WO2018198652A1 - Dispositif de commande de machine électrique rotative - Google Patents

Dispositif de commande de machine électrique rotative Download PDF

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Publication number
WO2018198652A1
WO2018198652A1 PCT/JP2018/012886 JP2018012886W WO2018198652A1 WO 2018198652 A1 WO2018198652 A1 WO 2018198652A1 JP 2018012886 W JP2018012886 W JP 2018012886W WO 2018198652 A1 WO2018198652 A1 WO 2018198652A1
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WIPO (PCT)
Prior art keywords
electrical machine
rotating electrical
voltage
input
operation signal
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PCT/JP2018/012886
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English (en)
Japanese (ja)
Inventor
信也 大渡
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株式会社デンソー
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Publication of WO2018198652A1 publication Critical patent/WO2018198652A1/fr

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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
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/04—Control effected upon non-electric prime mover and dependent upon electric output value of the generator

Definitions

  • the present disclosure relates to a rotating electrical machine control device that controls a rotating electrical machine applied to a vehicle.
  • the rotating electrical machine unit of Patent Document 1 has a function of delaying power generation during a power generation delay period based on a predetermined purpose. However, when this function operates normally, a failure diagnosis function may determine that a failure has occurred. It was. Therefore, in the rotating electrical machine unit of Patent Document 1, even if an abnormality occurs during the power generation delay period, the determination is invalid and the rotating electric machine unit is operated normally.
  • a power source that supplies power to the rotating electrical machine unit generally supplies power to a starter that starts the engine.
  • the power supply voltage temporarily decreases, and the arithmetic device that controls the rotating electrical machine unit may be reset. In this case, there is a possibility that the arithmetic device cannot be restarted correctly.
  • the present disclosure has been made in view of the above circumstances, and a main object of the present disclosure is to provide a rotating electrical machine control device that can start up properly even if a temporary power supply voltage drop due to driving of a starter occurs. To do.
  • an internal combustion engine a power source, a starter that is driven by power supply from the power source to start the internal combustion engine, a rotating electrical machine that is driven by power supply from the power source, and a start switch
  • an inverter that has a plurality of switches and adjusts an energization current flowing through the rotating electrical machine, an arithmetic device that controls on / off of the switches of the inverter, and forcibly shuts off the switches when an abnormality occurs
  • a rotary electric machine control device wherein the arithmetic device and the cutoff circuit are individually input with the voltage of the power source and are individually reset as the voltage of the power source decreases.
  • the interrupting circuit outputs an operation signal indicating normal operation after the start switch is turned on, and the arithmetic unit is configured to output the start switch.
  • the process includes a process for confirming the input of the operation signal, and includes a storage device that stores an input history of the operation signal after the start-up switch is turned on. The activation process is performed based on the input history of the operation signal stored in the storage device.
  • Some rotating electrical machine control devices are provided with a shut-off circuit for the purpose of inverter protection and the like, and when an abnormality occurs, the switch is forcibly shut off by the shut-off circuit, thereby protecting the switch and the like.
  • the arithmetic device that controls the on / off of the switch of the inverter the input of the operation signal from the cutoff circuit is confirmed as the start-up process after the start-up switch is turned on.
  • the starter when the starter is driven to start the internal combustion engine, it is conceivable that the power supply voltage temporarily decreases and the arithmetic unit is reset due to the voltage decrease. It is also conceivable that the arithmetic device is reset due to a decrease in the power supply voltage after the start switch is turned on and the operation signal is input from the cutoff circuit. Note that since the reset voltage of the cutoff circuit may be lower than the reset voltage of the arithmetic device, only the arithmetic device may be reset. In this case, the input of the operation signal cannot be confirmed, and there is a possibility that the arithmetic device cannot be activated properly.
  • the input history of the operation signal is stored in the storage device after the start switch is turned on, and the arithmetic unit can perform the start processing based on the input history of the operation signal stored in the storage device. It has become. For this reason, even if the power supply voltage is temporarily lowered during the starter driving and the arithmetic device is reset, proper start-up is possible thereafter.
  • the arithmetic device determines that the start of the internal combustion engine by the starter is completed, the arithmetic device ends the processing for starting the arithmetic device.
  • the arithmetic unit does not have to end the start-up process before the start of the internal combustion engine is completed, and may be reset due to a voltage drop if the start-up process is ended before the internal combustion engine is started. Therefore, after the start of the internal combustion engine is completed, the start-up process by the arithmetic unit is terminated.
  • the arithmetic device erases the input history of the operation signal stored in the storage device when the activation process is completed.
  • the starter is configured to start the internal combustion engine after a predetermined time has elapsed when the start switch is turned on, and the cutoff circuit is configured to turn on the start switch.
  • the operation signal is output before the predetermined time elapses.
  • an abnormality determination unit that determines that the voltage of the power supply is abnormal, and an input unit that inputs a start completion signal from a start determination unit that determines that the start of the internal combustion engine by the starter has been completed And an invalid unit that invalidates the determination result of the abnormality determination unit in a period from when the start switch is turned on to when the start completion signal is input to the input unit.
  • FIG. 1 is an electric circuit diagram showing a power supply system.
  • FIG. 2 is a circuit diagram showing an electrical configuration of the rotating electrical machine unit.
  • FIG. 3 is a circuit diagram showing the configuration of the drive section of the 1A switch,
  • FIG. 4 is a functional block diagram showing the rotating electrical machine control device,
  • FIG. 5 is a flowchart showing the startup process.
  • FIG. 6 is a time chart when the starter is driven.
  • FIG. 7 is a time chart when the starter is driven.
  • FIG. 8 is a time chart when the starter is driven.
  • the rotating electrical machine control device applied to the vehicle power supply system 10 is embodied.
  • the power supply system 10 supplies power to various devices of a vehicle that travels using an engine 101 (internal combustion engine) as a drive source.
  • the power supply system 10 is a dual power supply system having a lead storage battery 11 and a lithium ion storage battery 12 as power supplies.
  • Each storage battery 11, 12 can supply power to the starter 13, various electric loads 14, 15, and the rotating electrical machine unit 16.
  • each of the storage batteries 11 and 12 can be charged by the rotating electrical machine unit 16.
