is a diagram for explaining the vertical stroke amount of the wheel.
- FIG. 33 is a chart showing the displacement amount by road condition.
- FIG. 34 is a chart showing a change state of the remaining amount of the second battery.
- FIG. 35 is a flowchart showing an outline of the processing contents of the optimum charging plan.
- FIG. 36 is a chart showing the relationship between the remaining amount and the charge upper limit value.
- FIG. 37 is a chart for explaining a wireless charging OFF period.
- FIG. 38 is a flowchart showing the processing content of the wireless charging control.
- FIG. 31 is a chart showing changes in transmission efficiency of the power transmission antenna during turning.
- FIG. 32 is a diagram for explaining the vertical stroke amount of the wheel.
- FIG. 33 is a chart showing the displacement amount by road condition.
- FIG. 39 is a flowchart showing the processing contents of the optimum distribution mode for avoiding overcharge.
- FIG. 40 is a flowchart showing the processing contents of the optimum distribution mode for avoiding overdischarge.
- FIG. 41 is a flowchart showing a detailed procedure of prediction processing (processing example 2).
- FIG. 42 is a flowchart showing an outline of the processing content of the optimum charging / discharging plan.
- FIG. 43 is a chart showing the relationship between the remaining amount and the charging upper and lower limit values.
- FIG. 44 is a chart for explaining the wireless charging period and the wireless discharging period.
- FIG. 45 is a flowchart showing the processing content of wireless charging / discharging control.
- FIG. 1 is a schematic diagram illustrating a configuration of a vehicle on which the vehicle drive device according to the embodiment is mounted.
- the vehicle 100 is a four-wheel drive vehicle having left and right front wheels FL and FR and left and right rear wheels RL and RR.
- the hubs of these four wheels FL, FR, RL, RR are provided with in-wheel type motor units M1 to M4, respectively, and are driven independently.
- Each of the motor units M1 to M4 is provided with an inverter circuit (described later) for driving the motor, a second battery, and the like.
- Each inverter circuit is provided with motor units M1 to M4 based on the control of the controller (ECU) 101. To drive. Various information is input to this controller 101, and as a result of torque distribution, motors (in-wheel motors) provided in the motor units M1 to M4 are driven.
- Input to the controller 101 includes the following.
- a steering angle is input from the handle 102.
- the accelerator pedal 103 From the accelerator pedal 103, the total torque command value is input.
- a brake amount is input from the brake pedal 104.
- a shift brake amount is input from the shift brake 105.
- Select positions such as R, N, and D are input from the selector 106.
- the motor units M1 to M4 of the wheels FL, FR, RL, and RR are provided with sensors that detect the rotational speed V, and the rotational speeds Vfl, Vfr, and RR of the wheels FL, FR, RL, and RR are provided. Vrl and Vrr are input to the controller 101.
- the vehicle 100 is provided with an acceleration sensor and a yaw rate sensor (not shown), and the detected acceleration and yaw rate are input to the controller 101.
- the controller 101 drives each wheel FL, FR, RL, RR based on the above input.
- the control signals S1 to S4 for driving are appropriately torque-distributed for each wheel FL, FR, RL, and RR, and supplied to the motor units M1 to M4.
- the vehicle 100 is equipped with a battery and supplies power to the entire vehicle 100.
- the battery is provided on the vehicle side, and is provided between the first storage battery (first battery) 111 that stores DC power acquired from an external power source outside the vehicle, and the motor units M1 to M4. It consists of the 2nd storage battery (2nd battery) to which electric power is transmitted. Motor units M1 to M4 of each wheel FL, FR, RL, RR are driven by the electric power stored in the second battery.
- secondary batteries such as nickel metal hydride and lithium ion, fuel cells, and the like are applied.
- An electric double layer capacitor may be used instead of the battery.
- L1 to L4 are power supply lines.
- This regeneration refers to power generation using the back electromotive force generated in the motor by relaxing the operation of the brake pedal 104 by the driver who drives the vehicle 100 and the depression of the accelerator pedal 103 during traveling.
- the voltage converter includes a first converter (DC-AC converter) 121 (121a to 121d) provided on the vehicle side and an AC-DC converter (described later) provided in each of the wheel side motor units M1 to M4. ).
- Power transmission antennas 122 (122a to 122d) and 123 (123a to 123d) for wirelessly transmitting power are provided on the vehicle side and the wheel side.
- the controller 101 controls the supply of the power sources L1 to L4 that can be supplied from the first battery 111 on the vehicle side to the motor units M1 to M4 for each wheel by the control signals S11 to S14.
- DC power is converted into AC power by the DC-AC converter 121 (121a to 121d) on the vehicle side.
- power is wirelessly transmitted to the motor units M1 to M4 on the wheel side by the pair of power transmission antennas 122 (122a to 122d) and 123 (123a to 123d).
- AC power is converted into DC power by an AC-DC converter provided in the wheel side motor units M1 to M4, and then supplied to the second battery.
- Inverters 203 (203a to 203d) to be described later drive the motors of the motor units M1 to M4 using the electric power stored in the second battery.
- FIG. 2 is a block diagram showing the configuration of the vehicle drive device.
- the vehicle drive device 200 supplies power to the motor to drive the motor. Further, power transmission between the first battery 111 and the second battery 212a is controlled according to the traveling state of the vehicle 100 and the like.
- a first battery 111 is provided on the vehicle 100 side, and is connected to the DC-AC converter 121a via the power line L1.
- the DC-AC converter 121a converts DC power into AC power and outputs the AC power to the power transmission antenna (power transmission antenna) 122a.
- the wheel side motor unit M1 is provided with a power transmission antenna (power receiving antenna) 123a paired with the power transmission antenna 122a.
- the power transmission antenna 123a receives the power transmitted from the vehicle-side power transmission antenna 122a.
- a wound coil can be used for these power transmission antennas 122a and 123a, and power can be transmitted between the vehicle 100 and the wheel motor unit M1 in a non-contact manner.
- the power received by the power transmission antenna 123a is converted into DC power by the second converter (AC-DC converter) 201a and output to the bidirectional chopper 202a.
- the bidirectional chopper 202a is a circuit for performing power transmission in both directions (forward direction or reverse direction).
- the output of the bidirectional chopper 202a is output to the second battery 212a.
- the power of the first battery 111 on the vehicle side is supplied to the second battery 212a on the wheel side (in the positive direction) and stored in the second battery 212a, and the motor M in the motor unit M1 is connected via the inverter 203a. To drive the motor M.
- the bidirectional chopper 202a to AC-DC converter 201a to power transmission antenna 123a to power transmission antenna 122a to Power can be transmitted via the path (power supply line L1) from the DC-AC converter 121a to the first battery 111 (reverse direction).
- power can be stored in the first battery 111 via the second battery 212a.
- the AC-DC converter 201a and the DC-AC converter 121a are both bidirectional. In this case, the AC-DC converter 201a performs DC-AC conversion, and the DC-AC converter 121a is AC-DC. Perform DC conversion. Further, 123a is a power transmission antenna, and 122a is a power reception antenna.
- the controller 101 provided in the vehicle 100 includes a power supply control unit (remaining amount control unit) 221 that controls power supply to the power receiving unit, and a drive control unit (torque control unit) 222 that controls rotational driving of the wheels. Yes.
- the remaining amount control unit 221 controls power supply to the second battery 212a.
- the remaining amount control unit 221 detects the battery amounts (remaining battery amounts) of the first battery 111 and the second battery 212a. For example, when the remaining battery amount of the second battery 212a decreases, DC-AC conversion is performed. Power is transmitted from the vehicle 100 to the wheel motor unit M1 to the unit 121a and the AC-DC converter 201a via the control signal S11. At this time, the bidirectional chopper 202a performs power transmission in the positive direction from the vehicle 100 to the motor unit M1 by the control signal S11.
- the remaining amount control unit 221 also uses the control signal S11 when performing power transmission in the reverse direction from the motor unit M1 to the vehicle side during regeneration of the motor M.
- the presence / absence of transmission is controlled for the bidirectional chopper 202a.
- power transmission from the second battery 212a toward the first battery is not performed.
- the direction of power transmission is switched from the second battery 212a to the first battery 111.
- the torque control unit 222 distributes the torque of all torque command values for each wheel FL, FR, RL, RR according to the running state.
- the torque distribution value for the inverter 203a is output by the control signal S1a.
- the motor unit M1 outputs the current value and voltage value of the second battery 212a to the controller 101 as a signal S1b, and outputs the rotation speed of the motor M to the controller 101 as a signal S1c.
- control signals S1a to S1c and S11 are transmitted via a control line wired between the vehicle 100 and the motor unit M1 on the wheel side. Since these control signals S1a to S1c and S11 only need to be able to transmit data, a thin line can be used as a control line, and it is not necessary to use a thick line that performs large-capacity power transmission. There is no reduction.
- FIG. 3 is a diagram illustrating an example of an inverter circuit.
- the inverter 203a converts the DC power supplied from the second battery 212a into the three-phase AC power of the motor M.
- a diode 301 and a driving transistor 302 are provided in each of the U, V, and W phases ⁇ , and a sine wave whose voltage and frequency are controlled by PWM modulation is generated and supplied to each phase of the motor M. Rotating drive.
- FIG. 4 is a diagram illustrating a circuit example of a bidirectional chopper.
- the bidirectional chopper 202 a includes a primary side half bridge circuit 401, a secondary side half bridge circuit 402, and a reactor 403.
- the primary half bridge circuit 401 includes a switching element 404 connected to the AC-DC converter 201a and a diode 405.
- the secondary half bridge circuit 402 includes a switching element 406 connected to the second battery 212a and a diode 407.
- the reactor 403 is connected between the primary side and the secondary side. Under the control of the switching elements 404 and 406, forward power transmission from the primary side to the secondary side or reverse power transmission from the secondary side to the primary side can be performed via the reactor 403.
- the motor M is supplied by supplying DC power from the vehicle 100 side. Can be driven. At this time, the supply of DC power between the vehicle 100 and the wheel motor unit M1 does not require a large current. This is because the electric power stored in the second battery 212a is used for driving the motor, and the amount of electric power necessary for outputting a large torque is stored in the second battery 212a with some margin. Just keep it. Therefore, if electric power transmission between the first battery 111 and the second battery 212a is continuously performed, it is not necessary to pass a large current. For this reason, the power transmission antennas 122a and 123a are provided in the vehicle 100 and the motor unit M1 of the wheel, respectively, so that non-contact wireless power transmission can be performed.
- FIG. 5 is a diagram showing an outline of power transmission between batteries.
- four motor units M1 to M4 are provided, and the first battery 111 having a relatively large capacity for driving the motors M of the four motor units M1 to M4 is used.
- the second battery 212a provided in each of the motor units M1 (and M2 to M4) only needs to drive a single motor M, can be used with a relatively small capacity, and can reduce the weight.
- the power transmission between the first battery 111 and the second battery 212a is such that the remaining amount (current value B1) of the second battery 212a in the motor unit M1 always approaches the target remaining amount value BS (Set). Control. This control is performed by the remaining amount control unit 221 of the controller 101.
