WO2017169474A1 - モータ制御装置及び車両用ブレーキ液圧制御装置 - Google Patents
モータ制御装置及び車両用ブレーキ液圧制御装置 Download PDFInfo
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- WO2017169474A1 WO2017169474A1 PCT/JP2017/007925 JP2017007925W WO2017169474A1 WO 2017169474 A1 WO2017169474 A1 WO 2017169474A1 JP 2017007925 W JP2017007925 W JP 2017007925W WO 2017169474 A1 WO2017169474 A1 WO 2017169474A1
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- motor
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- control device
- voltage
- drive signal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/02—Arrangements of pumps or compressors, or control devices therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
- B60T13/14—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using accumulators or reservoirs fed by pumps
- B60T13/142—Systems with master cylinder
- B60T13/145—Master cylinder integrated or hydraulically coupled with booster
- B60T13/146—Part of the system directly actuated by booster pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
- F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/02—Stopping, starting, unloading or idling control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/08—Regulating by delivery pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B53/00—Component parts, details or accessories not provided for in, or of interest apart from, groups F04B1/00 - F04B23/00 or F04B39/00 - F04B47/00
- F04B53/001—Noise damping
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
- H02P7/291—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation with on-off control between two set points, e.g. controlling by hysteresis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2203/00—Motor parameters
- F04B2203/02—Motor parameters of rotating electric motors
- F04B2203/0202—Voltage
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2203/00—Motor parameters
- F04B2203/02—Motor parameters of rotating electric motors
- F04B2203/0209—Rotational speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B23/00—Pumping installations or systems
- F04B23/02—Pumping installations or systems having reservoirs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B23/00—Pumping installations or systems
- F04B23/04—Combinations of two or more pumps
Definitions
- the present invention relates to a motor control device and a vehicle brake hydraulic pressure control device.
- Patent Document 1 when power is supplied to a motor, voltage control is performed by an entire operation process (total operation time TanstMax) and a cycle operation process (period TTakt) using a PWM signal.
- An object of the present invention is to provide a motor control device and a vehicle brake hydraulic pressure control device to which a technique capable of controlling a low rotational speed of a motor is provided while suppressing heat generation.
- the invention according to claim 1 is a motor control device including a drive control unit that performs ON / OFF control of a motor, and a voltage acquisition unit that acquires a voltage between terminals of the motor, wherein the drive control unit includes: When the motor drive signal of the motor is OFF, when the inter-terminal voltage acquired by the voltage acquisition unit decreases and reaches a target voltage, the motor drive signal is turned OFF and then the target voltage is set. Based on the OFF time to reach, the ON time immediately after is set, the motor drive signal is switched from OFF to ON, and the motor drive signal is turned ON after the ON time has elapsed since the motor drive signal was switched from OFF to ON. It is characterized by switching from to OFF.
- the immediately following ON time is made shorter than when the OFF time is short, and the OFF time and the immediately following ON time
- the total time corresponding to one period of time is set to be longer than when the OFF time is short.
- the invention according to claim 3 is a substrate on which a hydraulic circuit is formed, a motor attached to the substrate, the motor control device according to claim 1 or 2 that controls the motor, and the liquid. And control valve means for controlling the pressure circuit.
- the drive control unit is turned off until the target voltage is reached after the motor drive signal is turned off when the voltage between the terminals acquired by the voltage acquisition unit reaches the target voltage. Based on the time, the ON time immediately after is set and the motor drive signal is switched from OFF to ON. Rather than cycle control (PWM control) as in the prior art, the ON / OFF is based on the target voltage when the voltage between the terminals of the motor decreases and the ON time based on the OFF time immediately before referring to the time setting map, for example. Perform OFF control. For this reason, low rotation speed control of the motor can be performed while suppressing heat generation.
- the OFF time becomes longer, the immediately following ON time is shortened, and the total time corresponding to one cycle of the OFF time and the immediately following ON time becomes longer than when the OFF time is short. For this reason, for example, as the motor rotates at a lower speed, the OFF time is lengthened and the ON time is shortened, and the total time corresponding to one cycle of the OFF time and the immediately following ON time is lengthened.
- the motor can be driven in time.
- the invention according to claim 3 includes a base on which a hydraulic circuit is formed, a motor attached to the base, a motor control device that controls the motor, and a control valve means that controls the hydraulic circuit.
- a control valve means that controls the hydraulic circuit.
- FIG. 1 is a hydraulic circuit diagram of a vehicle brake hydraulic pressure control device according to the present invention. It is an interphase figure of the voltage between terminals of a motor, and time. It is a figure explaining the time setting map of ON time based on OFF time. It is a motor voltage control flowchart.
