JP2012186929A - 電気自動車 - Google Patents
電気自動車 Download PDFInfo
- Publication number
- JP2012186929A JP2012186929A JP2011048632A JP2011048632A JP2012186929A JP 2012186929 A JP2012186929 A JP 2012186929A JP 2011048632 A JP2011048632 A JP 2011048632A JP 2011048632 A JP2011048632 A JP 2011048632A JP 2012186929 A JP2012186929 A JP 2012186929A
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- JP
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- Prior art keywords
- motor
- abnormality
- wheel
- wheels
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Images
Classifications
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- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
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Abstract
【解決手段】 各モータ6の異常を検出するモータ異常検出手段37と、片側異常時対応制御手段38とを設ける。片側異常時対応制御手段38は、モータ異常検出手段37により、車両の同じ前後方向位置にある左右のいずれか一方の車輪2,3のモータ6にモータ停止以外の異常が検出された場合に、同じ前後方向位置にある他方の車輪2,3のモータ6を、異常の検出されたモータ6の動作状態と同じ動作状態に近づくように制御する。この制御は、他方のモータ6のトルクを強制的に減じる制御、回生ブレーキとして作用させる制御、他方の車輪2,3のブレーキ作動の制御等とする。
【選択図】 図2
Description
1輪のモータ6にブレーキ力が発生した場合、車両のスピン等につながる恐れがあるが、片側異常時対応制御手段38は、同じ前後方向位置にある他方の車輪2,3のモータ6のトルクを強制的に減じるか、回生ブレーキとして作用させるか、または他方のモータ6で駆動される車輪2,3のブレーキを作動させる。モータ6にブレーキ力が発生した異常が、ある程度軽度のブレーキ力の発生であれば、回生ブレーキとして作用させる制御やブレーキを作動させる制御は、車両停止まで行う必要はなく、減速させれば良い。このように他方の車輪2,3の回転を落とす制御を行い、左右の車輪2,3の駆動のバランスを得ることで、車両姿勢を安定して走行させることができる。
前後に隣接する車輪2,3は、通常であればほぼ同じ回転速度となる。左右に隣接する車輪2,3は、直線走行時は同じ回転速度となり、曲線路の走行時でも、回転半径等に応じた回転速度の関係になる。また、車輪2,3の駆動力は、前記荷重センサ4の荷重検出値に現れる。そのため、モータ電流、モータ回転数、トルク指令値、荷重センサの荷重検出値のいずれかを、検出対象のモータ6における、モータ電流、モータ回転数、トルク指令値、荷重検出値等につき、検出対象のモータ6の値と隣接する車輪2,3を駆動するモータについての値とを比較すれば、モータ異常が検出できる。
トルク指令値に対してモータ電流値が一致している場合であっても、モータ6の回転数はある範囲等で大きく変わることがあるが、前後または左右に隣接する車輪2,3のモータの間では、正常であれば、モータ回転数は、ある程度の定まった範囲内となる。したがって、前後または左右に隣接する車輪2,3のモータの回転数の設定倍数以上となったときに、異常と判断することで、適切なモータ異常の判断が行える。
車輪用軸受4に取付けられたタイヤ・路面間の作用荷重を検出する荷重センサ41における車両進行方向の検出荷重FX は、モータトルクに対応した値となる。このため、前後または左右の車輪2,3の間で、荷重センサ41による車両進行方向の検出荷重FX を比較することによっても、モータ6の異常が検出できる。
また、前記インバータ装置22の前記モータコントロール部29に前記モータ異常検出手段37を設け、前記ECU21に前記片側異常時対応制御手段38を設けても良い。
片側異常時対応制御手段38については、インバータ装置22で制御するモータ6とは別のモータ6に影響を与えるため、インバータ装置22に設けるよりもECU21に設ける方が、制御系が簡素化できる場合もある。
