WO2023188368A1 - Dispositif de commande d'entraînement et procédé de commande pour dispositif de commande d'entraînement - Google Patents

Dispositif de commande d'entraînement et procédé de commande pour dispositif de commande d'entraînement Download PDF

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Publication number
WO2023188368A1
WO2023188368A1 PCT/JP2022/016804 JP2022016804W WO2023188368A1 WO 2023188368 A1 WO2023188368 A1 WO 2023188368A1 JP 2022016804 W JP2022016804 W JP 2022016804W WO 2023188368 A1 WO2023188368 A1 WO 2023188368A1
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WIPO (PCT)
Prior art keywords
battery
motor
control device
current value
drive
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PCT/JP2022/016804
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English (en)
Japanese (ja)
Inventor
雄紀 鈴川
歩 西宮
晋二郎 森田
亮平 今野
弘喜 中島
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本田技研工業株式会社
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Priority to PCT/JP2022/016804 priority Critical patent/WO2023188368A1/fr
Publication of WO2023188368A1 publication Critical patent/WO2023188368A1/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

Definitions

  • the present invention relates to a drive control device and a method of controlling the drive control device.
  • Patent Document 1 discloses an inverter circuit including a plurality of switching elements, a current sensor that detects a current flowing through the inverter circuit, and a motor control circuit that controls the plurality of switching elements of the inverter circuit based on the detected current of the current sensor.
  • An inverter device is disclosed.
  • the motor control circuit controls the motor based on a control signal input from a host device. However, if there is an error in the battery voltage that is grasped by the host device and the motor control circuit, the motor control circuit may not be able to stop the regenerative drive, and overvoltage may be applied to the battery.
  • the present invention has been made in view of the above circumstances, and an object of the present invention is to suppress overvoltage of a battery during regenerative drive.
  • the present disclosure includes an acquisition unit that acquires the voltage of a battery, and a control unit that supplies electric power from the battery to a motor based on a torque command value input from a host device to drive the motor.
  • the control unit controls the amount of regeneration by the motor if the voltage of the battery is equal to or higher than a first preset threshold while regeneratively driving the motor.
  • This is a drive control device that executes regeneration suppression control.
  • the present disclosure is a method for controlling a drive control device installed in a vehicle, which includes the steps of acquiring battery voltage, and supplying power from the battery to a motor based on a torque command value input from a host device. the step of driving the motor, and performing regeneration suppression control to suppress the amount of regeneration by the motor if the voltage of the battery is equal to or higher than a preset first threshold while regeneratively driving the motor; A method of controlling a drive control device, including steps of executing the method.
  • FIG. 1 is a diagram showing the system configuration of a power system.
  • FIG. 2 is a diagram showing an example of the first map.
  • FIG. 3(A) is a diagram showing changes in battery voltage
  • FIG. 3(B) is a diagram showing changes in current command value.
  • FIG. 4 is a diagram showing an example of the second map.
  • FIG. 5(A) is a diagram showing changes in battery voltage
  • FIG. 5(B) is a diagram showing changes in current command value.
  • FIG. 6 is a flowchart showing the operation of the drive control device.
  • FIG. 1 is a diagram showing a system configuration of a power system 1.
  • the power system 1 includes a motor 10, a power converter 20, a battery group 50, a down regulator 41, a load 43, and a first control device 60, and is mounted on a vehicle.
  • the vehicle is, for example, a motorbike (two-wheeled vehicle). In this embodiment, a case will be described in which the vehicle is a motorbike (two-wheeled motor vehicle), but the vehicle is not limited to a motorbike.
  • the vehicle may be, for example, a four-wheeled passenger car, a four-wheeled large vehicle, or a work vehicle such as a tractor.
  • the motor 10 operates as an electric motor when the vehicle accelerates. When operating as an electric motor, the motor 10 is driven based on three-phase AC power supplied from the power conversion device 20.
  • the motor 10 operates as a generator when the vehicle is decelerating.
  • the motor 10 When the motor 10 operates as a generator, it generates electricity through regenerative driving.
  • the regenerative drive of the motor 10 applies braking force to each wheel of the vehicle.
  • the three-phase AC power generated by the regenerative drive of the motor 10 is converted into DC power by the power converter 20 and charged into the battery group 50.
  • the motor 10 is, for example, a three-phase (U, V, W) brushless motor.