- a vehicle brake hydraulic pressure control device 10 includes a hydraulic unit 50 provided with an oil passage (brake fluid passage) and various components, and a control device that controls various components in the hydraulic unit 50. 30 (motor control device of the present invention).
- the hydraulic unit 50 is disposed between the master cylinders 12 and 22 that are hydraulic sources and the front wheel brakes 14 and 24.
- the hydraulic unit 50 pressurizes hydraulic fluid according to the operation of the brake lever 11 to generate hydraulic pressure, and the first hydraulic cylinder 50 temporarily stores hydraulic fluid released from the front wheel brake 14 side.
- a first inlet control valve 15 that is a normally-open solenoid valve and a first outlet control valve 16 that is a normally-closed solenoid valve are provided in a reservoir 13 and a hydraulic pressure path from the first master cylinder 12 to the front wheel brake 14. And a first pump 17 for sucking the hydraulic fluid stored in the first reservoir 13 and returning it to the first master cylinder 12 side.
- the hydraulic unit 50 temporarily stores hydraulic fluid released from the rear master brake 22 and the second master cylinder 22 that pressurizes hydraulic fluid according to the operation of the brake pedal 21 to generate hydraulic pressure.
- a valve 26 control valve means of the present invention
- a second pump 27 for sucking the hydraulic fluid stored in the second reservoir 23 and returning it to the second master cylinder 22 side, and the first and second pumps 17, 27 And a motor 28 to be driven.
- the vehicle brake hydraulic pressure control device 10 includes a drive control unit 32 that controls opening and closing of the first and second inlet control valves 15 and 25 and the first and second outlet control valves 16 and 26, and a motor terminal. And a voltage acquisition unit 33 for acquiring a voltage.
- the drive control unit 32 and the voltage acquisition unit 33 constitute a control device 30 (details will be described later).
- the hydraulic circuit 20 a having the above configuration is formed on the base 20.
- the motor 28 is attached to the base body 20.
- the control device 30 controls the valves 15, 16, 25, and 26 of the hydraulic circuit 20a.
- the vehicle brake hydraulic pressure control device 10 has a function of switching between a normal state during normal braking and a reduced pressure state, a holding state, and a pressure increased state during ABS control.
- a normal state that is, a state in which no current is supplied to the first inlet control valve 15 and the first outlet control valve 16
- the master cylinder 12 and the front wheel brake 14 are communicated (first inlet control).
- the valve 15 is open) and the front wheel brake 14 and the reservoir 13 are shut off (the first outlet control valve 16 is closed).
- the hydraulic fluid pressure from the master cylinder 12 acts on the front wheel brake 14 via the first inlet control valve 15 to brake the wheel.
- ABS control When the wheel is about to lock, the controller 30 switches the pressure reduction state, the holding state, and the pressure increase state, thereby executing ABS control.
- a current is supplied to the first inlet control valve 15 and the second outlet control valve 16 to shut off the master cylinder 12 and the front wheel brake 14 (the first inlet control valve 15 is closed).
- the front wheel brake 14 and the reservoir 13 are in communication (the first outlet control valve 16 is open).
- the hydraulic fluid that communicates with the front wheel brake 14 passes through the first outlet control valve 16 and is released to the reservoir 13, and the hydraulic fluid pressure acting on the front wheel brake 14 is reduced.
- a current is supplied only to the first inlet control valve 15 to shut off between the master cylinder 12 and the front wheel brake 14, and between the front wheel brake 14 and the reservoir 13 (first inlet control valve 15). And the first outlet control valve 16 is closed).
- the hydraulic fluid is confined in the flow path closed by the front wheel brake 14, the first inlet control valve 15, and the first outlet control valve 16, and the hydraulic fluid pressure acting on the wheel brake is kept constant.
- the control device 30 performs opening / closing control of the first and second inlet control valves 15 and 25 and also performs ON / OFF control of the motor 28, and a voltage acquisition unit that acquires the voltage between the terminals of the motor 28. 33.
- FIG. 2 shows an outline of the motor drive control of the control device 30.
- the motor 28 is switched from the supplied ON state to OFF (time t1), the voltage VM between the terminals of the motor 28 gradually decreases.
- the ON time Ton1 is set based on the immediately preceding OFF time Toff1, and the motor drive signal is switched from OFF to ON.
- the target voltage VT is determined from the target rotational speed.
- the voltage VM between the terminals of the motor 28 gradually decreases again.