  • the lead storage battery 11 and the lithium ion storage battery 12 are connected in parallel to the rotating electrical machine unit 16, and the lead storage battery 11 and the lithium ion storage battery 12 are connected in parallel to the electrical loads 14 and 15. .
  • the lithium ion storage battery 12 is housed in a housing case and configured as a battery unit U integrated with a substrate.
  • the battery unit U has output terminals P1, P2 and P3, of which the lead storage battery 11, the starter 13 and the electric load 14 are connected to the output terminal P1, and the external terminal of the rotating electrical machine unit 16 is connected to the output terminal P2. P0 is connected, and the electrical load 15 is connected to the output terminal P3.
  • the starter 13 is used to start the engine 101.
  • the ignition switch IG of the vehicle as a start switch is turned on, power is supplied from the lead storage battery 11 based on a command from the engine ECU 100, and the engine 101 is started.
  • the electric loads 14 and 15 have different requirements for the voltage of the power supplied from the storage batteries 11 and 12.
  • the electric load 15 includes a constant voltage required load that is required to be stable so that the voltage of the supplied power is constant or at least fluctuates within a predetermined range.
  • the electric load 14 is a general electric load other than the constant voltage request load. It can be said that the electric load 15 is a protected load.
  • the electric load 15 is a load that does not allow a power supply failure
  • the electric load 14 is a load that allows a power supply failure compared to the electric load 15.
  • the electrical load 15 that is a constant voltage required load include various ECUs such as a navigation device, an audio device, and a meter device. An engine ECU 100 described later may be included. In this case, by suppressing the voltage fluctuation of the supplied power, it is possible to suppress an unnecessary reset or the like in each of the above devices, and to realize a stable operation.
  • the electric load 15 may include a travel system actuator such as an electric steering device or a brake device.
  • Specific examples of the electric load 14 include a seat heater, a heater for a defroster for a rear window, a headlight, a wiper for a front window, and a blower fan for an air conditioner.
  • the rotating electrical machine unit 16 includes a motor 21 as a rotating electrical machine, an inverter 22, a field circuit 23, and a rotating electrical machine ECU 24 as an arithmetic device that controls the operation of the motor 21.
  • the rotating electrical machine unit 16 is a generator with a motor function, and is configured as an electromechanically integrated ISG (Integrated / Starter / Generator). Details of the rotating electrical machine unit 16 will be described later.
  • the battery unit U has a first electric path L1 that connects the output terminal P1 and the lithium ion storage battery 12 as an in-unit electric path, and outputs to a connection point N1 that is an intermediate point of the first electric path L1.
  • Terminal P2 is connected.
  • the first electrical path L1 is a path that electrically connects the lead storage battery 11 and the lithium ion storage battery 12, and the rotating electrical machine unit 16 is connected to the connection point N1 on the first electrical path L1.
  • a first A switch SW1A as a first switch is provided on the lead storage battery 11 side of the connection point N1, and a first B as a second switch on the lithium ion storage battery 12 side of the connection point N1.
  • a switch SW1B is provided.
  • the electrical path between the first electrical path L1 and N1-P2 is a large current path that assumes that an input / output current flows to the rotating electrical machine unit 16, and the storage batteries 11 and 12 and the rotating electrical machine are connected via this path.
  • the units 16 are mutually energized.
  • the battery unit U is provided with a second electrical path L2 in parallel with the first electrical path L1, and an output terminal P3 is connected to a connection point N2 that is an intermediate point of the second electrical path L2. .
  • One end of the second electrical path L2 is connected to the branch point N3 between the output terminal P1 and the first A switch SW1A on the first electrical path L1, and the other end is the first B on the first electrical path L1. It is connected to a branch point N4 between the switch SW1B and the lithium ion storage battery 12.
  • the second A switch SW2A is provided closer to the lead storage battery 11 than the connection point N2
  • the second B switch SW2B is provided closer to the lithium ion storage battery 12 than the connection point N2.
  • the electrical path between the second electrical path L2 and N2-P3 is a small current path that is assumed to flow a small current compared to the first electrical path L1 side (that is, the allowable current is larger than that of the first electrical path L1).
  • a small small current path), and the electric load 15 is energized from each of the storage batteries 11 and 12 through this path.
  • the first A switch SW1A and the first B switch SW1B are selectively operated to be closed, so that at least any one of the lead storage battery 11 and the lithium ion storage battery 12 via the first electrical path L1. Energization is performed between the heel and the rotating electrical machine unit 16. Further, by selectively operating the second A switch SW2A and the second B switch SW2B to the closed state, at least one of the lead storage battery 11 and the lithium ion storage battery 12 and the electrical load 15 is connected via the second electrical path L2. Energization is performed between them.
  • Each switch SW1A, SW1B, SW2A, SW2B is configured by using a semiconductor switching element such as a MOSFET, that is, a normally open type switch.
  • the first A switch SW1A includes a switch unit 31 formed of semiconductor switching elements connected in series with the directions of the parasitic diodes reversed, and a semiconductor connected in series with the directions of the parasitic diodes reversed from each other.
  • the switch unit 32 includes a switching element, and the switch units 31 and 32 are connected in parallel.
  • Other switches have the same configuration. That is, the first B switch SW1B is configured by connecting the switch units 33 and 34 in parallel, the second A switch SW2A is configured by connecting the switch units 35 and 36 in parallel, and the second B switch SW2B is The switch units 37 and 38 are connected in parallel.
  • each of the switch units 31 to 38 has a pair of semiconductor switching elements that reverse the directions of the parasitic diodes, for example, when the first A switch SW1A is turned off (opened), that is, each semiconductor switching element. When is turned off, current flow through the parasitic diode is completely blocked. That is, it is possible to avoid an unintentional flow of current in each of the electrical paths L1 and L2.
  • the parasitic diodes are connected to each other by the anodes, but the cathodes of the parasitic diodes may be connected to each other.
  • the semiconductor switching element an IGBT, a bipolar transistor, or the like can be used instead of the MOSFET.
  • a diode serving as a substitute for the parasitic diode may be connected to each semiconductor switching element in parallel.
  • FIG. 3 is a circuit diagram showing the configuration of the drive section of the first A switch SW1A.
  • the first A switch SW ⁇ b> 1 ⁇ / b> A includes switching elements 31 a and 31 b configuring the switch unit 31 and switching elements 32 a and 32 b configuring the switch unit 32.