  • the motor 10 includes a rotor having a permanent magnet, and coils 10U, 10V, and 10W corresponding to three phases (U phase, V phase, and W phase), respectively.
  • the coils 10U, 10V, and 10W of each phase are connected to the power conversion device 20, respectively.
  • the power conversion device 20 includes a smoothing capacitor 21, an inverter 23, and a second control device 30.
  • the second control device 30 corresponds to a drive control device.
  • the smoothing capacitor 21 is connected between the power line 28 on the high potential side and the power line 29 on the low potential side.
  • Power line 28 is connected to the positive electrode of battery group 50
  • power line 29 is connected to the negative electrode of battery group 50.
  • Smoothing capacitor 21 smoothes the DC voltage supplied from battery group 50.
  • the inverter 23 is a DC-AC converter.
  • the inverter 23 is a power converter that converts DC power to AC power.
  • the inverter 23 includes an upper arm circuit and a lower arm circuit for three phases (U, V, W).
  • the upper arm circuit is a circuit that supplies current from the power line 28 to the motor 10
  • the lower arm circuit is a circuit that draws current from the motor 10 to the battery group 50.
  • the upper arm circuit includes bipolar transistors 24U1, 24V1, and 24W1, and diodes 25U1, 25V1, and 25W1. Diodes 25U1, 25V1 and 25W1 are connected anti-parallel to bipolar transistors 24U1, 24V1 and 24W1, respectively, for free circulation.
  • the lower arm circuit includes bipolar transistors 24U2, 24V2, and 24W2, and diodes 25U2, 25V2, and 25W2. Diodes 25U2, 25V2 and 25W2 are connected anti-parallel to bipolar transistors 24U2, 24V2 and 24W2, respectively, for free circulation.
  • the second control device 30 is connected to the power line 28 on the high-potential side and the power line 29 on the low-potential side.
  • the second control device 30 includes a measuring section 31, an input/output interface 33, a second memory 35, and a second processor 37.
  • I/O input/output interface
  • the second memory 35 corresponds to a storage section
  • the second processor 37 corresponds to a control section.
  • the measurement unit 31 and I/O 33 operate as an acquisition unit.
  • the measurement unit 31 is connected to the power line 28 and the power line 29.
  • Measuring section 31 measures battery voltage.
  • the value of the battery voltage measured by the measurement unit 31 is input to the second processor 37 via the I/O 33.
  • a control signal output from the first control device 60 is input to the I/O 33. Further, the I/O 33 outputs a signal for switching on and off the bipolar transistors 24U1, 24U2, 24V1, 24V2, 24W1, and 24W2.
  • the second memory 35 includes a nonvolatile storage device such as a ROM (Read Only Memory) or a nonvolatile storage device such as a RAM (Random Access Memory).
  • the second memory 35 stores a control program executed by the second processor 37 and a first map 110 or a second map 120, which will be described later.
  • the RAM is used as a calculation area for the second processor 37.
  • the second processor 37 is composed of a CPU (Central Processing Unit), an MPU (Micro-Processing Unit), and the like.
  • the second processor 37 may be composed of a single processor or a plurality of processors. Further, the second processor 37 may be configured by an SoC integrated with part or all of the second memory 35 and other circuits. Further, the second processor 37 may be configured by a combination of a CPU that executes a program and a DSP (Digital Signal Processor) that executes predetermined arithmetic processing. Furthermore, all of the functions of the second processor 37 may be implemented in hardware, or may be configured using a programmable device. The operation of the second control device 30 will be described later.
  • the battery group 50 includes four removable and portable batteries 51, 52, 53, and 54.
  • the number of portable batteries included in the battery group 50 is not limited to four, and may be five or more or three or less.
  • the positive electrode of the battery group 50 is connected to the power line 28 on the high potential side, and the negative electrode of the battery group 50 is connected to the power line 29 on the low potential side.
  • the down regulator 41 lowers the voltage supplied from the battery group 50 and supplies the lowered voltage to the load 43 and the first control device 60.
  • the first control device 60 is an arithmetic processing device that includes a first memory 61 and a first processor 63 such as a CPU or MPU.
  • the first control device 60 corresponds to a host device.
  • the first memory 61 includes a nonvolatile storage device such as a ROM (Read Only Memory) or a nonvolatile storage device such as a RAM (Random Access Memory).