- the terminal voltage VM reaches the target voltage VT at time t4 after Toff2 has elapsed.
- the rate of decrease of the inter-terminal voltage VM (that is, the OFF time) changes in accordance with changes in the external environment, and it is assumed here that Toff1 ⁇ Toff2.
- the immediately following ON time Ton2 is set based on the immediately preceding OFF time Toff2, and the motor drive signal is switched from OFF to ON.
- the motor drive signal is switched from ON to OFF at time t5 after the elapse of ON time Ton2.
- FIG. 3 is an example of the time setting map MP, and it is determined that the ON time Ton becomes shorter as the OFF time Toff becomes longer (larger). More specifically, when the OFF time is from 0 to ToffA, the ON time Ton becomes shorter as the OFF time becomes longer (larger). In addition, when the OFF time is ToffA or more, the ON time Ton is determined to be a constant value TonA.
- the time corresponding to one cycle which is the sum of the OFF time Toff and the immediately subsequent ON time Ton, is set to be longer than when the OFF time Toff is short.
- Such a time setting map ensures a minimum ON time even when the master cylinder 12 is at a low pressure.
- the load on the motor is greater than when the hydraulic pressure is low, and the voltage across the terminals decreases after the drive signal is switched from ON to OFF.
- the OFF time is shortened, but if the OFF time is short, the ON time immediately after is set to be long, so the motor speed can be increased sufficiently after switching to ON, depending on the hydraulic pressure It is possible to perform appropriate motor drive.
- the drive control unit 32 checks whether or not the motor drive signal of the motor 28 is OFF (STEP (hereinafter referred to as ST) 01). For example, immediately after the start of motor driving, the motor is turned on after being turned on for a certain time. If the motor drive signal is OFF (YES), the drive control unit 32 checks whether or not the terminal voltage acquired by the voltage acquisition unit 33 has decreased to reach the target voltage (ST02). If the motor drive signal is not OFF (NO), it continues to check whether it is OFF.
- ST motor drive signal of the motor 28 is OFF
- the ON time Ton is set from the setting map MP based on the immediately preceding OFF time Toff (ST03), and the motor drive signal is switched from OFF to ON together with this (ST04). Further, after the ON time has elapsed since the motor drive signal was switched from OFF to ON, the motor drive signal is switched from ON to OFF (ST05).
- the above control is not the cycle control (PWM control) as in the prior art, but refers to the target voltage when the voltage between the terminals of the motor 28 decreases and the time setting map stored in the drive control unit 32.
- the ON / OFF control of the motor drive signal is performed based on the ON time Ton based on the immediately preceding OFF time Toff.
- the lower limit value (target voltage) of the voltage between the terminals is detected and the ON time Ton based on the immediately preceding OFF time Toff is set, it is possible to control the motor at a low speed while suppressing heat generation as much as possible.
- the operation noise and vibration of the motor 28 and the pumps 17 and 27 driven by the motor 28 are reduced, and the merchantability is improved. can do.
- the load on the motor is greater than when the hydraulic pressure is low, and the voltage across the terminals after switching the drive signal from ON to OFF Since the OFF time is shortened, the OFF time is shortened.
- the ON time immediately after is set to be long, so that the motor speed can be sufficiently increased after switching to ON, and the hydraulic pressure Appropriate motor drive according to the above can be performed.
- the present invention is suitable for a brake fluid pressure control device mounted on a motorcycle.