  • drive circuit 41a, 41b is provided for every switching element 31a, 31b, and it drives for every switching element 32a, 32b as the power supply drive part 42 which drives the switch part 32 Circuits 42a and 42b are provided.
  • a command signal for opening / closing operation is input from the battery ECU 51 to each drive circuit 41a, 41b, 42a, 42b.
  • Each drive circuit 41a, 41b, 42a, 42b opens or closes each switching element 31a, 31b, 32a, 32b based on a command signal.
  • the voltage from the power supply Vcc is supplied to the power supply drive units 41 and 42 individually. According to the above configuration, since the switch units 31 and 32 in parallel with each other are driven by the individual power supply drive units 41 and 42, even if a power supply failure occurs in one switch unit, the other switch unit can be opened and closed. It has become. That is, the power supply to the lead storage battery 11 by the power generation of the rotating electrical machine unit 16 and the power supply from the lead storage battery 11 to the rotating electrical machine unit 16 can be reliably performed. Although description by illustration is omitted, the other switches SW1B, SW2A, SW2B have the same configuration.
  • the battery unit U is provided with a bypass path L3 that connects the bypass terminal BP1 connected to the lead storage battery 11 and the output terminal P3.
  • a bypass relay 39 is provided on the bypass path L3. That is, the bypass relay 39 is provided in parallel with the second A switch SW2A.
  • the bypass relay 39 is a normally closed mechanical relay switch. By closing the bypass relay 39, the lead storage battery 11 and the electrical load 15 are electrically connected even when the second A switch SW2A is off. For example, when the ignition switch IG of the vehicle is turned off, the switches SW1A, SW1B, SW2A, and SW2B are turned off (opened). Current is supplied.
  • a fuse 39a is provided in the path between the lead storage battery 11 and the bypass terminal BP1.
  • the bypass path L3 like the second electrical path L2, is a small current path having a smaller allowable current than that of the first electrical path L1, and the fuse 39a is blown when a path upper limit current corresponding to the allowable current flows. It has become so.
  • the bypass path L3 and the bypass relay 39 can be provided outside the battery unit U.
  • the battery unit U includes each switch SW1A, SW1B, SW2A, SW2B, and a battery ECU 51 that controls on / off (opening / closing) of the bypass relay 39.
  • the battery ECU 51 is configured by a microcomputer including a CPU, ROM, RAM, input / output interface, and the like, and is mounted on the same substrate, for example.
  • the battery ECU 51 opens the bypass relay 39 when the ignition switch IG is on, that is, when the power supply system 10 is operating. Further, the battery ECU 51 opens / closes each switch SW1A, SW1B, SW2A, SW2B based on the state of each of the storage batteries 11, 12 and the power supply request to the electric load 15 and the rotating electrical machine unit 16 during the operation state of the power supply system 10. Switch.
  • the rotating electrical machine ECU 24 of the rotating electrical machine unit 16 and the battery ECU 51 of the battery unit U are connected to an engine ECU 100 as a host controller that manages the ECUs 24 and 51 in an integrated manner.
  • the engine ECU 100 is configured by a microcomputer including a CPU, a ROM, a RAM, an input / output interface, and the like, and controls the operation of the engine 101 based on the engine operating state and the vehicle traveling state each time.
  • Each ECU 24, 51, 100 is connected by a communication line 102 that constructs a communication network such as CAN and can communicate with each other, and bidirectional communication is performed at a predetermined cycle. Thereby, the various data memorize
  • the engine ECU 100 is a host controller for the rotating electrical machine ECU 24 and the battery ECU 51, and outputs various commands based on the storage state of each of the storage batteries 11, 12 and the driving state of the vehicle. For example, the engine ECU 100 outputs a command related to opening / closing control of the switches SW1A, SW1B, SW2A, SW2B and the bypass relay 39 to the battery ECU 51. Thereby, in the power supply system 10, charging / discharging is implemented using the lead storage battery 11 and the lithium ion storage battery 12 selectively. Further, engine ECU 100 outputs a command relating to the power generation function and the power running function to rotating electrical machine ECU 24.
  • the external terminal IP1 of the battery unit U is connected to the lead storage battery 11 via the ignition switch IG.
  • the ignition switch IG When the ignition switch IG is turned on (closed), the external terminal IP1 of the battery unit U is IG-on indicating that the ignition switch IG is turned on from the lead storage battery 11 (that is, the power supply system 10 is in an operating state). A signal is input. That is, when the ignition switch IG is turned on, a power supply voltage that is a terminal voltage of the lead storage battery 11 is input to the external terminal IP1.
  • the ignition switch IG when the ignition switch IG is turned off (opened), the external terminal IP1 of the battery unit U is disconnected from the lead storage battery 11 and the ignition switch IG is turned off (that is, the power supply system 10 is activated).
  • An IG off signal indicating that it is in a stopped state is input. That is, when the ignition switch IG is turned off, the input of the power supply voltage from the lead storage battery 11 to the external terminal IP1 is stopped.
  • the external terminal IP2 of the rotating electrical machine unit 16 is connected to the lead storage battery 11 via the ignition switch IG.
  • the ignition switch IG When the ignition switch IG is turned on, the external terminal IP2 of the rotating electrical machine unit 16 receives an IG on signal indicating that the ignition switch IG is turned on from the lead storage battery 11. That is, when the ignition switch IG is turned on, the power supply voltage from the lead storage battery 11 is input to the external terminal IP2.
  • the external terminal IP2 of the rotating electrical machine unit 16 receives an IG off signal indicating that the electrical connection with the lead storage battery 11 is cut off and the ignition switch IG is turned off. That is, when the ignition switch IG is turned off, the input of the power supply voltage from the lead storage battery 11 to the external terminal IP1 is stopped.
  • the motor 21 is a three-phase AC motor, and includes U-phase, V-phase, and W-phase phase windings 25U, 25V, and 25W as a three-phase armature winding 25, and a field winding 26.
  • the rotating electrical machine unit 16 includes a power generation function that generates power (regenerative power generation) by rotating the engine output shaft and the axle, and a power running function that applies rotational force to the engine output shaft.
  • the rotating shaft of the motor 21 is drivingly connected by a belt to an engine output shaft (not shown). Power is generated by rotating the rotating shaft of the motor 21 with the rotation of the engine output shaft via the belt, and the engine output shaft rotates with the rotation of the rotating shaft of the motor 21, so that the rotational force is applied to the engine output shaft. Is granted.