モータ異常検出手段37は、このモータ異常検出手段37が設けられたインバータ装置22で駆動されるモータ6の異常を検出する。なお、ここで言う「モータの異常」は、モータ6の故障の場合と、モータ6自体は故障していなくても、制御系の失陥など、何らかの要因でモータ6が正常な動作をしていない場合とを含む。
片側異常時対応制御手段38は、モータ異常検出手段37によりモータ停止以外のモータ6の異常が検出された場合、つまり車両の同じ前後方向位置にある左右のいずれか一方の車輪2,3のモータ6にモータ停止以外の異常が検出された場合に、同じ前後方向位置にある他方の車輪2,3のモータ6を、異常の検出されたモータ6の動作状態と同じ動作状態に近づくように制御する手段である。片側異常時対応制御手段38は、例えば、図4に示す後輪のうちの右側の車輪2R のモータ6の異常が検出された場合、同じく後輪のうちの左側の車輪2L のモータ6を、異常の検出されたモータ6の動作状態と同じ動作状態に近づくように制御する。
モータ異常検出手段38において、モータ6のモータ電流の検出値は前記電流センサ35の検出値を用いる。モータ回転数は角度センサ36から得る。モータ駆動用のインバータ装置22へのトルク指令値Trは、トルク配分手段48で配分して与えられる指令値である。荷重センサ41については、後に図9〜図11と共に具体例を説明する。
トルク指令値に対してモータ電流値が一致している場合であっても、モータ6の回転数はある範囲等で大きく変わることがあるが、前後または左右に隣接する車輪2,3のモータの間では、正常であれば、モータ回転数は、ある程度の定まった範囲内となる。したがって、前後または左右に隣接する車輪2,3のモータの回転数の設定倍数以上となったときに、異常と判断することで、適切なモータ異常の判断が行える。
車輪用軸受4に取付けられたタイヤ・路面間の作用荷重を検出する荷重センサ41における車両進行方向の検出荷重FX は、モータトルクに対応した値となる。このため、前後または左右の車輪2,3の間で、荷重センサ41による車両進行方向の検出荷重FX を比較することによっても、モータ6の異常が検出できる。
インホイールモータ駆動装置8における減速機7は、サイクロイド減速機としたため、円滑な動作で高減速比が得られる。しかし、高減速比を有する減速機6を介して車輪2,3にトルク伝達する場合、モータ異常を原因としたトルクは拡大されて車輪2,3に伝達される。そのため、この実施形態による左右の駆動を揃える制御が、より一層効果的となる。
なお、インホイールモータ駆動装置8のモータ電流の配線や各種センサ系,指令系の配線は、モータハウジング72等に設けられたコネクタ99により纏めて行われる。
2,3…車輪
4…車輪用軸受
6…モータ
7…減速機
8…インホイールモータ駆動装置
9,10…機械式のブレーキ
20…モータ駆動装置
21…ECU
22…インバータ装置
24…回転センサ
28…パワー回路部
29…モータコントロール部
30…インホイールモータユニット
31…インバータ
32…PWMドライバ
33…モータ駆動制御部
34…モータ誤動作チェック・コントロール手段
35…電流センサ
36…角度センサ
37…モータ異常検出手段
38…片側異常時対応制御手段
47…異常報告手段
Claims (11)
- 車両の左右の車輪を個別に駆動する複数のモータと、これらのモータを制御するモータ制御装置とを備えた電気自動車において、
前記各モータの異常を検出するモータ異常検出手段と、このモータ異常検出手段により、車両の同じ前後方向位置にある左右のいずれか一方の車輪のモータにモータ停止以外の異常が検出された場合に、同じ前後方向位置にある他方の車輪のモータを、異常の検出されたモータの動作状態と同じ動作状態に近づくように制御する片側異常時対応制御手段とを設けたことを特徴とする電気自動車。 - 請求項1において、前記片側異常時対応制御手段は、前記モータ異常検出手段で検出された異常が、モータにブレーキ力が発生した異常である場合に、同じ前後方向位置にある他方のモータのトルクを強制的に減じる制御、回生ブレーキとして作用させる制御、および前記他方のモータで駆動される車輪に対するブレーキを作動させる制御のいずれか一つ以上を行わせる電気自動車。
- 請求項1または請求項2において、前記モータ異常検出手段は、検出対象のモータで駆動される車輪に対して前後および左右のいずれかに隣接する車輪を駆動するモータについてのモータ電流、モータ回転数、モータ駆動用のインバータ装置へのトルク指令値、および車輪用軸受に取付けられたタイヤ・路面間の作用荷重を検出する荷重センサの荷重検出値のいずれかを、検出対象のモータにおける、モータ電流、モータ回転数、モータ駆動用インバータへのトルク指令値、および荷重検出値とそれぞれ比較することで、異常の検出を行う電気自動車。
- 請求項1または請求項2において、前記モータ異常検出手段は、検出されたモータ電流が、モータ駆動用のインバータ装置へのトルク指令値に相当するモータ電流値の設定倍数以上になった場合に異常と判断する電気自動車。