  • the first processor 63 may be composed of a single processor or may be composed of multiple processors. Further, the first processor 63 may be configured by an SoC integrated with part or all of the first memory 61 and other circuits. Further, the first processor 63 may be configured by a combination of a CPU that executes a program and a DSP that executes predetermined arithmetic processing. Furthermore, all of the functions of the first processor 63 may be implemented in hardware, or may be configured using a programmable device.
  • the first control device 60 comprehensively controls the driving state of the vehicle by executing a control program stored in the first memory 61 in advance.
  • Sensor signals from various sensors such as an accelerator position sensor 71, a brake sensor 73, a vehicle speed sensor, and a temperature sensor that measures the temperature of the battery group 50 are input to the first control device 60.
  • the first control device 60 is connected to the power line 28 on the high potential side and the power line 29 on the low potential side, and receives the voltage output from the battery group 50.
  • the first control device 60 calculates a torque command value based on information such as battery voltage, battery current, and battery temperature.
  • the torque command value is a target value of torque to be output from the motor 10. For example, when accelerating the vehicle, in other words when driving the motor 10, the first control device 60 outputs a positive torque command value. Further, when decelerating the vehicle, in other words, when regeneratively driving the motor 10, the torque command value is set to a negative value.
  • the first control device 60 outputs the calculated torque command value to the second control device 30.
  • the first control device 60 starts the regenerative drive.
  • a start notification is notified to the second control device 30.
  • the first control device 60 The second control device 30 is notified of the end of the regenerative drive.
  • the second control device 30 and the first control device 60 are connected by control signal lines 81 and 83 and a power supply line 85. Further, the second control device 30 is connected to the power line 28 on the high potential side and the power line 29 on the low potential side, and receives the voltage output from the battery group 50.
  • Regeneration suppression control is control that suppresses the amount of regenerative braking by the motor 10 and suppresses the battery group 50 from becoming in an overvoltage state.
  • the second control device 30 determines that the regeneration suppression control is not performed, and changes the torque command value input from the first control device 60 to Based on the calculated current command value, the inverter 23 is operated to drive the motor 10 regeneratively.
  • the current command value calculated based on the torque command value is referred to as a first current command value.
  • the second control device 30 determines to perform regeneration suppression control when the battery voltage measured by the measurement unit 31 is equal to or higher than the first threshold value. The second control device 30 determines that if the regenerative drive is continued based on the first current command value, the battery group 50 will be in an overvoltage state, which will cause the battery group 50 to fail, and executes regeneration suppression control. Then it is determined.
  • the second control device 30 drives the inverter 23 using a preset current command value instead of the first current command value.
  • the preset current command value will be referred to as a second current command value.
  • the second current command value corresponds to the second current value.
  • the second control device 30 also compares the first current command value and the second current command value, selects the current command value with the smaller value, and operates the inverter 23 using the selected current command value. , the motor 10 may be driven regeneratively.
  • the second control device 30 may change the current command value in steps. For example, the second control device 30 changes the current command value so that the amount of decrease in current per unit time is constant, and changes the current command value from the first current command value to the second current command value. You may.
  • FIG. 2 is a diagram showing the first map 110. Further, the second control device 30 may determine the current command value with reference to the first map 110.
  • the first map 110 is a map that defines the relationship between battery voltage and current command value.
  • the second control device 30 obtains the current command value I corresponding to the battery voltage measured by the measurement unit 31 with reference to the first map 110.
  • an increase in the battery voltage and a decrease in the current command value are defined in a linear relationship in an area where the battery voltage is equal to or higher than the first threshold value and lower than the second threshold value. .
  • the current command value is defined so that the value decreases linearly as the battery voltage increases.
  • the current command value is set to 0 in a section where the battery voltage is equal to or higher than the second threshold value.
  • the second threshold is a threshold that has a larger value than the first threshold.
  • the current command value in the section where the battery voltage is greater than or equal to the first threshold value and less than the second threshold value corresponds to the third current value.
  • the current command value in the section where the battery voltage is equal to or higher than the second threshold value corresponds to the fourth current value.
  • FIG. 3 is a diagram showing changes in battery voltage when the current command value is set according to the first map 110 shown in FIG.
  • FIG. 3(A) is a diagram showing a change in battery voltage V over time
  • FIG. 3(B) is a diagram showing a change in current command value I over time.
  • the second control device 30 provides a first current command based on the torque command value input from the first control device 60 in the section a shown in FIG. Calculate the value I-1.