  • the inverter 22 converts the AC voltage output from each phase winding 25U, 25V, 25W into a DC voltage (generated voltage), and outputs it to the battery unit U via the external terminal P0. Further, the inverter 22 converts a DC voltage input from the battery unit U via the external terminal P0 into an AC voltage, and outputs the AC voltage to each phase winding 25U, 25V, 25W.
  • the inverter 22 is a bridge circuit having the same number of upper and lower arms as the number of phases of the phase winding, and constitutes a three-phase full-wave rectifier circuit.
  • the inverter 22 constitutes a drive circuit that drives the motor 21 by adjusting the power supplied to the motor 21. That is, the inverter 22 has a plurality of switches Sp and Sn and adjusts the energization current flowing through the motor 21.
  • the inverter 22 includes an upper arm switch Sp and a lower arm switch Sn for each phase.
  • voltage controlled semiconductor switching elements are used as the switches Sp and Sn, and specifically, N-channel MOSFETs are used.
  • An upper arm diode Dp is connected in antiparallel to the upper arm switch Sp, and a lower arm diode Dn is connected in antiparallel to the lower arm switch Sn.
  • the body diodes of the switches Sp and Sn are used as the diodes Dp and Dn.
  • the diodes Dp and Dn are not limited to body diodes, and may be diodes that are separate parts from the switches Sp and Sn, for example.
  • An intermediate connection point of the series connection body of the switches Sp and Sn in each phase is connected to one end of each phase winding 25U, 25V, and 25W.
  • the field circuit 23 is a bidirectional switch, and a DC voltage can be applied to the field winding 26.
  • the field circuit 23 constitutes an H-bridge rectifier circuit in which four switches Sp and Sn are combined. Since the basic configuration of each of the switches Sp and Sn is the same as that of each switch of the inverter 22, the description thereof is omitted here.
  • the direction and amount of the field current flowing in the field winding 26 are controlled by adjusting the DC voltage applied (input) to the field winding 26 by turning on and off the switches Sp and Sn. .
  • a current detection unit 29A for detecting each phase current iu, iv, iw and a current detection unit 29B for detecting the field current if are provided.
  • the current detection units 29A and 29B for example, those including a current transformer and a resistor are used.
  • the switches Sp and Sn constituting the inverter 22 are mounted on one circuit module 22a.
  • all (six) switches Sp and Sn included in the inverter 22 are mounted on the circuit module 22a.
  • the number of switches Sp and Sn provided in the circuit module 22a may be arbitrarily changed.
  • the circuit module 22a is not limited to the switches Sp and Sn, and an arbitrary circuit element (for example, the current detection unit 29A) may be provided.
  • the number of circuit modules 22a may be arbitrarily changed.
  • a plurality of circuit modules may be provided, and the plurality of switches Sp and Sn constituting the inverter 22 may be separately mounted.
  • a circuit module on which the switches Sp and Sn constituting the field circuit 23 are mounted may be provided.
  • the circuit module 22a is provided with a cutoff circuit 30 that detects an abnormality in the circuit module 22a.
  • the abnormality in the circuit module 22a include an overcurrent abnormality in which an overcurrent flows through the switches Sp and Sn.
  • the interruption circuit 30 may detect any one of these abnormalities, and may detect a plurality of types of abnormalities.
  • the interruption circuit 30 When the abnormality is detected, the interruption circuit 30 performs predetermined control to protect the switches Sp and Sn provided in the circuit module 22a according to the abnormality. For example, the cutoff circuit 30 turns off (closed state) the switches Sp and Sn provided in the circuit module 22a. That is, the switches Sp and Sn are forcibly cut off.
  • the interruption circuit 30 operates when the ignition switch IG is turned on and a power supply voltage (voltage from the lead storage battery 11) is input from the lead storage battery 11 to the external terminal IP2 of the rotating electrical machine unit 16. Specifically, the cutoff circuit 30 operates when the power supply voltage input to the external terminal IP2 is equal to or higher than a predetermined value. Moreover, the interruption
  • the shutoff circuit 30 stops operating when the ignition switch IG is turned off and the power supply voltage is no longer input from the lead storage battery 11 to the external terminal IP2. Specifically, when the power supply voltage input to the external terminal IP2 is equal to or lower than the reset voltage of the cutoff circuit 30, the power supply to the cutoff circuit 30 becomes unstable and stops the operation of the cutoff circuit 30.
  • the reset voltage of the cutoff circuit 30 is any voltage within a predetermined second voltage range, and which voltage is determined depends on individual differences and states for each cutoff circuit 30.
  • the reset voltage of the cutoff circuit 30 may be simply referred to as a second reset voltage.
  • the rotating electrical machine ECU 24 is configured by a microcomputer including a CPU, a ROM, a RAM, an input / output interface, and the like.
  • the rotating electrical machine ECU 24 controls the generated voltage (output voltage to the battery unit U) of the rotating electrical machine unit 16 by adjusting the field current flowing through the field winding 26.
  • the rotating electrical machine ECU 24 assists the driving force of the engine 101 by controlling the inverter 22 to drive the motor 21 after the vehicle starts running.
  • the rotating electrical machine ECU 24 executes a starting process. More specifically, when the power supply voltage input to the external terminal IP2 is equal to or higher than a predetermined value, the startup process is started. Then, the rotating electrical machine ECU 24 confirms that the shut-off circuit 30 is operating properly based on the input of the operation signal from the shut-off circuit 30, and starts the engine 101 based on the control information from the engine ECU 100. After confirming completion, the startup process is terminated.
  • the predetermined value is set higher than, for example, a threshold voltage indicating an abnormality in the power supply voltage.
  • the rotating electrical machine ECU 24 starts the normal process after the start-up process is completed.
  • the rotating electrical machine ECU 24 controls the switches Sp and Sn to be turned on and off based on a command from the engine ECU 100, thereby causing the current input from the external terminal P0 to flow through the inverter 22 and the field circuit 23, and the motor 21.
  • the rotating electrical machine ECU 24 controls the switches Sp and Sn to be turned on / off based on a command from the engine ECU 100, thereby causing the rotating electrical machine unit 16 to generate electric power and outputting current from the external terminal P0.