- the target remaining amount value BS is set to a predetermined value between the charging upper limit value BU (Upper) and the charging lower limit value BL (Lower).
- RL (Lower) is a difference between the current value B1 and the charging lower limit value BL, and is a capacity that can be used by the second battery 212a.
- the power transmission direction is bidirectional, that is, the forward direction and the reverse direction.
- the positive direction is the direction from the first battery 111 to the second battery 212a.
- the reverse direction is the direction from the second battery 212 a to the first battery 111.
- the controller 101 basically has 1. Power transmission in the positive direction is performed during power running control. Power running control is performed, for example, when the depression of the accelerator pedal 103 is detected. 2. Power transmission in the reverse direction is performed during regenerative control. The regeneration control is performed, for example, when the depression of the brake pedal 104 is detected.
- the controller 101 controls the regenerative power at the time of regeneration so that the current charging value B1 does not exceed the charging upper limit value BU of the second battery 212a. Further, the power running power during power running is controlled so that the current charge value B1 does not fall below the charge lower limit value BL of the second battery 212a.
- FIG. 6 is a flowchart showing the entire control content related to power transmission. The process of power transmission and torque control performed by the controller 101 is shown. First, the controller 101 detects the current traveling speed with the sensors of the motor units M1 to M4. Further, depression of the accelerator pedal 103 and the brake pedal 104 is detected (step S701).
- step S702 the combination of the current traveling state and the control mode is specified (step S702). as mentioned above, 1.
- power running control is specified. 2.
- regeneration control is specified. other than this, 3.
- the power running control is specified. In this case, the pseudo creep torque described later is controlled. 4).
- regeneration control is specified. In this case, a pseudo engine brake, which will be described later, is controlled. 5.
- depression of the accelerator pedal 103 and the brake pedal 104 is not detected and the speed of the vehicle 100 is medium (not fast and not slow), it is specified that there is no control (coasting operation).
- step S703 it is determined which control mode is used (step S703).
- step S703 power running control
- step S704 power running torque control
- step S706 When the control mode is regenerative control (step S703: regenerative), regenerative torque control is performed (step S705), and the process proceeds to step S706. If the control mode is coasting (step S703: coasting), no control is performed and the process proceeds to step S706.
- step S706 the above-described wireless power transmission control is performed (step S706), and the process ends.
- the controller 101 performs the above processes continuously over time.
- FIG. 7 is a flowchart showing the control content of the power running torque control. The detailed control content of power running torque control shown to step S704 of FIG. 6 is shown.
- the controller 101 detects each value of the second battery 212 (212a to 212d, where 212b to 212d indicate the second batteries of the motor units M2 to M4, respectively) provided in the motor units M1 to M4 ( Step S801).
- the charging lower limit value of the second battery 212 (212a to 212d) is BL, the current value (remaining amount) is B1 to B4, and the current voltage is V1 to V4.
- the current values B1 to B4 of the second batteries 212a to 212d of the motor units M1 to M4 are always different depending on the driving state of the motor M.
- torque distribution values T1 to T4 to each wheel are determined based on the depression amount of the accelerator pedal 103 and a predetermined torque distribution value, and power estimation using a motor efficiency map described later is performed.
- the necessary powering powers W1 to W4 are calculated by the method (step S802).
- capacitance RL which can use the electric power of the 2nd battery 212 is calculated (step S803).
- the second batteries 212 (212a to 212d) provided in the motor units M1 to M4, respectively
- Usable capacities RL1 to RL4 current values B1 to B4—charge lower limit BL Calculated by
- step S804 the power running powers W1 to W4 required by the motor units M1 to M4 are compared with the capacities RL1 to RL4 usable in the second battery 212 (212a to 212d) calculated in step S803 (step S804).
- step S804: Yes when the power running power W1 to W4 required for each motor unit M1 to M4 exceeds the capacity RL1 to RL4 usable by the corresponding second battery 212 (212a to 212d) (step S804: Yes), The torque distribution value of each wheel is recalculated so that the power running power is less than the usable capacities RL1 to RL4 (step S805). That is, when torque distribution is performed on all torque command values, the torque distribution value to the motor unit of the second battery 212 having a small remaining amount is decreased, and the torque distribution values of other motor units are also decreased at that ratio.
- step S804 if the power running power W1 to W4 necessary for each of the motor units M1 to M4 is within the capacity RL1 to RL4 that can be used by the corresponding second battery 212 (212a to 212d) in step S804 (No in step S804).
- the process of step S805 is not performed, and the process proceeds to step S806.
- step S806 power running torque control is performed using the torque distribution values for the motor units M1 to M4 (step S806), and the process ends.
- FIG. 8 is a flowchart showing the control content of the regenerative torque control. The detailed control content of regenerative torque control shown to step S705 of FIG. 6 is shown.
- the motor M generates electric power.
- the controller 101 detects each value of the second battery 212 (212a to 212d) provided in each of the motor units M1 to M4 (step S901).
- the upper limit of charge of the second battery 212 is BU
- the current value (remaining amount) is B1 to B4
- the current voltage is V1 to V4.
- torque distribution values T1 to T4 for each wheel are determined based on the depression amount of the brake pedal 104 and a predetermined torque distribution value, and power estimation using a motor efficiency map described later is performed.
- the regenerative power W1 to W4 is calculated by the method (step S902).
- step S903 the capacity
- the second batteries 212 (212a to 212d) provided in the motor units M1 to M4, respectively,
- Regenerative capacities RU1 to RU4 charge upper limit value BU ⁇ current values B1 to B4 Calculated by
- step S904 the regenerative power W1 to W4 in each of the motor units M1 to M4 is compared with the capacity RU that can be regenerated by the second battery 212 (212a to 212d) calculated in step S903 (step S904).
- the regenerative power W1 to W4 of each motor unit M1 to M4 exceeds the capacity RU1 to RU4 that can be regenerated by the corresponding second battery 212 (212a to 212d) (step S904: Yes)
- the regenerative power The torque distribution value of each wheel is recalculated so that becomes less than the capacity RU1 to RU4 that can be regenerated (step S905). That is, when all torque command values are torque-distributed, the torque distribution value to the motor unit of the second battery 212 having a large remaining amount is decreased, and the torque distribution values of the other motor units are also decreased at that ratio.
- step S904 if the regenerative power W1 to W4 of each motor unit M1 to M4 is within the capacity RU1 to RU4 that can be regenerated by the corresponding second battery 212 (212a to 212d) in step S904 (step S904: No), step S904 is performed. The process proceeds to step S906 without performing the process of S905.
- step S906 regenerative torque control is performed using the torque distribution values for the motor units M1 to M4 (step S906), and the process ends.
- FIG. 9 is a flowchart illustrating an example of a wireless power transmission control procedure according to the embodiment.
- power transmission to the second battery 212a provided in the motor unit M1 will be described as an example.
- similar processing is performed for the second batteries 212b to 212d provided in the other motor units M2 to M4. Good.
- the controller 101 detects each value of the second battery 212a (step S1001).
- the target remaining amount of the second battery 212a is BS
- the current value (remaining amount) is B1
- the current voltage is V1.
- the maximum current of the wireless power supply line L1 for the motor unit M is Amax. This maximum current Amax has different allowable values (current allowable values) depending on the coils of the power transmission antennas 122a and 123a for wireless transmission provided on the power supply line L1, the driver IC, and the like.
- an upper limit value Cmax at which electric power can be transmitted and electric power D to be transmitted are calculated by the following formula (step S1002).
- the electric power D to be transmitted is electric power to be transmitted between the first battery 111 and the second battery 212a on the power supply line L1.
- the electric power is required to drive the motor M in the positive direction from the first battery 111 to the second battery 212a corresponding to the assigned torque distribution value. At the time of regeneration, this corresponds to the power to transmit the line power to the first battery 111.
- the power value of power transmission is determined (step S1003).
- the power value of power transmission is performed by using the smaller one of the absolute value
- step S1004 if the absolute value of power D to be transmitted does not exceed the upper limit Cmax at which power can be transmitted (step S1003: No), the processing of step S1004 is not performed and the power D to be transmitted is used as it is. The process proceeds to S1005.
- step S1005 the differential capacity D is transmitted from the first battery 111 to the second battery 212a via the wireless power line L1. If the value of D is negative, it is during regeneration, and power is transmitted from the second battery 212a to the first battery 111 via the wireless power line L1 (step S1005).
- FIG. 10 is a chart showing torque command values during power running. The relationship between the power running torque command value (vertical axis) and the depression amount (horizontal axis) of the accelerator pedal 103 is shown. As shown in the figure, the torque control unit 222 of the controller 101 does not control the amount of depression of the accelerator pedal 103 and the total torque command value at the time of power running in a proportional linear relationship, but the amount of depression of the accelerator pedal 103. On the other hand, a power running torque command value is output with a curve that gradually changes. Further, the power running torque command value at the time of backward movement is set to be gentler than that at the time of forward movement of the vehicle 100.
- FIG. 11 is a chart showing torque command values during regeneration. The relationship of the regenerative torque command value (vertical axis) with respect to the depression amount (horizontal axis) of the brake pedal 104 is shown. As shown in the figure, the controller 101 controls the regenerative torque command value to have a substantially linear relationship with respect to the depression amount of the brake pedal 104. Further, the regenerative torque command value at the time of reverse movement is set so as to change more gently than at the time of forward movement of the vehicle.
- FIG. 12 is a chart showing torque command values when the pedal is released. When neither the accelerator pedal 103 nor the brake pedal 104 is depressed, the controller 101 changes the torque command value according to the vehicle speed as shown in the figure.
- pseudo creep torque is generated as positive (+) torque.
- a pseudo engine brake is generated as a negative ( ⁇ ) torque.
- the pseudo engine brake is applied when the vehicle speed is about 40 km / h or higher, and the largest torque value is applied when the vehicle speed is about 60 km / h. At a speed of about 60 km / h or more, a small torque value is gradually applied.
- the coasting operation is performed with the torque command value set to zero.
- the characteristics of the torque command value with respect to the vehicle speed may be changed for each switched mode.
- the pseudo creep torque value is reduced in the eco mode compared to the normal mode, and the pseudo engine brake has a large negative torque value.
- FIG. 13 is a chart showing a motor efficiency map.
- the efficiency map 1400 shows the rotational speed-torque characteristics of the motor M, with the horizontal axis representing the rotational speed and the vertical axis representing the torque.
- an efficiency map 1400 of the illustrated four quadrant is stored in advance.
- the first to fourth quadrants of the efficiency map 1400 are respectively 1. Forward running: A state where the accelerator pedal is being depressed while moving forward. 2. Reverse power running: A state where the accelerator pedal is depressed during reverse. Reverse regeneration: State where the brake pedal is depressed during reverse. Normal regenerative regeneration: A state in which the brake pedal is depressed during forward travel.
- the torque control unit 222 of the controller 101 calculates the total torque command amount from the depression amount of the accelerator pedal 103 and the brake pedal 104.