  • FIG. 3A illustrates a case where the first current command value I-1 is constant.
  • the second control device 30 controls the inverter 23 based on the calculated first current command value I-1. By controlling the first current command value I-1 to a constant value, the motor 10 is regeneratively driven and the battery voltage increases.
  • the second control device 30 refers to the first map 110 shown in FIG. 2 in the section b shown in FIG. , obtains a second current command value I-2 corresponding to the battery voltage.
  • the second control device 30 controls the inverter 23 based on the acquired second current command value I-2.
  • the slope of the battery voltage in section b is smaller than the slope of battery voltage in section a.
  • the second control device 30 refers to the first map 110 shown in FIG. 2 Obtain the current command value I-3.
  • the second current command value I-3 is a command value with a value of "0".
  • the second control device 30 controls the inverter 23 based on the acquired second current command value I-3. Since the second current command value I-3 is a command value with a value of "0", regenerative drive is not executed, and an increase in battery voltage is suppressed as shown in FIG. 3(A).
  • FIG. 4 is a diagram showing the second map 120.
  • the second control device 30 may determine the current command value based on the second map 120 shown in FIG. 4.
  • the second map 120 is also a map that defines the relationship between the battery voltage V and the current command value I.
  • the second control device 30 determines the second current command value I with reference to the second map 120.
  • the second control device 30 acquires the second current command value I associated with the battery voltage from the second map 120.
  • an increase in battery voltage and a decrease in current command value are defined in a linear relationship in a section where the battery voltage is greater than or equal to the first threshold value and less than the third threshold value.
  • the current command value is set so that the value decreases linearly as the battery voltage increases.
  • the third threshold is a threshold set to a value larger than the first threshold and smaller than the second threshold.
  • the value in a section where the battery voltage is greater than or equal to the third threshold value and less than the second threshold value, the value is set to a constant set current value even if the battery voltage increases. Further, in the first map 110, the current command value is set to 0 in a section where the battery voltage is equal to or higher than the second threshold value.
  • FIG. 5 is a diagram showing changes in battery voltage when the current command value is set according to the second map 120 shown in FIG.
  • FIG. 5(A) is a diagram showing a change in battery voltage V over time
  • FIG. 5(B) is a diagram showing a change in current command value I over time.
  • the second control device 30 provides a first current command based on the torque command value input from the first control device 60 in the section d shown in FIG. Calculate the value I-4.
  • FIG. 5A illustrates a case where the first current command value I-4 is constant.
  • the second control device 30 controls the inverter 23 based on the calculated first current command value I-4. By controlling the first current command value I-4 to a constant value, the motor 10 is regeneratively driven and the battery voltage increases.
  • the second control device 30 refers to the second map 120 shown in FIG. 4 in the section e shown in FIG. , obtains a second current command value I-5 corresponding to the battery voltage.
  • the second control device 30 controls the inverter 23 based on the acquired second current command value I-5.
  • the slope of the battery voltage in the section e is smaller than the slope of the battery voltage in the section d.
  • the second control device 30 refers to the second map 120 shown in FIG. 4 in the section f shown in FIG. , obtains a second current command value I-6 corresponding to the battery voltage.
  • the second current command value I-6 is a set current value having a constant value.
  • the second control device 30 controls the inverter 23 based on the acquired current command value I-6. As shown in FIG. 5A, the slope of the battery voltage in the section f is smaller than the slope of the battery voltage in the section e.
  • the second control device 30 refers to the second map 120 shown in FIG. 2 Obtain the current command value I-7.
  • the second current command value I-7 is a set current value with a value of 0.
  • the second control device 30 controls the inverter 23 based on the acquired second current command value I-7. Since the second current command value I-7 is a command value of "0", regenerative drive is not executed, and the increase in battery voltage is suppressed as shown in FIG. 5(A).
  • FIG. 6 is a flowchart showing the control operation of the second control device 30.
  • the control operation of the second control device 30 will be explained with reference to the flowchart shown in FIG. Note that the flowchart shown in FIG. 6 shows the operation when the second control device 30 controls the current command value based on the second map 120 shown in FIG. 4.
  • the second control device 30 determines whether or not a regenerative drive start notification has been received from the first control device 60 (step S1). If the second control device 30 has not received the regenerative drive start notification (step S1/NO), it waits to start the process until it receives the regenerative drive start notification.