  • the rotating electrical machine ECU 24 is reset and stops operating. More specifically, when the power supply voltage input to the external terminal IP2 is equal to or lower than the reset voltage of the rotating electrical machine ECU 24, the operation is stopped.
  • the reset voltage of the rotating electrical machine ECU 24 is any voltage within a predetermined first voltage range, and which voltage is determined depends on individual differences and states for each rotating electrical machine ECU 24.
  • the reset voltage of the rotating electrical machine ECU 24 may be simply referred to as a first reset voltage.
  • the lower limit of the first voltage range that is the range of the reset voltage of the rotating electrical machine ECU 24 is set higher than the lower limit of the second voltage range that is the range of the reset voltage of the cutoff circuit 30. That is, the second voltage range has a lower limit that is lower than the lower limit of the first voltage range.
  • the power supply voltage input to the external terminal IP2 is individually input to the rotating electrical machine ECU 24 and the cutoff circuit 30, and is individually reset as the power supply voltage decreases. That is, the rotating electrical machine ECU 24 and the cutoff circuit 30 are not reset synchronously.
  • the reset voltage (second reset voltage) of the cutoff circuit 30 may be lower than the reset voltage (first reset voltage) of the rotating electrical machine ECU 24.
  • an abnormality may be detected by the cutoff circuit 30 and the switches Sp and Sn provided in the circuit module 22a may be protected. is there.
  • the upper limit of the first voltage range that is the range of the reset voltage of the rotating electrical machine ECU 24 is set higher than the upper limit of the second voltage range that is the range of the reset voltage of the cutoff circuit 30.
  • the first voltage range and the second voltage range may be arbitrarily changed.
  • the upper limit of the second voltage range may be higher than the upper limit of the first voltage range.
  • the upper limit of the second voltage range may be made higher than the lower limit of the first voltage range, and the first voltage range and the second voltage range may overlap.
  • the upper limit of the second voltage range may be lower than the lower limit of the first voltage range, and the first voltage range and the second voltage range may not overlap.
  • the rotating electrical machine ECU 24 has a fail-safe function for safely controlling the motor 21 when an abnormality is detected in the rotating electrical machine unit 16 or the battery unit U.
  • a voltage abnormality such as a decrease or an increase in the terminal voltage of a storage battery (lead storage battery 11 or lithium ion storage battery 12) connected to the motor 21, ON / OFF of each switch in the battery unit U Failure, abnormally high temperature of the lithium ion storage battery 12, etc. are mentioned.
  • the rotating electrical machine unit 16 performs operation restriction of the motor 21.
  • the rotating electrical machine ECU 24 performs a process of cutting off the current of the motor 21 by turning off the switches Sp and Sn of the inverter 22 and the field circuit 23.
  • the abnormality detection of the power supply voltage is performed by the ASIC 28 mounted on the rotating electrical machine unit 16. For example, when the power supply system 10 is in operation (when the ignition switch IG is on) and the power supply voltage from the lead storage battery 11 input to the ASIC 28 via the external terminal IP2 is equal to or lower than the threshold voltage, the ASIC 28 detects an abnormality. To do. Based on the abnormality detection of the ASIC 28, the rotating electrical machine ECU 24 performs fail-safe processing.
  • an abnormality in the battery unit U such as a switch failure or an abnormally high temperature is detected by the battery ECU 51.
  • the battery ECU 51 outputs an abnormality signal indicating the occurrence of abnormality to another ECU, that is, the rotating electrical machine ECU 24 or the engine ECU 100 via the communication line 102.
  • the rotating electrical machine ECU 24 performs fail-safe processing based on the detection result of the voltage abnormality by the ASIC 28 and the abnormality signal received from the battery ECU 51.
  • the starter 13 when the starter 13 is driven to start the engine 101, the terminal voltage of the lead storage battery 11 temporarily decreases.
  • the power supply voltage input from the lead storage battery 11 to the external terminal IP2 is also equal to or lower than the threshold voltage, fail-safe processing based on voltage abnormality is performed, and the rotating electrical machine ECU 24 may not be able to start up properly.
  • the power supply voltage input to the external terminal IP2 becomes equal to or lower than the first reset voltage of the rotating electrical machine ECU 24 as the starter 13 is driven. Is also possible. In this case, the rotating electrical machine ECU 24 is reset. Since the second reset voltage of the cutoff circuit 30 may be lower than the first reset voltage of the rotating electrical machine ECU 24, only the rotating electrical machine ECU 24 may be reset. In this case, an operation signal cannot be input from the shut-off circuit 30, and the rotating electrical machine ECU 24 may not be able to be activated properly.
  • the starter 13, the shut-off circuit 30, and the rotating electrical machine ECU 24 are configured as follows and appropriately started. This will be described in detail below.
  • the starter 13 is based on a command from the engine ECU 100 after a start time (for example, 92 msec), which is a predetermined time after the ignition switch IG is turned on, Power is supplied from the lead storage battery 11 and driven. As a result, the engine 101 is started.
  • a start time for example, 92 msec
  • the starter 13 As the starter 13 is driven, the voltage (power supply voltage) of the lead storage battery 11 may decrease after the start time has elapsed since the ignition switch IG was turned on. The power supply voltage is not lowered due to the drive of the starter 13.
  • the engine ECU 100 monitors the state of the engine 101 with a sensor or the like, and when the start of the engine 101 is completed (for example, when initial explosion or complete explosion is determined), a start completion signal indicating that is sent to the rotating electrical machine ECU 24. Etc. In this case, engine ECU 100 functions as a start determination unit.
  • the rotating electrical machine control device 200 includes an inverter 22, a rotating electrical machine ECU 24, a cutoff circuit 30, and a storage device 60.
  • the interruption circuit 30 will be described.
  • the shut-off circuit 30 operates when the ignition switch IG is turned on and a power supply voltage of a predetermined value or more is input to the external terminal IP2 of the rotating electrical machine unit 16.
  • the shut-off circuit 30 When the shut-off circuit 30 operates properly, it outputs an operation signal indicating normal operation. More specifically, the cutoff circuit 30 is connected to the rotating electrical machine ECU 24 and can output an operation signal to the rotating electrical machine ECU 24. And if the interruption
  • blocking circuit 30 maintains the state of an operation signal in a high state for a predetermined period, for example, a period longer than start time, and changes the state of an operation signal from a high state to a low state after that.