- the total torque value is distributed to a torque distribution value T for each motor M of each wheel by a predetermined torque distribution.
- the controller 101 detects the rotational speeds Vfl, Vfr, Vrl, Vrr by the sensors of the motor units M1 to M4 while the vehicle 100 is traveling.
- the rotation speed is described as ⁇ .
- the controller 101 refers to the efficiency map 1400 for the motor M, and obtains the efficiency ⁇ from the torque T and the rotational speed ⁇ .
- the controller 101 estimates the power consumption at the time of power running, and the regenerative power at the time of regeneration from the following formula
- Power efficiency ⁇ (T ⁇ ⁇ ) / (V ⁇ I)
- Regeneration efficiency ⁇ (V ⁇ I) / (T ⁇ ⁇ ) (V and I are the voltage and current of the motor M or the voltage and current of the inverter 203)
- V ⁇ I corresponds to the power consumption of the motor M during power running and the regenerative power W during regeneration.
- the controller 101 obtains the current value and the usable or regenerative power for the second battery 212 (212a to 212d). Then, the available or regenerative power is compared with the calculated power consumption (regenerative power), and the torque distribution value for the motor M is corrected so as to be within the range.
- the efficiency map 1400 the power consumption (regenerative power) of the motor M can be determined more accurately. As a result, it is possible to accurately estimate the amount of power required during power transmission (power D to be transmitted), accurately calculate the amount of power during power transmission, and perform efficient power transmission. Become.
- the efficiency map 1400 is not limited to acquiring in advance.
- the efficiency map 1400 may be created while the vehicle 100 is traveling.
- the controller 101 includes an efficiency map generation unit, acquires the power consumption and the rotation speed of the motor M during traveling, and generates the efficiency map 1400 described above.
- the configuration may be such that the efficiency map 1400 acquired in advance is updated.
- ⁇ Detects the torque value from the current I flowing through the motor M
- ⁇ Detects the rotational speed of the wheel by a rotational position sensor such as a resolver
- ⁇ Detects the current and voltage by a current sensor and a voltage sensor provided between the second battery 212a and the inverter 203a
- the controller 101 can update the efficiency map 1400 stored in the storage unit at any time during traveling of the vehicle 100 by the above detection and calculation.
- FIG. 14 is a diagram illustrating an example of torque redistribution when the remaining battery level is low.
- the total torque command value is input as 100 [Nm] to the controller 101 by, for example, depressing the accelerator pedal 103.
- the remaining amount of the battery of the second battery 212 (corresponding to 212b) provided in the motor unit M2 of the left front wheel FL is reduced, and the motor M of the left front wheel FL becomes 16%.
- [Nm] can be output.
- the torque of the left front wheel FL is simply lowered, the driving force of the left and right front wheels becomes unbalanced, which causes an effect that the direction of travel of the vehicle 100 changes.
- the torque controller 222 of the controller 101 redistributes the torque as shown in FIG. That is, the torque is distributed to the left and right front wheels so that the same torque 16 [Nm] is obtained. Further, in order to make the left and right rear wheels the same ratio corresponding to the ratio (4/5) in which the torque of the front wheels is changed from 20 [Nm] to 16 [Nm]], 30 [Nm] to 24 [Nm] Change the torque to]. In this case, the total torque value is changed from 100 [Nm] to 80 [Nm].
- the cooperative brake is a brake that generates a necessary braking force by combining a regenerative brake by the motor M and a mechanical brake by hydraulic control.
- a regenerative brake by the motor M
- a mechanical brake by hydraulic control.
- a method of always using a regenerative brake and a mechanical brake at a predetermined ratio a method of using a regenerative brake up to a predetermined braking amount, and using a mechanical brake when a predetermined braking amount is exceeded,
- a method of using a mechanical brake up to a predetermined braking amount and using a regenerative brake when the braking amount exceeds a predetermined braking amount is a method of using a mechanical brake up to a predetermined braking amount and using a regenerative brake when the braking amount exceeds a predetermined braking amount.
- FIG. 15-1 is a diagram illustrating the control characteristics of the cooperative brake used in the embodiment.
- the horizontal axis is speed, and the vertical axis is braking torque.
- the motor M has a low rotation speed when the speed is low. Accordingly, as shown in the figure, when such a speed is low, the back electromotive force is also small, and thus a large regenerative brake cannot be obtained.
- the controller 101 of the embodiment not only the regenerative brake of the motor M but also the coordinated brake control for obtaining the insufficient braking torque that cannot be obtained by the regenerative brake by the mechanical brake is performed.
- the braking torque of the mechanical brake has a characteristic opposite to that of the regenerative brake, and increases as the speed decreases and decreases as the speed increases. Thereby, the braking torque value corresponding to the depression amount of the brake pedal 104 is obtained by the braking force of both the regenerative brake and the mechanical brake.
- the controller 101 reduces the ratio of the regenerative brake braking torque in the same manner as at the low speed, thereby reducing the mechanical type. Cooperative brake control is performed so as to obtain a required braking torque by increasing the ratio of the braking torque by the brake.
- FIG. 15-2 is a diagram illustrating another control characteristic of the cooperative brake used in the embodiment.
- the ratio of the braking torque by the regenerative brake is gradually reduced, and conversely, the ratio by the mechanical brake is increased.
- the braking torque is generated not only by the regenerative braking by the motor M but also by the cooperative braking control using the mechanical brake together, the necessary braking torque can be generated over a wide range of speeds, and the vehicle 100 can be safely driven. To be able to do that. Even when the second battery 212 cannot be charged due to a change in the charge capacity of the second battery 212, the necessary braking torque can be obtained.
- FIG. 16 is a diagram showing an outline of another power transmission between batteries.
- two items are added to each item regarding the battery amount of the second battery 212a. These are the wireless discharge execution determination value BJ + (plus) and the wireless charge execution determination value BJ- (minus).
- the wireless discharge execution determination value BJ + is set between the target remaining amount value BS of the second battery 212a and the charge upper limit value BU.
- the wireless charging execution determination value BJ- is set between the target remaining amount value BS and the charging lower limit value BL.
- FIG. 17 is a flowchart showing another example of a wireless power transmission control procedure.
- the controller 101 detects each value of the second battery 212a (step S1701).
- the target remaining amount of the second battery 212a is BS
- the current value (remaining amount) is B1
- the current voltage is V1.
- the maximum current of the wireless power supply line L1 for the motor unit M is Amax.
- This maximum current Amax has different allowable values (current allowable values) depending on the coils of the power transmission antennas 122a and 123a for wireless transmission provided on the power supply line L1, the driver IC, and the like.
- the upper limit side wireless discharge execution judgment value BJ + and the lower limit side wireless charging execution judgment value BJ- are used.
- step S1702 it is determined whether the current value B1 of the second battery 212a is less than the lower limit wireless charging execution determination value BJ ⁇ (step S1702). If the current value B1 of the second battery 212a is less than the lower limit side wireless charging execution determination value BJ ⁇ (step S1702: Yes), a value obtained by subtracting the current value B1 from the lower limit side wireless charging execution determination value BJ ⁇ is transmitted. It is assumed that the power D is desired (step S1703).
- step S1704 if the current value B1 of the second battery 212a exceeds the lower limit side wireless charge execution determination value BJ- (step S1702: No), the current value B1 of the second battery 212a is the upper limit side wireless discharge execution determination value. It is determined whether or not BJ + is exceeded (step S1704). If the current value B1 of the second battery 212a exceeds the upper limit side wireless discharge execution determination value BJ + (step S1704: Yes), it is desired to transmit a value obtained by subtracting the current value B1 from the upper limit side wireless discharge execution determination value BJ +. The power is D (step S1705). If the current value B1 of the second battery 212a is less than the upper limit wireless discharge execution determination value BJ + (step S1704: No), the process ends.
- the electric power D to be transmitted is electric power to be transmitted between the first battery 111 and the second battery 212a on the power supply line L1.
- the electric power is required to drive the motor M in the positive direction from the first battery 111 to the second battery 212a corresponding to the assigned torque distribution value. At the time of regeneration, this corresponds to the power to transmit the line power to the first battery 111.
- the power value of power transmission is determined (step S1707).
- the power value of power transmission is performed by using the smaller one of the absolute value
- step S1707 if the absolute value of power D to be transmitted does not exceed the upper limit Cmax at which power can be transmitted (step S1707: No), the processing of step S1708 is not performed and the power D to be transmitted is used as it is. The process moves to S1709.
- step S1709 the differential capacity D is wirelessly transmitted from the first battery 111 to the second battery 212a. If the value of D is negative, power is transmitted wirelessly from the second battery 212a to the first battery 111 (step S1709).
- the wireless power transmission amount is set such that the current value approaches the wireless charging execution determination value or the wireless discharge execution determination value. This makes it difficult to approach the charge upper limit value and the charge lower limit value, thereby reducing the need for power running torque and regenerative torque limitation to prevent overcharge and overdischarge.
- FIG. 18A is a structural example in which the power transmission antenna is provided perpendicular to the ground.
- a wheel 1800 of the vehicle 100 is formed by attaching a tire 1802 to a wheel 1801.
- a motor (inner motor) M is provided inside the wheel 1801.
- Suspension 1803 is provided between the wheel 1801 and the vehicle 100, and the suspension 1803 absorbs the vertical stroke of the wheel 1800 (tire 1802) due to road surface unevenness.
- the inverter 203, the second battery 212, the power transmission antenna 123, and the receiving circuit (including the AC-DC converter 201 and the bidirectional chopper 202) 1810 are provided on the wheel 1800 side.
- a power transmission antenna 122 and a transmission circuit (including a DC-AC conversion unit 121) 1811 are provided so as to face the power transmission antenna 123.
- the surfaces of the pair of power transmission antennas 122 and 123 are provided perpendicular to the ground.
- Fig. 18-2 shows a structural example in which the power transmission antenna is provided horizontally with respect to the ground.
- a pair of power transmission antennas 122 and 123 are provided horizontally above the ground at the upper position of the wheel 1800.
- the center does not shift between the pair of power transmission antennas 122 and 123, but the distance between the power transmission antenna 122 and the rod 123 changes.
- the wireless power transmission efficiency changes.
- one of the pair of power transmission antennas 122 and 123 (for example, the power transmission antenna 122 on the vehicle 100 side) is moved in the same direction (up and down) corresponding to the vertical stroke amount of the wheel 1800. By doing so, power transmission is performed while maintaining a state of good transmission efficiency.
- FIGS. 19A and 19B are diagrams illustrating examples of the moving structure of the power transmission antenna.
- FIG. 19A illustrates a structure in which the power transmission antenna 122 is movable in the vertical direction in the structural example in which the power transmission antenna illustrated in FIG. 18A is provided perpendicular to the ground.
- the power transmission antenna 122 can be moved up and down by an actuator (or a motor such as a servo motor or a stepping motor) 1901.
- the pair of power transmission antennas 122 and 123 is provided with a position detector 1902 for detecting the position of mutual displacement.