  • the second control device 30 When the second control device 30 receives the regenerative drive start notification from the first control device 60 (step S1/YES), the second control device 30 obtains the battery voltage (step S2), and uses the obtained battery voltage and the first threshold value. (Step S3). If the battery voltage is less than the first threshold value (step S3/NO), the second control device 30 calculates a current command value based on the torque command value input from the first control device 60 (step S4). ), the inverter 23 is controlled using the calculated current command value (step S5).
  • the second control device 30 determines whether an end notification to end the regenerative drive has been input from the first control device 60 (step S6). If the end notification has not been input from the first control device 60 (step S6/NO), the second control device 30 returns to the process of step S2. Further, when the end notification is input from the first control device 60 (step S6/YES), the second control device 30 ends this processing flow.
  • step S3 when the second control device 30 determines in step S3 that the battery voltage is less than the first threshold value (step S3/YES), it starts regeneration suppression control (step S7).
  • the second control device 30 first determines whether the battery voltage is less than the third threshold (step S8).
  • the second control device 30 refers to the second map 120 to obtain the current value command value (step S9). After that, the second control device 30 controls the inverter 23 based on the acquired current command value (step S13).
  • the second control device 30 determines whether the battery voltage is lower than the second threshold value. Determination is made (step S10). When the battery voltage is less than the second threshold (step S10/YES), the second control device 30 refers to the second map 120 and obtains a set current value that is preset as the current command value (Ste S11). The second control device 30 controls the inverter 23 using the current command value of the acquired set current value (step S13).
  • the second control device 30 refers to the second map 120 and outputs a current command with a value of 0. A value is acquired (step S12). The second control device 30 controls the inverter 23 using the acquired current command value of 0 (step S13).
  • the second control device 30 acquires the battery voltage (step S14), and determines whether the acquired battery voltage is less than or equal to the fourth threshold (step S15).
  • the fourth threshold corresponds to the end threshold. If the acquired battery voltage is not equal to or lower than the fourth threshold (step S15/NO), the second control device 30 returns to the determination in step S8.
  • the second control device 30 ends the regeneration suppression control (step S16) and returns to the process of step S2.
  • the drive control device (30) includes an acquisition unit (31, 33) that acquires the voltage of the battery (50), and a motor (10) based on the torque command value input from the host device (60). and a processor (37) that supplies power from a battery (50) to the motor (10) and drives the motor (10), and is mounted on a vehicle.
  • the processor (37) suppresses the amount of regeneration by the motor (10) when the voltage of the battery (50) is equal to or higher than a first preset threshold while regeneratively driving the motor (10). Executes regeneration suppression control.
  • the drive control device (30) executes regeneration suppression control, it is possible to suppress application of overvoltage to the battery (50).
  • the processor (37) controls the drive of the motor (10) using a first current value based on the torque command value during regenerative drive input from the host device (60), and controls the drive of the motor (10) when the battery voltage is equal to or higher than the first threshold value.
  • the regeneration suppression control is performed by changing the drive of the motor (10) from control based on the first current value to control based on a preset second current value.
  • the processor (37) controls the drive of the motor (10) using a first current value based on the torque command value during regenerative drive input from the host device (60), and controls the drive of the motor (10) when the voltage of the battery (50) reaches a first threshold. If the current value is greater than or equal to the value, the motor (10) is controlled based on the smaller current value between the first current value and the preset second current value to perform regeneration suppression control.
  • the motor is activated based on the smaller current value between the first current value and the second current value. Since the drive of the motor (10) is controlled, no unnecessary large current is passed through the motor (10).
  • the processor (37) When executing the regeneration suppression control, the processor (37) changes the current value that drives the motor (10) so that the amount of decrease in the current value per unit time is constant, and changes the current value that drives the motor (10). The value is changed from the first current value to the second current value.
  • the drive control device (30) includes a memory (35) that stores maps (110, 120) in which the voltage of the battery (50) and the current value for driving the motor (10) are registered in association with each other.
  • the processor (37) controls the drive of the motor (10) based on a current value based on a torque command value during regenerative drive input from a host device (60).
  • the processor (37) controls the drive of the motor (10) from control based on a current value based on a torque command value during regenerative drive to a map ( 110, 120) to perform regeneration suppression control.
  • the maps (110, 120) include a third value as a current value for driving the battery (50) when the voltage of the battery (50) is less than a second threshold value that is larger than the first threshold value.