  • the storage device 60 holds stored contents regardless of the power supply voltage to the external terminal IP2, such as a non-volatile memory.
  • an internal power supply may be provided so that power is supplied to the storage device 60 from the internal power supply.
  • the rotating electrical machine ECU 24 may include a storage device 60.
  • the storage device 60 is connected to the cutoff circuit 30 and is configured to store the input history of the operation signal based on the input of the operation signal from the cutoff circuit 30. Specifically, the storage device 60 stores that the state of the actuation signal has transitioned from the low state to the high state when the state of the actuation signal has transitioned from the low state to the high state. The storage device 60 stores an operation signal input history until an instruction is received from the rotating electrical machine ECU 24, for example.
  • the rotating electrical machine ECU 24 performs functions as a start processing unit 24a, an abnormality determination unit 24b, an input unit 24c, and an invalid unit 24d. These functions are realized by executing a program stored in a storage unit (not shown) included in the rotating electrical machine ECU 24. Note that these functions may be realized by an electronic circuit that is hardware, or may be realized at least partly by software, that is, processing executed on a computer.
  • the activation processing unit 24a performs an activation process (details will be described later) when the ignition switch IG is turned on, that is, when a power supply voltage of a predetermined value or more is input to the external terminal IP2.
  • the activation processing unit 24a confirms the input of the operation signal from the cutoff circuit 30 in the activation process.
  • the activation processing unit 24 a can also confirm based on the input history of the operation signal stored in the storage device 60.
  • the abnormality determination unit 24b determines whether or not the power supply voltage is abnormal. That is, the abnormality determination unit 24b determines that the voltage is abnormal based on the detection result by the ASIC 28 when the voltage input to the external terminal IP2 is equal to or lower than the threshold voltage.
  • the rotating electrical machine ECU 24 performs fail-safe processing or the like as described above.
  • the input unit 24c inputs a start completion signal indicating that the engine 101 has been started from the engine ECU 100.
  • the invalid part 24d invalidates the determination result of the abnormality determination part 24b during a period from when the ignition switch IG is turned on until the input part 24c inputs a start completion signal. That is, the invalid part 24d sets the invalid flag in a period from when the ignition switch IG is turned on until the completion of the engine 101 is determined. While the invalid flag is set, even if the abnormality determination unit 24b determines that the power supply voltage is abnormal, the determination result is invalidated, and processing (fail-safe processing or the like) corresponding to the voltage abnormality is performed. Limit.
  • the activation process is executed when the ignition switch IG is turned on, that is, when a power supply voltage (voltage of the lead storage battery 11) of a predetermined value or more is input to the external terminal IP2 of the rotating electrical machine unit 16.
  • step S11 the rotating electrical machine ECU 24 sets an invalid flag that invalidates the determination of the voltage abnormality. Thereby, during the setting of the invalid flag, the rotating electrical machine ECU 24 does not determine that the voltage is abnormal even if the power supply voltage input to the external terminal IP2 is equal to or lower than the threshold voltage. By step S11, the rotating electrical machine ECU 24 functions as the invalid portion 24d.
  • step S12 it is determined whether or not a start time (for example, 92 msec) of the starter 13 has elapsed since the start-up process was started. That is, it is determined whether or not a period during which an operation signal can be input has elapsed without a decrease in power supply voltage based on driving of the starter 13.
  • a start time for example, 92 msec
  • step S12 If the start time has not elapsed (step S12: NO), the rotating electrical machine ECU 24 executes the process of step S12 again after a predetermined time has elapsed. On the other hand, when the start time has elapsed (step S12: YES), the rotating electrical machine ECU 24 proceeds to step S13.
  • step S13 the rotating electrical machine ECU 24 determines whether or not an operation signal is input from the shut-off circuit 30.
  • the input of the operation signal means that the state of the operation signal has changed, and more specifically, it is determined whether or not the state of the operation signal has changed from the low state to the high state.
  • the input of the operation signal is determined by comparing the state (initial value) of the operation signal at the start of the activation process with the state (determination value) of the operation signal when the start time has elapsed.
  • step S13: YES When the operation signal is input (step S13: YES), the rotating electrical machine ECU 24 proceeds to step S16, and when the operation signal is not input (step S13: NO), the process proceeds to step S14.
  • step S14 the rotating electrical machine ECU 24 determines whether or not the input history of the operation signal is stored in the storage device 60.
  • step S14 when the activation signal is output before the start of the start process or in the start process before this time and the start process is not properly terminated (when reset), the storage device Reference numeral 60 denotes an operation signal input history. In this case, an affirmative determination is made in step S14.
  • step S14 When the operation signal input history is stored (step S14: YES), the rotating electrical machine ECU 24 proceeds to step S16. On the other hand, when the operation signal input is not stored (step S14: NO), the rotating electrical machine ECU 24 proceeds to step S15.
  • step S15 the rotating electrical machine ECU 24 performs a process according to the abnormality, and ends the startup process. For example, the rotating electrical machine ECU 24 notifies the engine ECU 100 that it has not started normally. Moreover, you may implement a fail safe process.
  • step S16 the rotating electrical machine ECU 24 performs various initial settings in the rotating electrical machine unit 16, and proceeds to step S17.
  • step S17 the rotating electrical machine ECU 24 determines whether or not a start completion signal indicating that the start of the engine 101 has been completed is input. That is, the rotating electrical machine ECU 24 determines whether or not the engine 101 has been started.
  • the engine ECU 100 is configured to be able to input a start completion signal indicating completion of start of the engine 101 until at least a notification that the start-up process has been completed is input from the rotating electrical machine ECU 24 after the start of the engine 101 is completed.
  • step S17 If the engine 101 has not been started (step S17: NO), the rotating electrical machine ECU 24 executes the process of step S17 again after a predetermined time has elapsed. That is, the rotating electrical machine ECU 24 waits until the start of the engine 101 is completed.
  • step S17: YES the rotating electrical machine ECU 24 proceeds to step S18.
  • step S17 the rotating electrical machine ECU 24 functions as the input unit 24c.