- the position detector 1902 includes, for example, a light emitting unit 1902a such as an LED or a laser on the wheel 1800 side, and a light receiving unit 1902b that receives light from the light emitting unit 1902a on the vehicle 100 side.
- a light emitting unit 1902a such as an LED or a laser on the wheel 1800 side
- a light receiving unit 1902b that receives light from the light emitting unit 1902a on the vehicle 100 side.
- difference state of a pair of electric power transmission antennas 122 and 122 can be detected.
- it is set as the structure which measures the distance to the ground by providing a distance sensor, and detects the mutual shift
- FIG. 19-2 shows a structure in which the power transmission antenna 122 is movable in the vertical direction in the structural example in which the power transmission antenna shown in FIG. 18-2 is provided horizontally with respect to the ground.
- the power transmission antenna 122 can be moved up and down by an actuator 1901.
- the pair of power transmission antennas 122 and 123 is provided with a position detector 1902 for detecting the position of mutual displacement.
- the position detector 1902 is configured to detect a vertical shift between the pair of power transmission antennas 122 and 123 using a distance sensor, for example.
- the position detector 1902 is configured by providing a light emitting unit 1902a such as an LED or a laser on the wheel 1800 side and a light receiving unit 1902b for receiving the light of the light emitting unit 1902a on the vehicle 100 side, for example. Thereby, the mutual shift
- FIG. 20 is a block diagram showing a configuration of antenna position control when a position detector is used.
- the configuration relating to the antenna position control is provided as one function of the remaining amount control unit 221 of the controller 101.
- a distance sensor is used as the position detector 1902, this distance sensor is arrange
- the antenna position control unit 2001 has a position detector (distance caused by unevenness of the road surface when the vehicle 100 is running with respect to a position command corresponding to the initial position (for example, a reference vertical stroke position) such as when stopping on a flat ground. Sensor) 1902.
- the control calculation unit 2002 detects this deviation and operates an actuator (or servo motor or the like) 1901 via the drive circuit 2003.
- the operation direction of the actuator 1901 is a direction in which the deviation of the center between the pair of power transmission antennas 122 and 123 is eliminated. For example, when the wheel 1800 performs a stroke operation in the upward direction, the actuator 1901 moves in the same upward direction.
- the position detector 1902 can detect that the deviation (center deviation) has been reduced, and the actuator 1901 can be held at a position where the deviation is always zero.
- the feedback loop can always control the pair of power transmission antennas 122 and 123 to be at the same center position, and the power transmission efficiency can always be kept in a good state.
- FIG. 21 is a block diagram showing a circuit configuration of the antenna position control unit shown in FIG.
- the control calculation unit 2002 of the antenna position control unit 2001 illustrated in FIG. 20 can use one function of the controller 101.
- the output of the position detector (distance sensor) 1902 is captured by the controller (CPU) 101, a drive signal is generated by a drive circuit 2003 provided near the actuator 1901, the actuator (M) 1901 is driven, and the power transmission antenna 122 is connected. Move.
- the position detector 1902 another light detection sensor may be used, and a position shift between the pair of power transmission antennas 122 and 123 may be detected by the light detection sensor.
- the active suspension system is mounted on the vehicle 100, road surface unevenness and vehicle body movement are detected by sensors, and the controller 101 can control the vibration of the road surface of the vehicle 100 by controlling the damper of each wheel, The cornering stability can be obtained.
- the position detector described above can also use a sensor used in an active suspension system.
- FIG. 22 is a diagram showing a power transmission system between the vehicle and each wheel.
- the controller 101 includes a power transmission antenna 122 (122a) between a first battery 111 provided in the vehicle 100 and a second battery 212 (212a to 212d) provided in each wheel 1800 (FR, FL, RR, RL). To 122d) and 123 (123a to 123d) are controlled.
- a navigation device 2300 mounted on the vehicle 100 is connected to the controller 101.
- the vehicle 100 is provided with not only the first battery 111 but also the plurality of second batteries 212 (212a to 212d) for each wheel 1800, a plurality of electric power supplies to one vehicle 100 is not possible. There will be a buffer. Thereby, the plurality of second batteries 212 can increase the degree of freedom of power transmission, such as supplying power to each other via the first battery 111.
- the navigation device 2300 collects a travel history and map information (road information) based on a travel plan when the vehicle 100 travels to a destination, and outputs information such as a travel route with a short time and distance. Based on the road information on the travel route, the controller 101 predicts the transition of power consumed when the vehicle 100 moves to the destination.
- a travel history and map information road information
- map information road information
- FIG. 23 is a chart showing an example of changes in power consumption and regenerative power during vehicle travel.
- the motor M consumes power (powering power) according to the road conditions (curve, slope, stop / start, etc.) on the travel route.
- the motor M generates electric power (regenerative power) by the brake operation at the time of stop (regenerative power).
- the regenerative power is generated continuously for a long time as well.
- FIG. 24 is a diagram showing an outline of power transmission to a plurality of second batteries and motors.
- the power PA between the first battery 111 and the second battery 212a, the power PB between the second battery 212a and the motor M1, and the capacity of the second battery 212a are 40 Wh. It is assumed that the remaining amount B1 of the second battery 212a is 12 Wh.
- the controller 101 When the power PA between the first battery 111 and the second battery 212a is 0 kW to 1 kW, the controller 101 performs control not to return the power regenerated by the motor M1 to the main (first battery 111) side. In the case of ⁇ 1 kW to 1 kW, control is performed to return the electric power regenerated by the motor M1 to the main (first battery 111) side.
- the electric power PB between the second battery 212a and the motor M1 has a range of ⁇ 4 kW to 4 kW.
- FIG. 25 is a diagram showing a change state of transmitted power.
- the electric power PA and PB corresponding to the change for every time shown in FIG. 23 is shown.
- the range of electric power PA transmitted between the 1st battery 111 and the 2nd battery 212a is small, and the range of electric power PB transmitted between the 2nd battery 212a and the motor M1 is set large.
- the power transmitted between the vehicle 100 and the wheels 1800 can be reduced, so that relatively low-power wireless power transmission using the power transmission antennas 122 (122a to 122d) and 123 (123a to 123d) can be performed.
- FIG. (B) shows the change in power PC as the difference between power PB and power PA.
- This power PC corresponds to the power charged in the second battery 212a of FIG. (C) shows a change in the remaining amount of the second battery 212a. Since the second battery 212a plays a buffering role with respect to the power change, the maximum power supply power (1 kW) supplied to the second battery 212a is greater than the maximum instantaneous power (4 kW) that needs to be supplied to the motor M1. Can be small.
- FIG. 26 is a diagram showing a change state of the power consumption of the motor.
- the negative side is regenerative power generated by the motor M1.
- the motor M1 consumes and regenerates 4 kW as the maximum instantaneous power.
- the maximum supply power of the power PB supplied from the second battery 212a to the motor M1 can be set to about 0.8 to 1 kW.
- FIG. 27 is a diagram showing changes in the power consumption of the motor and the remaining amount of power stored in the second battery.
- the remaining amount change of the second battery 212a at the maximum supply power (0.8 to 1 kW) is shown.
- the capacity of the second battery 212a (EC) is 40 Wh
- the initial power amount (current value B1) is 20 Wh.
- the figure shows that the charging of the second battery 212a proceeds when the integrated power consumption does not increase at time T1 and T2 due to signal stoppage or the like. Further, as shown in the figure, it is shown that when the maximum supply power is set to 0.8 to 1 kW, it can be accommodated within the capacity range of the second battery 212a. Note that transmission control is performed so that the remaining amount (current value B1) of the second battery 212a falls within the range between the charging upper limit value BU and the charging lower limit value BL based on power transmission prediction described later.
- FIG. 28 is a flowchart showing an overall procedure of power transmission prediction. The illustrated process is executed by the power supply control unit (remaining amount control unit) 221 of the controller 101.
- road information and the like of the planned route of the vehicle 100 is acquired from the navigation device 2300, and the power consumption (see FIG. 27) and power consumption of the motor M (M1 to M4) over time when the vehicle 100 travels to the destination.
- the transmission efficiency of the transmission antennas 122 and 123 and the power supplied (regenerated) to the second battery 212 are predicted (step S2801).
- an optimal charging plan for necessary power transmission (charging power, see FIG. 27) is created for the second battery 212 (212a to 212d) (step S2802).
- the maximum supply power (0.8 to 1 kW) corresponding to the power consumption of the motor M is set.
- the maximum power supply is not limited to any one, but can be varied according to the power consumption of the motor M1.
- the remaining battery power (current value B1) is within the range between the charging upper limit value BU and the charging lower limit value BL to prevent overcharging and the like and to charge without excess or deficiency. Control transmission.
- power supply to the second battery 212 is switched ON / OFF. When power supply is necessary, the power is turned on. When power supply is not necessary, the power is switched off. Thereafter, normal traveling of the vehicle 100 is started (step S2803).
- FIG. 29 is a flowchart showing a detailed procedure of the prediction process.
- This process is power transmission prediction at the time of power running, and shows details of the process in step S2801 of FIG.
- the planned route of the vehicle 100 is acquired from the navigation device 2300, and a section up to a certain distance on the planned route is set (step S2901). Thereafter, the planned route is divided into a plurality of sections, and the following processing is performed for each section.
- the road alignment (curve / gradient, etc.), travel speed (statutory speed), and traffic jam situation of the section are acquired from the navigation device 2300, and the time-series speed profile of the vehicle 100 (change in speed over time) is obtained from these.
- (State) is predicted (created) (step S2902).
- a power consumption profile of the motor M is predicted (created) from the speed profile by power consumption prediction (step S2903).
- the power consumption prediction is obtained by calculation using a travel resistance, an efficiency map, and the like of the vehicle 100 described later.
- step S2904 the positional deviation between the power transmission antennas 122 and 123 is estimated from the road alignment (curve / gradient etc.) of the section, and a transmission efficiency profile is predicted (created) (step S2904).
- vehicle 100 passes a curve
- wheel 1800 turns
- the center between power transmission antennas 122 and 123 shifts, and the transmission efficiency changes.
- the processing in step S2904 is not executed when the power transmission antenna 122 is moved by the actuator 1901 as described above with reference to FIGS. 19A, 19B, and the like to eliminate the deviation of the center position. You can also
- Driving force [rho: air density
- C D C D value
- A front projected area
- .mu.r rolling resistance coefficient
- m vehicle weight
- g gravitational acceleration
- Ri Internal resistance
- the internal resistance is a resistance component other than air resistance, rolling resistance, gradient resistance, and acceleration resistance, including mechanical loss of the drive system, and is assumed to be a known one here.
- FIG. 30 is a diagram illustrating an example of a change state of the gradient angle and the rolling resistance coefficient.
- A shows the change of the gradient angle for every time, and gradient resistance changes when the vehicle 100 is climbing up and down.
- (B) shows the change of the rolling resistance coefficient, and the resistance that the tire of the wheel 1800 receives during running changes. It occurs due to changes in tire air pressure or road surface conditions.