- 請求項1または請求項2において、前記モータ異常検出手段は、モータ電流値が、モータ駆動用のインバータ装置へのトルク指令値に相当するモータ電流値に略一致している場合に、異常検出対象とするモータの回転数が、このモータで駆動される車輪に対して前後または左右に隣接する車輪のモータの回転数の設定倍数以上となったときに、異常と判断する電気自動車。
- 請求項1または請求項2において、前記モータ異常検出手段は、モータ電流値が、モータ駆動用のインバータ装置へのトルク指令値に相当するモータ電流値に略一致している場合に、異常検出対象のモータに連結される車輪用軸受に取付けられたタイヤ・路面間の作用荷重を検出する荷重センサにおける車両進行方向の検出荷重FX が、異常検出対象のモータで駆動される車輪に対して前後または左右に隣接する車輪の車輪用軸受に取付けられたタイヤ・路面間の作用荷重を検出する荷重センサにおける車両進行方向の検出荷重FX に対して、設定倍数となったときに異常と判断する電気自動車。
- 請求項1ないし請求項6のいずれか1項において、車両全般を制御する電気制御ユニットであるECUと、直流電力を交流電力に変換するインバータを含むパワー回路部および前記ECUから与えられるトルク指令に従って前記パワー回路部を制御するモータコントロール部を有するインバータ装置とを備え、前記インバータ装置は各モータ毎に設けられ、これらECUとインバータ装置とで前記モータ制御装置が構成され、前記インバータ装置の前記モータコントロール部に前記モータ異常検出手段および片側異常時対応制御手段を設けた電気自動車。
- 請求項7において、個々のインバータ装置に、前記モータ異常検出手段および前記片側異常時対応制御手段を設けた電気自動車。
- 請求項1ないし請求項6のいずれか1項において、車両全般を制御する電気制御ユニットであるECUと、直流電力を交流電力に変換するインバータを含むパワー回路部および前記ECUから与えられるトルク指令に従って前記パワー回路部を制御するモータコントロール部を有するインバータ装置とを備え、前記インバータ装置は各モータ毎に設けられ、これらECUとインバータ装置とで前記モータ制御装置が構成され、前記インバータ装置の前記モータコントロール部に前記モータ異常検出手段を設け、前記ECUに前記片側異常時対応制御手段を設けた電気自動車。
- 請求項1ないし請求項9のいずれか1項において、前記モータは、車輪用軸受と、この車輪用軸受とモータの間に介在した減速機とを有するインホイールモータ駆動装置を構成する電気自動車。
- 請求項9において、前記減速機はサイクロイド減速機である電気自動車。
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WO2014069281A1 (ja) * | 2012-11-02 | 2014-05-08 | Ntn株式会社 | 電気自動車の制御装置およびその電気自動車 |
JP2014230341A (ja) * | 2013-05-21 | 2014-12-08 | Ntn株式会社 | モータ制御装置 |
WO2016031696A1 (ja) * | 2014-08-29 | 2016-03-03 | Ntn株式会社 | 車輪独立駆動式車両の駆動制御装置 |
JP2016107690A (ja) * | 2014-12-03 | 2016-06-20 | Ntn株式会社 | 車両の制動力制御装置 |
JP2016134983A (ja) * | 2015-01-19 | 2016-07-25 | Ntn株式会社 | 電気自動車の異常対応制御装置 |
KR101912796B1 (ko) * | 2013-07-26 | 2018-10-29 | 한화지상방산 주식회사 | 전기 자동차의 차륜 제어시스템 |
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JP7320048B2 (ja) | 2021-12-27 | 2023-08-02 | 本田技研工業株式会社 | 電動移動機 |
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WO2012121199A1 (ja) | 2012-09-13 |
EP2684730A4 (en) | 2016-04-27 |
EP2684730A1 (en) | 2014-01-15 |
JP5784930B2 (ja) | 2015-09-24 |
EP2684730B1 (en) | 2021-02-17 |
US9126599B2 (en) | 2015-09-08 |
CN103442930B (zh) | 2016-03-30 |
US20130345918A1 (en) | 2013-12-26 |
CN103442930A (zh) | 2013-12-11 |
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