  • step S18 the rotating electrical machine ECU 24 cancels the invalid flag, and proceeds to step S19. Thereafter, when the voltage abnormality is determined, the rotating electrical machine ECU 24 executes a process according to the voltage abnormality. For example, if the rotating electrical machine ECU 24 determines a voltage abnormality with the invalid flag being canceled, the rotating electrical machine ECU 24 performs a fail-safe process and notifies the engine ECU 100 that the voltage abnormality has been determined.
  • step S19 the rotating electrical machine ECU 24 resets the stored contents of the storage device 60 regarding the input history of the operation signal. Thereafter, the rotating electrical machine ECU 24 ends the startup process.
  • the rotating electrical machine ECU 24 When the starting process is properly completed, the rotating electrical machine ECU 24 notifies the engine ECU 100 and the like that the rotating electrical machine unit 16 is in a driveable state, and executes the normal process. Thereby, based on the instruction
  • the method for determining the input of the operation signal in the startup process may be arbitrarily changed. For example, it may be determined whether a state transition of the operation signal has occurred at a predetermined interval. Further, for example, the determination may be made based on whether or not the operation signal input history is stored in the storage device 60.
  • how to store the input history of the operation signal in the storage device 60 may be arbitrarily changed according to the determination method. For example, an initial value and a determination value may be stored in the storage device 60, and these may be compared when determining whether or not an operation signal input history is stored. That is, it is only necessary that the storage device 60 stores the fact that the operation signal from the interruption circuit 30 has changed from the low state to the high state, and any determination method and storage method relating to the input of the operation signal can be adopted. That's fine.
  • the rotating electrical machine ECU 24 starts the activation process. At that time, the rotating electrical machine ECU 24 sets an invalid flag.
  • the cutoff circuit 30 operates properly and outputs an operation signal.
  • the storage device 60 stores an operation signal input history based on the output of the operation signal. This operation signal is output until a predetermined period elapses (time T16). That is, the high state of the operation signal is maintained until a predetermined period elapses.
  • the rotating electrical machine ECU 24 determines the input of the operation signal. Further, the starter 13 starts driving. When the starter 13 is driven, the power supply voltage decreases (time T15). From the premise, the voltage of the lead storage battery 11 decreases until the voltage becomes equal to or lower than the threshold voltage. However, since the invalid flag is set, it is invalidated even if a voltage abnormality is determined. That is, the rotating electrical machine ECU 24 does not perform the fail safe process and does not affect the start process.
  • the rotating electrical machine ECU 24 releases the invalid flag. Note that the decrease in the power supply voltage based on the drive of the starter 13 is recovered until the engine 101 is completely started. That is, since the starter 13 is not driven, the voltage of the lead storage battery 11 is recovered. On the other hand, if the power supply voltage decreases after the engine 101 has been started, it is determined that the voltage is abnormal.
  • the rotating electrical machine ECU 24 resets the stored contents of the storage device 60 and ends the activation process (time T18). Then, the rotating electrical machine ECU 24 notifies the engine ECU 100 that the start-up process has been completed (time T18), and shifts to the normal process.
  • the rotating electrical machine ECU 24 can properly finish the start-up process.
  • the rotation speed increases.
  • the electric ECU 24 is reset.
  • the interruption circuit 30 since the interruption circuit 30 is not reset, the operation signal state (high state) is maintained, and after a predetermined time has elapsed from the operation (time point T26), the output of the operation signal is terminated (the operation signal is changed). Low).
  • the rotating electrical machine ECU 24 does not receive an operation signal during that time (time T27 to T28). That is, the activation signal does not transition from the low state to the high state. However, even if no activation signal is input after starting the startup process again, the previous startup process does not end normally and the rotating electrical machine ECU 24 is reset. For this reason, the input history of the operation signal is stored in the storage device 60 at time T23. Therefore, the rotating electrical machine ECU 24 can confirm that the operation signal input history is stored in the storage device 60 when the activation process is performed again.
  • the rotating electrical machine ECU 24 resets the stored contents of the storage device 60 and ends the activation process (time T30). Then, the rotating electrical machine ECU 24 notifies the engine ECU 100 that the start-up process has ended (time T30), and shifts to a normal process.
  • the rotating electrical machine ECU 24 can confirm the input of the operation signal by determining whether the input history of the operation signal is stored in the storage device 60. Thereby, the rotating electrical machine ECU 24 can properly finish the start-up process.
  • the power supply voltage rises to a predetermined value or higher (time T36), and the rotating electrical machine ECU 24 starts the start-up process again. At that time, the rotating electrical machine ECU 24 sets an invalid flag.
  • the cutoff circuit 30 is activated, and the state of the activation signal is changed to the high state (time T37). At that time, the input history of the operation signal is overwritten in the storage device 60. Note that the stored content may be maintained without doing anything.
  • the rotating electrical machine ECU 24 determines the input of the operation signal.
  • the input history of the operation signal is stored in the storage device 60, the input of the operation signal may be determined based on the input history.
  • the rotating electrical machine ECU 24 resets the stored contents of the storage device 60 and ends the activation process (time T39). Then, the rotating electrical machine ECU 24 notifies the engine ECU 100 that the start-up process has ended (time T39), and shifts to the normal process.
  • a cutoff circuit 30 is provided for the purpose of protecting the inverter 22 and the like.
  • the switches Sp and Sn are forcibly cut off by the cut-off circuit 30 to protect the switches Sp and Sn.
  • the input of the operation signal from the shut-off circuit 30 is confirmed as a starting process after the ignition switch IG is turned on.
  • the starter 13 when the starter 13 is driven to start the engine 101, the power supply voltage (voltage of the lead storage battery 11) input to the external terminal IP2 temporarily decreases, and the rotating electrical machine ECU 24 is reset due to the decrease of the power supply voltage. It is possible. In addition, depending on the drive timing of the starter 13, it is conceivable that the rotating electrical machine ECU 24 is reset due to a decrease in the power supply voltage after the ignition switch IG is turned on and an operation signal is input from the shut-off circuit 30. In addition, since the 2nd reset voltage of the interruption
  • the rotating electrical machine ECU 24 can confirm the input of the operation signal based on the input history of the operation signal stored in the storage device 60 in the startup process. Therefore, even if the power supply voltage is temporarily lowered when the starter 13 is driven and the rotary electric machine ECU 24 is reset, proper start-up is possible thereafter.