- the travel distance x (t) [m] of the planned route is calculated from the above speed profile v (t) [m / s]
- ⁇ m (T, ⁇ ) is an efficiency ⁇ corresponding to the torque T in the efficiency map 1400 described above.
- FIG. 31 is a chart showing a change in transmission efficiency of the power transmission antenna during turning.
- the transmission efficiency ⁇ t between the pair of power transmission antennas 122 and 123 becomes maximum when the center is 0 (the direction of the vehicle 100 coincides with the direction of the wheels 1800).
- the transmission efficiency ⁇ t decreases as the steering angle ⁇ increases. This occurs in both the vertical type and the horizontal type shown in FIGS. 18-1 and 18-2.
- FIG. 32 is a diagram for explaining the vertical stroke amount of the wheel.
- the wheels 1800 move up and down with respect to the vehicle 100, and the front wheel suspension is extended and the rear wheel suspension is contracted compared to traveling on flat ground.
- the vertical stroke amount ⁇ varies.
- the vertical stroke amount effective value ⁇ rms is also generated when passing through the road unevenness. As the vertical stroke amount ⁇ and the vertical stroke amount effective value ⁇ rms increase, the transmission efficiency ⁇ t decreases with substantially the same characteristics as in FIG.
- FIG. 33 is a chart showing the amount of displacement by road condition.
- the steering angle ⁇ becomes 0 during traveling on a straight road, but the steering angle ⁇ increases according to the curvature radius R during traveling on a curve.
- the vertical stroke amount ⁇ increases according to the gradient ⁇ .
- the vertical stroke amount effective value ⁇ rms is small in a place where there is little unevenness on the road, and the vertical stroke amount ⁇ corresponding to the unevenness occurs when passing through a place where there are many unevennesses.
- the transmission efficiency profile ⁇ (t) is represented by the steering angle and the vertical stroke amount as in the following equation.
- the remaining power storage profile is obtained by subtracting the cumulative amount of power PB consumed by the motor M or the like from the cumulative amount of power supplied to the second battery 212 as time passes, as in the following equation.
- PA is the supplied power [W], and is a constant here.
- FIG. 34 is a chart showing a change state of the remaining amount of the second battery. The transition of the predicted value of the capacity of the second battery 212 (EC) with the passage of time indicated by the above-described remaining power storage profile is shown.
- FIG. 35 is a flowchart showing an outline of the processing contents of the optimum charging plan.
- the processing content of step S2802 is described. As described above, this process is performed by the controller 101 (power supply control means (remaining amount control unit) 221). In this process, an optimal charging plan is created so that the remaining power storage amount (current value B1) of the second battery 212 is within the reference range (step S3501), and based on this optimal charging plan when the vehicle 100 starts to travel. Wireless charging is started (step S3502).
- the above-described charge upper limit BU and charge lower limit BL see FIGS. 5 and 16 can be set.
- step S3502 details of the optimum charging plan shown in step S3502 will be described.
- the margin of the second battery 212 is 5%
- the charging upper limit value BU is set to 95% of the maximum capacity ECmax
- the charging lower limit value BL is set to 5%.
- a plan for turning off wireless charging at a time when the remaining amount of the second battery 212 is predicted to exceed the wireless discharge execution determination value BJ + (for example, 90%) set in correspondence with the charging upper limit value BU is created.
- a wireless charging execution determination value BJ ⁇ (for example, 10%) is also set corresponding to the charging lower limit value BL.
- the controller 101 power supply control means 221 has an amount corresponding to the capacity of 20%.
- the suspension period T during which wireless charging is turned off is obtained based on the following equation.
- FIG. 36 is a chart showing the relationship between the remaining amount and the charging upper limit value
- FIG. 37 is a chart explaining the wireless charging OFF period.
- (a) of FIG. 36 it is assumed that a time t0 when the remaining amount of the second battery 212 is predicted to exceed the charging upper limit value BU has occurred.
- the rest period T is set retroactively based on the time t0.
- the wireless charging for the second battery is turned off only during the suspension period T.
- FIG. 36B it is possible to prevent an overcharge state exceeding at least the charge upper limit value BU at the time t0.
- the remaining amount at time t0 can be 70%.
- FIG. 38 is a flowchart showing the processing content of power supply control.
- the controller 101 power supply control means 221) first starts in the normal travel mode, and executes the following processing when it is in a state where it can travel with the power ON (step S3801: No). If the power is off (step S3801: YES), the process is terminated.
- the remaining amount (current value B1) of each of the second batteries 212 (212a to 212d) is detected (step S3802). For example, the remaining amount can be detected based on the current voltage V (V1 to V4).
- step S3804 If wireless charging is in progress (step S3804: YES), the normal mode is switched to the optimal distribution mode that avoids overcharging of the second battery 212 (212a to 212d), and processing in this optimal distribution mode is executed (step S3805). . If wireless charging is not in progress (step S3804: NO), wireless charging is stopped (step S3806), and the process returns to step S3802.
- step S3803 if the remaining amount of any of the second batteries 212 (212a to 212d) is less than the wireless discharge execution determination value BJ + (step S3803: No), the second battery 212 (212a) To 212d) is determined whether it is less than or equal to the wireless charging execution determination value BJ ⁇ (step S3807). If the remaining amount of any of the second batteries 212 (212a to 212d) is not less than or equal to the wireless charging execution determination value BJ ⁇ (step S3807: No), the wireless charging is continued (step S3808), and the process returns to step S3802.
- step S3809 it is determined whether wireless charging is being performed.
- step S3809 If wireless charging is in progress (step S3809: YES), the normal mode is switched to the optimal distribution mode that avoids overdischarge to the second battery 212 (212a to 212d), and processing in this optimal distribution mode is executed (step S3810). . If wireless charging is not in progress (step S3809: NO), wireless charging is resumed (step S3811), and the process returns to step S3802.
- FIG. 39 is a flowchart showing the processing contents of the optimum distribution mode for avoiding overcharge.
- the detailed processing content of step S3805 of FIG. 38 is shown.
- a command for driving force or braking force is received from the vehicle 100 (step S3901).
- the driving force command is the total torque command value input to the controller 101 by operating the accelerator pedal 103
- the braking force command is the brake amount input by operating the brake pedal 104.
- step S3902 driving force
- step S3903 total driving force
- step S3903 total driving force
- step S3903 total driving force
- step S3904 braking force
- step S3904 the braking force distribution to the front and rear wheels 1800 of the vehicle 100 is optimized while the total driving force (total torque value) remains fixed.
- the torque distribution value of the wheel 1800 that is overcharged is made lower than the distribution values of the other wheels 1800.
- the distribution of the driving force and the braking force corresponds to the torque redistribution performed by the drive control means (torque control unit) 222 of the controller 101 (see FIG. 14 and the like).
- step S3903 or step S3904 the power supply control unit 221 of the controller 101 detects the remaining amount of the second battery 212 (212a to 212d) again (step S3905). Then, it is determined whether the remaining amount of the second battery 212 (212a to 212d) of each motor M (M1 to M4) is equal to or greater than the wireless discharge execution determination value BJ + (step S3906). When the remaining amount of all the second batteries 212 (212a to 212d) is equal to or less than the wireless discharge execution determination value BJ + (step S3906: Yes), the normal driving mode (FIG. 38) is returned, but any of the second batteries If the remaining amount 212 (212a to 212d) exceeds the wireless discharge execution determination value BJ + (step S3906: NO), the process returns to step S3902.
- FIG. 40 is a flowchart showing the processing contents of the optimal distribution mode for avoiding overdischarge. The detailed processing content of step S3810 of FIG. 38 is shown.
- a command for driving force or braking force is received from the vehicle 100 (step S4001).
- step S4002 driving force
- step S4003 total driving force
- step S4003 total driving force
- step S4003 total driving force
- step S4003 total driving force
- step S4003 total driving force
- step S4003 total driving force
- step S4003 total driving force
- step S4004 braking force
- step S4003 or step S4004 the power supply control means 221 of the controller 101 detects the remaining amount of the second battery 212 (212a to 212d) again (step S4005). Then, it is determined whether the remaining amount of the second battery 212 (212a to 212d) of each motor M (M1 to M4) is equal to or greater than the wireless charging execution determination value BJ ⁇ (step S4006). When the remaining amount of all the second batteries 212 (212a to 212d) is equal to or higher than the wireless charging execution determination value BJ- (step S4006: Yes), the process returns to the normal travel mode (FIG. 38). If the remaining amount of the battery 212 (212a to 212d) is less than the wireless charging execution determination value BJ ⁇ (step S4006: No), the process returns to step S4002.
- the power transmission plan capable of efficiently performing wireless charging of the second battery up to the destination is optimized. Will be able to.
- any of the plurality of second batteries can prevent overcharge and overdischarge.
- FIG. 41 is a flowchart showing a detailed procedure of the prediction process. This process is power transmission prediction during power running and regeneration, and shows details of the process in step S2801 of FIG.
- the power transmission system in this case has the same configuration as that in FIG. 2, and wireless charging is performed from the vehicle 100 (first battery 111) to the wheel 1800 (second battery 212) side, and the wheel 1800 (second battery 212). ) To the vehicle 100 (first battery 111) side, the case where wireless discharge is performed can be switched and transmitted.
- the power transmission system is not limited to this, and for the power transmission antennas 122 and 123 provided in each system of the power supply lines L1 to L4, a system dedicated to the wireless charging side and a system dedicated to the wireless discharging side are connected to the power supply lines L1 to L4. Each can be provided independently.
- the planned route of the vehicle 100 is acquired from the navigation device 2300, and a section up to a certain distance on the planned route is set (step S4101). Thereafter, the planned route is divided into a plurality of sections, and the following processing is performed for each section.
- the road alignment (curve / gradient, etc.), travel speed (statutory speed), and traffic congestion status of the section are acquired, and the speed profile of the vehicle 100 (change in speed over time) is thereby obtained.
- Predict (create) (step S4102).
- a consumption / regenerative power profile of the motor M is predicted (created) from the speed profile by power consumption prediction (step S4103).
- Consumption / regenerative power prediction is obtained by calculation using the running resistance, efficiency map, and the like of the vehicle 100 as described in the first processing example.
- the positional deviation between the power transmission antennas 122 and 123 is estimated from the road alignment (curve / gradient etc.) of the section, and a transmission efficiency profile is predicted (created) (step S4104).
- FIG. 42 is a flowchart showing an outline of the processing contents of the optimum charge / discharge plan.
- the processing content of step S2802 is described.
- an optimal charging plan and an optimal discharging plan are created so that the remaining amount of electricity stored in the second battery 212 (current value B1) is within the reference range (step S4201), and this optimal charging is performed when the vehicle 100 starts to travel.
- Wireless charging / discharging is started based on the plan and the optimum discharge plan (step S4202).