- SYMBOLS 10 Vehicle brake hydraulic pressure control apparatus, 15 ... 1st inlet control valve, 16 ... 1st outlet control valve, 20 ... Base
- FET motor relay
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
Description
液圧ユニット50は、ブレーキレバー11の操作に応じて作動液を加圧し液圧を発生する第1マスタシリンダ12と、前輪ブレーキ14側から逃がされた作動液を一時的に貯留する第1リザーバ13と、第1マスタシリンダ12から前輪ブレーキ14への液圧路に設けられる常開型電磁弁である第1入口制御弁15及び常閉型電磁弁である第1出口制御弁16(本発明の制御弁手段)と、第1リザーバ13に貯留された作動液を吸入して第1マスタシリンダ12側に戻す第1ポンプ17とを備えている。
ABS制御時の減圧状態は、第1入口制御弁15及び第2出口制御弁16に対して電流を流して、マスタシリンダ12と前輪ブレーキ14の間を遮断する(第1入口制御弁15が閉)とともに、前輪ブレーキ14とリザーバ13を連通する(第1出口制御弁16が開)状態である。前輪ブレーキ14に通じる作動液が、第1出口制御弁16を通ってリザーバ13に逃がされ、前輪ブレーキ14に作用している作動液圧が減圧される。
これにより、第1マスタシリンダ12からの作動液圧によって前輪ブレーキ14の液圧が増圧される。また、ABS制御時は、制御装置30がモータ28を駆動することで第1ポンプ17を作動させる。これによって、第1リザーバ13に一時的に貯留された作動液を第1マスタシリンダ12側に戻すようになっている。
制御装置30は、第1・第2入口制御弁15、25の開閉制御を行うとともにモータ28のON/OFF制御を実行する駆動制御部32と、モータ28の端子間電圧を取得する電圧取得部33とを備えている。
図2は制御装置30のモータ駆動制御の概要を示している。モータ28を給電されているON状態からOFFに切り替えると(時刻t1)、モータ28の端子間電圧VMが徐々に低下する。時刻t2で、端子間電圧VM目標電圧VTに達すると、直前のOFF時間Toff1に基づきON時間Ton1を設定するとともにモータ駆動信号をOFFからONに切り替える。例えば目標電圧VTは、目標回転数から決定される。
図3は、時間設定マップMPの一例であり、OFF時間Toffが長く(大きく)なるほど、ON時間Tonが短くなるように決められている。より詳しくは、OFF時間が0からToffAまでは、OFF時間が長く(大きく)なるほど、ON時間Tonが短くなるようになっている。また、OFF時間がToffA以上の場合には、ON時間Tonが一定値TonAとなるように決められている。
図4に示すように、駆動制御部32は、モータ28のモータ駆動信号がOFFであるか否かを確認する(STEP(以下STと記す)01)。例えば、モータ駆動開始直後は、一定時間ONにした後、OFFに切り替えるようになっている。モータ駆動信号がOFFであれば(YES)、駆動制御部32は電圧取得部33によって取得された端子間電圧が低下して目標電圧に達したか否かを確認する(ST02)。モータ駆動信号がOFFでなければ(NO)、OFFであるか否かを確認し続ける。
Claims (3)
- モータのON/OFF制御を行う駆動制御部と、モータの端子間電圧を取得する電圧取得部と、を備えたモータ制御装置であって、
前記駆動制御部は、
前記モータのモータ駆動信号がOFFであるときに、前記電圧取得部によって取得された前記端子間電圧が低下して目標電圧に達した際に、前記モータ駆動信号をOFFにしてから前記目標電圧に達するまでのOFF時間に基づき直後のON時間を設定するとともに前記モータ駆動信号をOFFからONに切り替え、
前記モータ駆動信号をOFFからONに切り替えてから前記ON時間経過後に、前記モータ駆動信号をONからOFFに切り替えることを特徴とするモータ制御装置。 - 請求項1記載のモータ制御装置において、
前記OFF時間が長くなるにつれ、直後のON時間を前記OFF時間が短い場合よりも短くするとともに、前記OFF時間と直後のON時間の1周期相当の合計時間は、前記OFF時間が短い場合よりも長くなるように設定することを特徴とするモータ制御装置。 - 液圧回路が形成された基体と、
前記基体に取り付けられたモータと、
前記モータを制御する、請求項1又は請求項2に記載のモータ制御装置と、
前記液圧回路を制御する制御弁手段とを備えていることを特徴とする車両用ブレーキ液圧制御装置。
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CA3015967A CA3015967C (en) | 2016-03-31 | 2017-02-28 | Motor control device and brake fluid pressure control device for vehicle |
EP17774019.8A EP3439167B1 (en) | 2016-03-31 | 2017-02-28 | Motor control device and brake fluid pressure device for a vehicle |
BR112018070069-0A BR112018070069B1 (pt) | 2016-03-31 | 2017-02-28 | Dispositivo de controle de motor e dispositivo de controle de pressão de fluido de freio para veículo |
JP2018508828A JP6611911B2 (ja) | 2016-03-31 | 2017-02-28 | モータ制御装置及び車両用ブレーキ液圧制御装置 |
ES17774019T ES2961387T3 (es) | 2016-03-31 | 2017-02-28 | Dispositivo de control de motor y dispositivo de control de la presión de fluido del freno para un vehículo |
US16/082,825 US11155251B2 (en) | 2016-03-31 | 2017-02-28 | Motor control device and brake fluid pressure control device for vehicle |
AU2017242179A AU2017242179B2 (en) | 2016-03-31 | 2017-02-28 | Motor control device and brake fluid pressure control device for vehicle |
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