  • the current value is registered, and a fourth current value smaller than the third current value is registered as the current value for driving the battery when the voltage of the battery is equal to or higher than the second threshold value.
  • the processor (37) controls driving of the battery using a third current value when the voltage of the battery (50) is less than the second threshold, and when the voltage of the battery (50) is equal to or higher than the second threshold. In this case, the battery drive is controlled by the fourth current value.
  • the battery when the voltage of the battery is equal to or higher than the second threshold value, the battery can be driven by the fourth current value smaller than the third current value, and the amount of regeneration by the motor (10) can be further suppressed.
  • the processor (37) stops the regeneration suppression control when the battery voltage becomes equal to or less than a third threshold value, which is smaller than the first threshold value.
  • the regeneration suppression control when it is determined that the battery is not in a state where overvoltage is applied, the regeneration suppression control can be ended and the battery can be charged.
  • the battery (50) is a plurality of replaceable batteries.
  • the battery (50) is a plurality of replaceable batteries, the battery (50) whose charge amount is not constant may be installed in the vehicle. Also, application of overvoltage to the battery (50) can be suppressed.
  • a three-phase AC motor is shown as the motor 10, but the motor 10 is not limited to a three-phase AC motor, and may be any general motor.
  • the battery group 50 is detachable, but the batteries are not limited to being detachable.
  • the configuration is not limited to a configuration in which a plurality of batteries are connected in parallel, but a configuration in which a plurality of batteries are connected in series may be used.
  • the second control unit 30 determines the current command value by referring to the first map 110 and the second map 120, but also determines the current command value by calculation using a function stored in the second memory 35. Good too.
  • processing units in the flowchart shown in FIG. 6 are divided according to the main processing contents in order to facilitate understanding of the processing of the second control device 30, and the main processing units are divided according to the division method and name of the processing units.
  • the invention is not limited.
  • the method for controlling the drive control device is implemented by a computer, it is also possible to configure the program to be executed by the computer in the form of a recording medium or a transmission medium that transmits the program.
  • a magnetic or optical recording medium or a semiconductor memory device can be used as the recording medium.
  • recording media include flexible disks, HDDs (Hard Disk Drives), CD-ROMs (Compact Disk Read Only Memory), DVDs, Blu-ray Discs, and magneto-optical disks. Blu-ray is a registered trademark.
  • the recording medium may be a portable recording medium such as a flash memory or a card type recording medium, or a fixed recording medium.
  • the recording medium may be a nonvolatile storage device such as a RAM, ROM, or HDD, which is an internal storage device included in the display device.

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  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Un second dispositif de commande (30) qui doit être installé sur un véhicule comprend : une unité de mesure (31) et une E/S (33) qui acquièrent la tension d'une batterie (50) ; et un second processeur (37) qui fournit de l'énergie provenant de la batterie à un moteur (10) en fonction d'une valeur d'instruction de couple entrée à partir d'un premier dispositif de commande (60) et entraîne le moteur (10). Lors de l'entraînement récupératif du moteur (10), le second processeur (37) exécute une commande de suppression de récupération qui supprime la quantité de récupération par le moteur (10) lorsque la tension de la batterie (10) est au moins une première valeur seuil prédéfinie.
PCT/JP2022/016804 2022-03-31 2022-03-31 Dispositif de commande d'entraînement et procédé de commande pour dispositif de commande d'entraînement WO2023188368A1 (fr)

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PCT/JP2022/016804 WO2023188368A1 (fr) 2022-03-31 2022-03-31 Dispositif de commande d'entraînement et procédé de commande pour dispositif de commande d'entraînement

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Citations (4)

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JP2018086933A (ja) * 2016-11-29 2018-06-07 トヨタ自動車株式会社 ハイブリッド自動車
JP2018106916A (ja) * 2016-12-26 2018-07-05 トヨタ自動車株式会社 蓄電システム
WO2020054828A1 (fr) * 2018-09-13 2020-03-19 本田技研工業株式会社 Système d'alimentation électrique

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JP2018086933A (ja) * 2016-11-29 2018-06-07 トヨタ自動車株式会社 ハイブリッド自動車
JP2018106916A (ja) * 2016-12-26 2018-07-05 トヨタ自動車株式会社 蓄電システム
WO2020054828A1 (fr) * 2018-09-13 2020-03-19 本田技研工業株式会社 Système d'alimentation électrique

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