- step S4202 Details of the optimum charging plan shown in step S4202 will be described. Similarly to the description in the processing example 1, it is assumed that the remaining amount EC (t) (the current value B1) reaches 90% at a certain time t0. At this time, assuming that the remaining amount of the second battery 212 is planned to be lower by, for example, 20% than the predicted value, the controller 101 (power supply control means 221) has an amount corresponding to the capacity of 20%. Then, the suspension period T in which the wireless charging is turned off is obtained in the same manner as in the first processing example.
- a wireless discharge period T2 corresponding to a capacity of 20% where the remaining amount is equal to or less than the charging lower limit BL is obtained by the following formula.
- FIG. 43 is a chart showing the relationship between the remaining amount and the charging upper and lower limit values
- FIG. 44 is a chart explaining the wireless charging period and the wireless discharging period.
- (a) of FIG. 43 it is assumed that a time t0 when the remaining amount of the second battery 212 is predicted to exceed the charging upper limit value BU has occurred.
- the rest period T is set retroactively based on the time t0.
- the wireless charging for the second battery is turned off only during the suspension period T.
- FIG. 43 (b) it is possible to prevent an overcharge state exceeding at least the charge upper limit value BU at the time t0.
- the remaining amount at time t0 can be 70%.
- the capacity during the suspension period T is 5% of the charging lower limit BL.
- a time tL occurs as follows.
- the radio discharge time T2 is set based on the timing t0 based on the above formula.
- FIG. 43 (c) it is possible to prevent an overdischarge state at least below the charging lower limit value BL at the time tL.
- FIG. 45 is a flowchart showing the processing content of wireless charging / discharging control.
- the controller 101 power supply control means 221) first starts in the normal travel mode, and executes the following processing when it is in a state where it can travel with the power on (step S4501: No). If the power is off (step S4501: Yes), the process ends.
- step S4502 the remaining amount (current value B1) of each of the second batteries 212 (212a to 212d) is monitored (step S4502).
- step S4503 it is determined whether the remaining amount of the second battery 212 (any one of 212a to 212d) of a certain motor M (any one of M1 to M4) is equal to or greater than the wireless discharge execution judgment value BJ + (see FIG. 16) (step). S4503). If the remaining amount of any of the second batteries 212 (212a to 212d) is equal to or greater than the wireless discharge execution determination value BJ + (step S4503: Yes), it is determined whether wireless charging is in progress (step S4504).
- step S4504 wireless charging is stopped (step S4505), and the process returns to step S4502.
- wireless charging is not in progress (step S4504: No)
- step S4506 it is determined whether wireless discharge is in progress (step S4506). If wireless discharge is in progress (step S4506: Yes), the normal mode is switched to the optimal distribution mode that avoids overcharging of the second battery 212 (212a to 212d), and processing in this optimal distribution mode is executed (step S4507). . If the wireless discharge is not in progress (step S4506: No), the wireless discharge is resumed (step S4508), and the process returns to step S4502.
- step S4503 when the remaining amount of any of the second batteries 212 (212a to 212d) is less than the wireless discharge execution determination value BJ + (step S4503: No), the second battery 212 (212a) To 212d) is determined whether or not the remaining amount is less than or equal to the wireless charging execution determination value BJ ⁇ (step S4509). If the remaining amount of any of the second batteries 212 (212a to 212d) is not less than or equal to the wireless charging execution determination value BJ ⁇ (step S4509: No), the wireless charging is continued (step S4510), and the process returns to step S4502.
- step S4511 it is determined whether wireless discharge is in progress (step S4511).
- step S4511: YES wireless charging is stopped (step S4512), and the process returns to step S4502.
- step S4511: No wireless discharge is not in progress (step S4511). If wireless charging is in progress (step S4513: Yes), the normal mode is switched to the optimal distribution mode that avoids overdischarge to the second battery 212 (212a to 212d), and processing in this optimal distribution mode is executed (step S4514). . If wireless charging is not in progress (step S4513: No), wireless charging is resumed (step S4515), and the process returns to step S4502.
- the power transmission plan can efficiently perform wireless charging and wireless discharging of the second battery up to the destination. Can be optimized.
- any of the plurality of second batteries can prevent overcharge and overdischarge.
- a battery is provided for each of the vehicle and the wheel, and power is transmitted between the vehicle and the wheel by non-contact radio.
- the power transmission between the batteries is controlled so that the capacity of the second battery on the wheel side always approaches the target remaining amount value. As a result, stable power can be supplied to the motor at all times.
- power transmission using the power transmission antenna is controlled according to the vertical stroke of the wheel, power transmission can be performed with good transmission efficiency, and power transmission can be made more efficient.
- the power consumed or regenerated by road gradients and curves, etc. and the transmission efficiency of the power transmission antenna are estimated in advance. Will be able to. This makes it possible to predict the power consumed or regenerated on the planned route before the vehicle travels, and correspondingly wireless charging so as to prevent the second battery from being overcharged and overdischarged. And you will be able to plan wireless discharge.
- the torque distribution for the motor of the corresponding wheel is increased and the torque distribution of the other wheel is lowered, while when the second battery is predicted to be overdischarged,
- the torque distribution of the plurality of wheels is changed to control the power consumption of the second battery. This prevents overcharge and overdischarge of all the second batteries provided in the vehicle, and enables stable running.
- the method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation.
- This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer.
- the program may be a transmission medium that can be distributed via a network such as the Internet.
Abstract
Description
図1は、実施の形態にかかる車両駆動装置が搭載された車両の構成を示す概要図である。車両100は、左右の前車輪FL,FRと、左右の後車輪RL,RRを有する4輪駆動車である。これら四つの各車輪FL,FR,RL,RRのハブには、それぞれインホイール型のモータユニットM1~M4が設けられ、独立に駆動される。 (Vehicle configuration)
FIG. 1 is a schematic diagram illustrating a configuration of a vehicle on which the vehicle drive device according to the embodiment is mounted. The
図2は、車両駆動装置の構成を示すブロック図である。車両駆動装置200は、モータへ電源を供給してモータを駆動する。また、車両100の走行状態等により、第1バッテリ111と第2バッテリ212a間での電力伝送を制御する。 (Configuration of vehicle drive device)
FIG. 2 is a block diagram showing the configuration of the vehicle drive device. The
図5は、バッテリ間の電力伝送の概要を示す図である。4輪駆動の場合、四つのモータユニットM1~M4を有し、第1バッテリ111は、これら四つのモータユニットM1~M4のモータMを駆動する比較的大きな容量を有するものを用いる。一方、モータユニットM1(およびM2~M4)にそれぞれ設ける第2バッテリ212aは、単一のモータMを駆動すればよく、比較的小容量のものを用いることができ、重量を軽量化できる。 (Outline of power transfer between batteries)
FIG. 5 is a diagram showing an outline of power transmission between batteries. In the case of four-wheel drive, four motor units M1 to M4 are provided, and the
1.正方向への電力伝送は、力行制御時に行う。力行制御は、たとえば、アクセルペダル103の踏み込みを検出したときに行う。
2.逆方向への電力伝送は、回生制御時に行う。回生制御は、たとえば、ブレーキペダル104の踏み込みを検出したときに行う。 The
1. Power transmission in the positive direction is performed during power running control. Power running control is performed, for example, when the depression of the
2. Power transmission in the reverse direction is performed during regenerative control. The regeneration control is performed, for example, when the depression of the brake pedal 104 is detected.
図6は、電力伝送にかかる全体の制御内容を示すフローチャートである。コントローラ101が行う電力伝送とトルク制御の処理について示している。はじめに、コントローラ101は、モータユニットM1~M4のセンサにより、現在の走行速度を検出する。また、アクセルペダル103とブレーキペダル104の踏み込みを検出する(ステップS701)。 (Contents of power transmission control)
FIG. 6 is a flowchart showing the entire control content related to power transmission. The process of power transmission and torque control performed by the
1.アクセルペダル103の踏み込みを検出したときには、力行制御と特定する。
2.ブレーキペダル104の踏み込みを検出したときには、回生制御と特定する。このほか、
3.アクセルペダル103およびブレーキペダル104の踏み込みを検出せず、かつ、車両100の速度が遅い場合には、力行制御と特定する。この場合、後述する擬似クリープトルクの制御を行う。
4.アクセルペダル103およびブレーキペダル104の踏み込みを検出せず、かつ、車両100の速度が速い場合には、回生制御と特定する。この場合、後述する擬似エンジンブレーキの制御を行う。
5.アクセルペダル103およびブレーキペダル104の踏み込みを検出せず、かつ、車両100の速度が中程度(速くなく、また遅くない速度)の場合には、制御なし(惰行運転)と特定する。 Then, the combination of the current traveling state and the control mode is specified (step S702). as mentioned above,
1. When depression of the
2. When depression of the brake pedal 104 is detected, regeneration control is specified. other than this,
3. When the depression of the
4). When depression of the
5. When depression of the
図7は、力行トルク制御の制御内容を示すフローチャートである。図6のステップS704に示した力行トルク制御の詳細な制御内容を示している。はじめに、コントローラ101は、モータユニットM1~M4にそれぞれ設けられる第2バッテリ212(212a~212d:ただし212b~212dはモータユニットM2~M4の第2バッテリを指し不図示)の各値を検出する(ステップS801)。 (About power running torque control)
FIG. 7 is a flowchart showing the control content of the power running torque control. The detailed control content of power running torque control shown to step S704 of FIG. 6 is shown. First, the
使用可能な容量RL1~RL4=現在値B1~B4-充電下限値BL
により算出する。 Next, the capacity | capacitance RL which can use the electric power of the
Usable capacities RL1 to RL4 = current values B1 to B4—charge lower limit BL
Calculated by
図8は、回生トルク制御の制御内容を示すフローチャートである。図6のステップS705に示した回生トルク制御の詳細な制御内容を示している。回生時には、モータMが電力を発生する。はじめに、コントローラ101は、モータユニットM1~M4にそれぞれ設けられる第2バッテリ212(212a~212d)の各値を検出する(ステップS901)。第2バッテリ212の充電上限値はBUとし、現在値(残量)はB1~B4とし、現在の電圧はV1~V4とする。 (Regenerative torque control)
FIG. 8 is a flowchart showing the control content of the regenerative torque control. The detailed control content of regenerative torque control shown to step S705 of FIG. 6 is shown. During regeneration, the motor M generates electric power. First, the
回生可能な容量RU1~RU4=充電上限値BU-現在値B1~B4
により算出する。 Next, the capacity | capacitance RU in which electric power regeneration of the
Regenerative capacities RU1 to RU4 = charge upper limit value BU−current values B1 to B4
Calculated by
つぎに、上述した無線による電力伝送の制御手順について説明する。図9は、実施の形態にかかる無線による電力伝送の制御手順の一例を示すフローチャートである。図9の説明では、モータユニットM1に設けられる第2バッテリ212aに対する電力伝送を例に説明するが、他のモータユニットM2~M4に設けられる第2バッテリ212b~212dについても同様の処理を行えばよい。 (Power transmission control procedure)
Next, the above-described wireless power transmission control procedure will be described. FIG. 9 is a flowchart illustrating an example of a wireless power transmission control procedure according to the embodiment. In the description of FIG. 9, power transmission to the
電力伝送可能な上限値Cmax=電源ラインL1の最大電流Amax×現在の電圧V1
伝送したい電力D=BS-B1 Next, an upper limit value Cmax at which electric power can be transmitted and electric power D to be transmitted are calculated by the following formula (step S1002).