  • the rotating electrical machine ECU 24 does not need to finish the start-up process before the engine 101 is started due to the nature based on the functions (power generation function and power running function) of the rotating electrical machine unit 16. Further, if the start-up process is terminated before the engine 101 is started, there is a possibility that the engine 101 is reset due to a decrease in power supply voltage. Therefore, after the start of the engine 101 is completed, the starting process by the rotating electrical machine ECU 24 is terminated.
  • the rotating electrical machine ECU 24 erases the input history of the operation signal stored in the storage device 60 when the start-up process is finished. Thereby, when the ignition switch IG is turned on next time, the operation signal input history can be appropriately stored.
  • the starter 13 starts to drive the engine 101 after the start time has elapsed since the ignition switch IG was turned on.
  • the cut-off circuit 30 outputs an operation signal until the start time elapses after the ignition switch IG is turned on. For this reason, it is possible to prevent the power supply voltage from being lowered until the start time elapses after the ignition switch IG is turned on. Accordingly, it is possible to secure time for outputting the operation signal from the cutoff circuit 30 and storing the input history of the operation signal in the storage device 60.
  • the rotating electrical machine ECU 24 sets an invalid flag that invalidates the determination of the voltage abnormality in the period from when the ignition switch IG is turned on until the completion of the engine 101 is determined. For this reason, when the starter 13 is driven, even if the power supply voltage becomes abnormal due to a drop in the power supply voltage, the determination can be invalidated. As a result, during the activation process, the activation process can be appropriately terminated without executing a process according to the abnormality based on the drive of the starter 13.
  • the rotating electrical machine ECU 24 determines whether the ignition switch IG is on or off based on the voltage of the lead storage battery 11 input via the external terminal IP2.
  • the rotating electrical machine ECU 24 prevents the influence of the power supply voltage drop due to the drive of the starter 13 and can appropriately perform the starting process. That is, the rotating electrical machine ECU 24 invalidates the determination of the voltage abnormality until the start of the engine 101 is completed after the ignition switch IG is turned on.
  • the storage device 60 is configured to store an operation signal input history. The rotating electrical machine ECU 24 can confirm the input of the operation signal based on the input history in the starting process even if the ignition switch IG is turned on after the ignition switch IG is turned on until the engine 101 is completely started. .
  • the power supply system 10 is a two-power supply system including the lead storage battery 11 and the lithium ion storage battery 12, but may not include the lithium ion storage battery 12.
  • the rotating electrical machine ECU 24 sets an invalid flag that invalidates the abnormality determination of the power supply voltage during the activation process, but invalidates the abnormality determination when the activation process is terminated, and invalidates the process according to the abnormality of the power supply voltage. You may make it.
  • the rotating electrical machine ECU 24 may be configured not to detect an abnormality in the power supply voltage input to the external terminal IP2. Thereby, even if the power supply voltage decreases based on the drive of the starter 13, it is not necessary to invalidate the abnormality determination of the power supply voltage during the startup process.
  • the rotary electric machine ECU 24 determines the start completion of the engine 101 based on the notification from the engine ECU 100 in step S17 of the start-up process, but it may be determined by other methods. For example, when a sufficient time (for example, 300 msec) has elapsed from the start of the startup process until the start of the engine 101 is completed, it may be determined that the start of the engine 101 has been completed.
  • a sufficient time for example, 300 msec
  • the timing for confirming the input history of the operation signal may be arbitrarily changed. Moreover, although the timing which determines the input of an operation signal may be changed arbitrarily, it is desirable to determine until the start time passes.
  • the state of the operation signal is reset after a predetermined period has elapsed, but may be reset by the rotating electrical machine ECU 24 or the like at the end of the startup process.
  • the period during which the high state of the operation signal is maintained may be arbitrarily changed.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Eletrric Generators (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

L'invention concerne un dispositif de commande de machine électrique rotative (200) qui comprend un onduleur (22), un dispositif de calcul (24) pour commander la mise sous tension/hors tension de commutateurs de l'onduleur, et un circuit d'interruption (30) pour interrompre de force les commutateurs lorsqu'une anomalie se produit. Le dispositif de calcul et le circuit d'interruption reçoivent séparément la tension d'une alimentation électrique et sont réinitialisés séparément en association avec l'abaissement de la tension de l'alimentation électrique. Le circuit d'interruption émet un signal de fonctionnement indiquant un fonctionnement normal après qu'un commutateur de démarrage a été allumé. Le dispositif de calcul effectue, en tant que traitement de démarrage, un traitement pour confirmer l'entrée du signal de fonctionnement après que le commutateur de démarrage a été allumé. Le dispositif de commande de machine électrique rotative est équipé d'un dispositif de stockage (60) dans lequel l'historique d'entrée du signal de fonctionnement est stocké après que le commutateur de démarrage a été allumé. Le dispositif de calcul effectue le traitement de démarrage sur la base de l'historique d'entrée du signal de fonctionnement stocké dans le dispositif de stockage.
PCT/JP2018/012886 2017-04-27 2018-03-28 Dispositif de commande de machine électrique rotative WO2018198652A1 (fr)

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JP2017-088192 2017-04-27
JP2017088192A JP6677215B2 (ja) 2017-04-27 2017-04-27 回転電機制御装置

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JP7295907B2 (ja) * 2021-07-02 2023-06-21 本田技研工業株式会社 車両電源システム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011173512A (ja) * 2010-02-24 2011-09-08 Fujitsu Ten Ltd アイドリングストップ装置、及び、電力制御方法
JP2011179446A (ja) * 2010-03-02 2011-09-15 Denso Corp エンジン始動制御装置
JP2014050147A (ja) * 2012-08-29 2014-03-17 Suzuki Motor Corp 車両用発電機の故障診断装置
JP2015116863A (ja) * 2013-12-17 2015-06-25 株式会社ケーヒン エンジン制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011173512A (ja) * 2010-02-24 2011-09-08 Fujitsu Ten Ltd アイドリングストップ装置、及び、電力制御方法
JP2011179446A (ja) * 2010-03-02 2011-09-15 Denso Corp エンジン始動制御装置
JP2014050147A (ja) * 2012-08-29 2014-03-17 Suzuki Motor Corp 車両用発電機の故障診断装置
JP2015116863A (ja) * 2013-12-17 2015-06-25 株式会社ケーヒン エンジン制御装置

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