Upper limit Cmax at which power can be transmitted = maximum current Amax of power supply line L1 × current voltage V1
Power to be transmitted D = BS-B1
図10は、力行時のトルク指令値を示す図表である。アクセルペダル103の踏み込み量(横軸)に対する力行トルク指令値(縦軸)の関係を示している。コントローラ101のトルク制御部222は、図示のように、これらアクセルペダル103の踏み込み量と、力行時の全トルク指令値とは、比例する直線関係で制御するのではなく、アクセルペダル103の踏み込み量に対してはじめはなだらかに変化する曲線を有して力行トルク指令値を出力する。また、車両100の前進時に比べて後退時の力行トルク指令値は、さらになだらかとなるよう設定している。 (About power running torque command value)
FIG. 10 is a chart showing torque command values during power running. The relationship between the power running torque command value (vertical axis) and the depression amount (horizontal axis) of the
図11は、回生時のトルク指令値を示す図表である。ブレーキペダル104の踏み込み量(横軸)に対する回生トルク指令値(縦軸)の関係を示している。コントローラ101は、図示のように、ブレーキペダル104の踏み込み量に対し、回生トルク指令値は、ほぼ直線関係となるよう制御している。また、車両の前進時に比べて後退時の回生トルク指令値は、なだらかに変化するよう設定している。 (Regenerative torque command value)
FIG. 11 is a chart showing torque command values during regeneration. The relationship of the regenerative torque command value (vertical axis) with respect to the depression amount (horizontal axis) of the brake pedal 104 is shown. As shown in the figure, the
図12は、ペダルを離したときのトルク指令値を示す図表である。コントローラ101は、アクセルペダル103もブレーキペダル104も踏まれない場合、図示のように、車速に応じてトルク指令値を変えている。 (About pseudo creep torque and pseudo engine brake)
FIG. 12 is a chart showing torque command values when the pedal is released. When neither the
つぎに、モータ効率マップを用いたモータMの消費電力(回生電力)推定について説明する。図13は、モータ効率マップを示す図表である。効率マップ1400は、モータMの回転速度-トルク特性を示すものであり、横軸は回転速度、縦軸はトルクである。コントローラ101の記憶部には、図示の4象限の効率マップ1400をあらかじめ格納しておく。 (Motor power estimation using motor efficiency map)
Next, power consumption (regenerative power) estimation of the motor M using the motor efficiency map will be described. FIG. 13 is a chart showing a motor efficiency map. The efficiency map 1400 shows the rotational speed-torque characteristics of the motor M, with the horizontal axis representing the rotational speed and the vertical axis representing the torque. In the storage unit of the
1.正転力行:前進中にアクセルペダルを踏んでいる状態
2.逆転力行:後退中にアクセルペダルを踏んでいる状態
3.逆転回生:後退中にブレーキペダルを踏んでいる状態
4.正転回生:前進中にブレーキペダルを踏んでいる状態
である。 The first to fourth quadrants of the efficiency map 1400 are respectively
1. Forward running: A state where the accelerator pedal is being depressed while moving forward. 2. Reverse power running: A state where the accelerator pedal is depressed during reverse. Reverse regeneration: State where the brake pedal is depressed during reverse. Normal regenerative regeneration: A state in which the brake pedal is depressed during forward travel.
・力行時
効率η=(T・ω)/(V・I)
・回生時
効率η=(V・I)/(T・ω)
(V,Iは、モータMの電圧と電流、あるいはインバータ203の電圧と電流) And the
・ Power efficiency η = (T ・ ω) / (V ・ I)
・ Regeneration efficiency η = (V ・ I) / (T ・ ω)
(V and I are the voltage and current of the motor M or the voltage and current of the inverter 203)
・モータMに流れる電流Iからトルク値を検出
・レゾルバ等の回転位置センサにより車輪の回転速度を検出
・第2バッテリ212aとインバータ203a間に設けた電流センサおよび電圧センサにより電流と電圧を検出し、電力を算出
コントローラ101は、上記の検出および算出によって、車両100の走行時に、記憶部に格納した効率マップ1400を随時更新していくことができる。 In addition, the configuration may be such that the efficiency map 1400 acquired in advance is updated. On this occasion,
・ Detects the torque value from the current I flowing through the motor M ・ Detects the rotational speed of the wheel by a rotational position sensor such as a resolver ・ Detects the current and voltage by a current sensor and a voltage sensor provided between the
つぎに、各車輪のモータMに対するトルク配分値の再配分例について説明する。図14は、バッテリ残量が少なくなったときのトルクの再配分例を説明する図である。コントローラ101に対し、たとえば、アクセルペダル103の踏み込みにより、全トルク指令値が100[Nm]として入力された場合を例に説明する。 (Example of torque distribution)
Next, an example of redistribution of the torque distribution value for the motor M of each wheel will be described. FIG. 14 is a diagram illustrating an example of torque redistribution when the remaining battery level is low. An example will be described in which the total torque command value is input as 100 [Nm] to the
協調ブレーキとは、モータMによる回生ブレーキと、油圧制御による機械式ブレーキとを組み合わせて、必要な制動力を生成するブレーキである。回生ブレーキと機械式ブレーキの組み合わせについては、各種方法がある。 (About cooperative brake)
The cooperative brake is a brake that generates a necessary braking force by combining a regenerative brake by the motor M and a mechanical brake by hydraulic control. There are various methods for combining a regenerative brake and a mechanical brake.
図16は、バッテリ間の他の電力伝送の概要を示す図である。この例では、第2バッテリ212aのバッテリ量についての各項目に二つの項目を加えている。これらは、無線放電実施判断値BJ+(プラス)と、無線充電実施判断値BJ-(マイナス)である。 (Other control procedures for power transmission)
FIG. 16 is a diagram showing an outline of another power transmission between batteries. In this example, two items are added to each item regarding the battery amount of the
電力伝送可能な上限値Cmax=無線により電力伝送できる最大電流Amax×現在の電圧V1 After the processing of step S1703 and step S1705, the upper limit Cmax that allows power transmission is calculated by the following equation (step S1706).
Upper limit value Cmax at which power can be transmitted = maximum current Amax at which power can be transmitted wirelessly × current voltage V1
図18-1,図18-2は、それぞれ車輪および電力伝送アンテナの構造例を示す図である。図18-1は、電力伝送アンテナを地面に対し垂直に設けた構造例である。車両100の車輪1800は、ホイール1801にタイヤ1802が装着されてなる。ホイール1801内部には、モータ(インナーモータ)Mが設けられる。 (Example of wheel and power transmission antenna structure)
18A and 18B are diagrams illustrating structural examples of the wheel and the power transmission antenna, respectively. FIG. 18A is a structural example in which the power transmission antenna is provided perpendicular to the ground. A
図20は、位置検出器を用いた場合のアンテナ位置制御の構成を示すブロック図である。このアンテナ位置制御にかかる構成は、コントローラ101の残量制御部221の一機能として設けられる。そして、この構成例1では、位置検出器1902として距離センサを用い、この距離センサを車両100側に配置し、車輪1800側の電力伝送アンテナ123との間の距離を測定する。 (Configuration example of antenna position control)
FIG. 20 is a block diagram showing a configuration of antenna position control when a position detector is used. The configuration relating to the antenna position control is provided as one function of the remaining
つぎに、上記無線による電力伝送の構成を用い、車両100の走行計画に基づき電力伝送制御を予測する構成について説明する。車両100の走行前の状態で、車両100が目的地まで移動する際に消費する電力の推移を予測することにより、電力伝送制御を計画的、かつ効率的に行うことができるようになる。 (About power transmission control prediction)
Next, a configuration for predicting power transmission control based on a travel plan of the
つぎに、電力伝送予測の処理手順について説明する。図28は、電力伝送予測の全体手順を示すフローチャートである。図示の処理は、コントローラ101の給電制御手段(残量制御部)221が実行する。 (Processing procedure for power transmission prediction: Processing example 1)
Next, a processing procedure for power transmission prediction will be described. FIG. 28 is a flowchart showing an overall procedure of power transmission prediction. The illustrated process is executed by the power supply control unit (remaining amount control unit) 221 of the
上記の走行抵抗は、下記式で表される。
走行抵抗Fdr(t)[N]=空気抵抗+転がり抵抗+勾配抵抗+加速抵抗+内部抵抗
=1/2・ρCDAv(t)2+μr(x)mg+mgsinθ(x)+m(dv(t)/dt)+Ri
(Fd:駆動力、ρ:空気密度、CD:CD値、A:前面投影面積、μr:転がり抵抗係数、m:車重、g:重力加速度、Ri:内部抵抗)
なお、内部抵抗とは、駆動系の機械損失を含む、空気抵抗、転がり抵抗、勾配抵抗、加速抵抗以外の抵抗成分のことであり、ここでは既知のものであると仮定している。 (About running resistance and speed profile)
The running resistance is represented by the following formula.
Travel resistance Fdr (t) [N] = air resistance + rolling resistance + gradient resistance + acceleration resistance + internal resistance = 1/2 · ρC D Av (t) 2 + μr (x) mg + mgsinθ (x) + m (dv (t) / Dt) + Ri
(Fd: driving force, [rho: air density, C D: C D value, A: front projected area, .mu.r: rolling resistance coefficient, m: vehicle weight, g: gravitational acceleration, Ri: Internal resistance)
The internal resistance is a resistance component other than air resistance, rolling resistance, gradient resistance, and acceleration resistance, including mechanical loss of the drive system, and is assumed to be a known one here.
ω(t)=v(t)/r
で示される。
トルクT[N]は、
T(t)=J・((dω(t))/dt)+r・Fdr(t)
で示される。
(J:車輪イナーシャ、r:タイヤ半径) ω (t) is the angular velocity [rad / s] of the
ω (t) = v (t) / r
Indicated by
Torque T [N] is
T (t) = J · ((dω (t)) / dt) + r · Fdr (t)
Indicated by
(J: Wheel inertia, r: Tire radius)
上記の図18-1および図18-2で説明したように、車両100は、カーブ走行時にはハンドル操作により車輪1800が旋回し、一対の電力伝送アンテナ122,123の中心にずれが生じ、伝送効率が変化する。以下の説明では、電力伝送アンテナ122,123の位置が固定された構成におけるアンテナ位置ずれについて説明する(なお、図19-1等に示したように電力伝送アンテナ122が可動とされ、位置ずれを低減させる構成においても、位置ずれを完全になくすことはできないため、同様に適用することもできる)。 (About changes in transmission efficiency)
As described above with reference to FIGS. 18A and 18B, when the
伝送効率プロファイルη(t)は、下記式のように、ステアリング角と上下ストローク量により示される。 (About transmission efficiency profile)
The transmission efficiency profile η (t) is represented by the steering angle and the vertical stroke amount as in the following equation.
蓄電残量プロファイルは下記式のように、時間経過ごとに、第2バッテリ212に対する供給電力の累積量からモータM等による消費電力PBの累積量を引くことで得られる。PAは供給電力[W]であり、ここでは定数としている。 (About the remaining charge profile)
The remaining power storage profile is obtained by subtracting the cumulative amount of power PB consumed by the motor M or the like from the cumulative amount of power supplied to the
このとき、第2バッテリ212の残量が予測値よりも、たとえば20%だけ下回るようにしておく計画であるとすると、コントローラ101(給電制御手段221)は、この容量20%に相当する分だけ、無線充電をOFFにする休止期間Tを下記式に基づき求める。 For example, it is assumed that the remaining amount EC (t) (the above current value B1) reaches 90% at a certain time t0. EC (t0) = 0.9ECmax
At this time, assuming that the remaining amount of the
以下の説明では、処理例1により作成された最適充電計画にしたがった給電制御処理の処理内容について説明する。図38は、給電制御の処理内容を示すフローチャートである。コントローラ101(給電制御手段221)は、はじめに通常走行モードで起動し、電源ONで走行可能な状態のとき(ステップS3801:No)、以下の処理を実行する。電源OFFの場合には(ステップS3801:Yes)、処理を終了する。 (Power supply control processing according to the optimal charging plan)
In the following description, the processing content of the power supply control process according to the optimum charging plan created by the processing example 1 will be described. FIG. 38 is a flowchart showing the processing content of power supply control. The controller 101 (power supply control means 221) first starts in the normal travel mode, and executes the following processing when it is in a state where it can travel with the power ON (step S3801: No). If the power is off (step S3801: YES), the process is terminated.
つぎに、力行時および回生時の電力伝送予測の処理手順について説明する。この電力伝送予測処理においても、基本処理は、図28に示したと同様である。図41は、予測処理の詳細な手順を示すフローチャートである。この処理は、力行時および回生時における電力伝送予測であり、図28のステップS2801の処理の詳細を示している。 (Processing procedure for power transmission prediction: Processing example 2)
Next, the power transmission prediction processing procedure during power running and regeneration will be described. In this power transmission prediction process, the basic process is the same as that shown in FIG. FIG. 41 is a flowchart showing a detailed procedure of the prediction process. This process is power transmission prediction during power running and regeneration, and shows details of the process in step S2801 of FIG.
以下の説明では、処理例2により作成された最適充放電計画にしたがった無線充電・無線放電制御処理の処理内容について説明する。図45は、無線充電・無線放電制御の処理内容を示すフローチャートである。コントローラ101(給電制御手段221)は、はじめに通常走行モードで起動し、電源ONで走行可能な状態のとき(ステップS4501:No)、以下の処理を実行する。電源OFFの場合には(ステップS4501:Yes)、処理を終了する。 (Power supply control processing according to the optimal charge / discharge plan)
In the following description, processing contents of the wireless charging / wireless discharging control process according to the optimum charging / discharging plan created by the processing example 2 will be described. FIG. 45 is a flowchart showing the processing content of wireless charging / discharging control. The controller 101 (power supply control means 221) first starts in the normal travel mode, and executes the following processing when it is in a state where it can travel with the power on (step S4501: No). If the power is off (step S4501: Yes), the process ends.
101 コントローラ
102 ハンドル
103 アクセルペダル
104 ブレーキペダル
105 シフトブレーキ
106 セレクタ
111 第1バッテリ
121(121a) 第1変換器(DC-AC変換部)
122(122a),123(123a) 電力伝送アンテナ
201(201a) 第2変換器(AC-DC変換部)
202a 双方向チョッパ
203a インバータ
212(212a) 第2バッテリ
221 残量制御部
222 トルク制御部
1800 車輪
1803 サスペンション
1901 アクチュエータ
1902 位置検出器
2300 ナビゲーション装置
M1~M4 モータユニット
M モータ(インホイールモータ)
L1~L4 電源ライン DESCRIPTION OF
122 (122a), 123 (123a) Power transmission antenna 201 (201a) Second converter (AC-DC converter)
L1 to L4 Power line
Claims (5)
- 外部電源より取得した直流電力を蓄える第1蓄電池と、
前記第1蓄電池に接続され、前記直流電力を交流電力に変換する第1変換器と、当該交流電力を無線送電する送電アンテナとを有する第1送電手段と、
前記送電アンテナにより送電された前記交流電力を無線受電する受電アンテナと、当該交流電力を直流電力へ変換する第2変換器とを有する第1受電手段と、
車輪のハブに装着され、当該車輪を駆動するインホイールモータと、
前記車輪に設けられ、前記第1受電手段により受電した直流電力を蓄える第2蓄電池と、
前記車輪に設けられ、前記第2蓄電池の直流電力を交流電力に変換するインバータと、
前記インホイールモータの回転駆動を制御する駆動制御手段と、
前記第1送電手段より前記第1受電手段への無線給電を制御する給電制御手段と、
前記第2蓄電池の蓄電量を監視する監視手段と、
車両の走行予定経路を示す経路情報、当該走行予定経路における車両進行方向の道路線形情報、当該走行予定経路の走行抵抗の変化を示す走行抵抗変化情報、および、前記インホイールモータの効率マップを取得する取得手段と、
前記蓄電量、前記経路情報、前記道路線形情報、前記走行抵抗変化情報、および前記効率マップに基づいて、前記第2蓄電池の蓄電量の変化を示す蓄電量変化情報を算出する算出手段と、を備え、
前記給電制御手段は、前記蓄電量変化情報の蓄電量が所定範囲内に収まるように前記第1送電手段より前記第1受電手段への無線給電を行う給電量を調整すること
を特徴とする車両駆動装置。 A first storage battery for storing DC power acquired from an external power source;
A first power transmission means connected to the first storage battery and having a first converter that converts the DC power into AC power; and a power transmission antenna that wirelessly transmits the AC power;
A first power receiving means having a power receiving antenna for wirelessly receiving the AC power transmitted by the power transmission antenna, and a second converter for converting the AC power to DC power;
An in-wheel motor mounted on a wheel hub and driving the wheel;
A second storage battery that is provided on the wheel and stores DC power received by the first power receiving means;
An inverter provided on the wheel for converting the DC power of the second storage battery into AC power;
Drive control means for controlling the rotational drive of the in-wheel motor;
Power supply control means for controlling wireless power supply from the first power transmission means to the first power reception means;
Monitoring means for monitoring the amount of electricity stored in the second storage battery;
Obtaining route information indicating the planned travel route of the vehicle, road alignment information of the vehicle traveling direction in the planned travel route, travel resistance change information indicating a change in travel resistance of the planned travel route, and an efficiency map of the in-wheel motor Acquisition means to
Calculating means for calculating storage amount change information indicating a change in storage amount of the second storage battery based on the storage amount, the route information, the road alignment information, the travel resistance change information, and the efficiency map; Prepared,
The power supply control unit adjusts a power supply amount for performing wireless power supply from the first power transmission unit to the first power reception unit so that a power storage amount of the power storage amount change information is within a predetermined range. Drive device. - 前記算出手段は、
前記経路情報に基づいて、前記車両の走行予定速度を示す速度変化情報を算出する第1算出手段と、
前記速度変化情報、前記走行抵抗変化情報、および前記効率マップに基づいて、前記インホイールモータの消費電量予測量を示す消費電力変化情報を算出する第2算出手段と、
前記道路線形情報に基づいて、前記無線給電の伝送効率の変化を示す伝送効率変化情報を算出する第3算出手段と、
前記消費電力変化情報および前記伝送効率変化情報に基づいて、前記蓄電量変化情報を算出する第4算出手段と、を備えること
を特徴とする請求項1に記載の車両駆動装置。 The calculating means includes
First calculation means for calculating speed change information indicating a planned traveling speed of the vehicle based on the route information;
Second calculation means for calculating power consumption change information indicating a predicted power consumption amount of the in-wheel motor based on the speed change information, the running resistance change information, and the efficiency map;
Third calculation means for calculating transmission efficiency change information indicating a change in transmission efficiency of the wireless power supply based on the road alignment information;
The vehicle drive device according to claim 1, further comprising: a fourth calculation unit that calculates the storage amount change information based on the power consumption change information and the transmission efficiency change information. - 回生により発生する直流電力を前記第2蓄電池に蓄える回生制御手段と、
前記第2蓄電池に接続され、前記直流電力を交流電力に変換する第3変換器と、当該交流電力を無線送電する送電アンテナを有する第2送電手段と、
前記第1蓄電池に接続され、前記交流電力を無線受電する受電アンテナと、当該交流電力を直流電力へ変換する第4変換器を有する第2受電手段と、をさらに備え、
前記給電制御手段は、前記蓄電量変化情報の蓄電量が所定範囲内に収まるように前記第2送電手段より前記第2受電手段への無線放電を行う給電量を調整すること
を特徴とする請求項1または2に記載の車両駆動装置。 Regenerative control means for storing DC power generated by regeneration in the second storage battery;
A third converter connected to the second storage battery and converting the DC power into AC power; and a second power transmission means having a power transmission antenna that wirelessly transmits the AC power;
A power receiving antenna connected to the first storage battery and wirelessly receiving the AC power; and a second power receiving means having a fourth converter for converting the AC power into DC power,
The power supply control unit adjusts a power supply amount for performing wireless discharge from the second power transmission unit to the second power reception unit so that a power storage amount of the power storage amount change information is within a predetermined range. Item 3. The vehicle drive device according to Item 1 or 2. - 前記給電制御手段は、
前記蓄電量が第1所定量より少ない場合は、前記無線充電を行うように制御し、
前記蓄電量が前記第1所定量以上の場合は、前記無線充電を停止するように制御すること
を特徴とする請求項1または2に記載の車両駆動装置。 The power supply control means includes
If the stored amount is less than the first predetermined amount, control to perform the wireless charging,
3. The vehicle drive device according to claim 1, wherein when the amount of stored electricity is equal to or greater than the first predetermined amount, the wireless charging is controlled to stop. 4. - 前記給電制御手段は、
前記蓄電量が第1所定量より少ない場合は、前記無線充電を行うように制御し、
前記蓄電量が前記第1所定量以上の場合は、前記無線充電を停止、あるいは、前記無線放電を行うように制御すること
を特徴とする請求項3に記載の車両駆動装置。 The power supply control means includes
If the stored amount is less than the first predetermined amount, control to perform the wireless charging,
4. The vehicle drive device according to claim 3, wherein when the charged amount is equal to or more than the first predetermined amount, the wireless charging is controlled to be stopped or the wireless discharging is performed. 5.
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PCT/JP2011/080132 WO2013098928A1 (en) | 2011-12-26 | 2011-12-26 | Vehicle drive device |
JP2013551068A JP5822951B2 (en) | 2011-12-26 | 2011-12-26 | Vehicle drive device |
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EP3115250A4 (en) * | 2014-03-07 | 2018-02-21 | The University of Tokyo | In-wheel motor system |
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