JP2014159283A - モータ駆動制御装置 - Google Patents
モータ駆動制御装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/20—Electric propulsion with power supplied within the vehicle using propulsion power generated by humans or animals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/24—Personal mobility vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/46—Vehicles with auxiliary ad-on propulsions, e.g. add-on electric motor kits for bicycles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
【解決手段】本モータ駆動制御装置は、可変周期のトルク要求の1周期に相当する期間に合せて当該期間のトルク要求の移動平均又は加重移動平均を算出する平滑化処理部と、平滑化処理部の処理結果に基づく目標トルクを用いてモータを駆動するための処理を実施する駆動処理部とを有する。
【選択図】図6
Description
補正済み平滑化値t3=平滑化値t1+初期補正値t2
逆リップルトルク値t4=補正済み平滑化値t3−ペダル入力トルクt0
調整済み逆リップルトルク値t5=逆リップルトルク値t4×α1
調整済み平滑化値t6=補正済み平滑化値t3×α2
t7=t5+t6
上では、駆動トルク目標演算部1203を、フィードフォワード制御に適用した例を示したが、フィードバック制御においても、本駆動トルク目標演算部1203を用いることができる。このような場合における演算部1021の機能ブロック図を図26に示す。
Claims (11)
- 可変周期のトルク要求の1周期に相当する期間に合せて当該期間の前記トルク要求の移動平均又は加重移動平均を算出する平滑化処理部と、
前記平滑化処理部の処理結果に基づく目標トルクを用いてモータを駆動するための処理を実施する駆動処理部と、
を有するモータ駆動制御装置。 - 前記平滑化処理部が、FIRフィルタであり、
前記期間の両端部分に対応する、前記FIRフィルタのタップ係数の値が、前記期間の他の部分に対応するタップ係数の値へ滑らかに増加するように設定されている
請求項1記載のモータ駆動制御装置。 - 前記駆動処理部が、
前記平滑化処理部の処理結果と前記トルク要求とを用いて前記目標トルクを算出する
請求項1記載のモータ駆動制御装置。 - 前記平滑化処理部の処理結果と前記トルク要求の値とを正又は負の任意の係数値で重み付け加算するトルク混合部
をさらに有する請求項1記載のモータ駆動制御装置。 - 前記平滑化処理部の処理結果から前記トルク要求の値を減算して逆リップルトルクを算出し、前記逆リップルトルクに正又は負の任意の平滑係数値を乗じた上で前記平滑化処理部の処理結果又は前記平滑化処理部の処理結果の所定数倍された値を加算するトルク混合部
をさらに有する請求項1記載のモータ駆動制御装置。 - 時間変化する車速の下側エンベロープを検出する検出部と、
前記検出部によって検出された前記下側エンベロープの値に応じて、前記係数値を決定する決定部と、
をさらに有する請求項4記載のモータ駆動制御装置。 - 時間変化する車速の下側エンベロープ及び上側エンベロープを検出する検出部と、
前記検出部によって検出された前記下側エンベロープの値及び前記上側エンベロープの値に応じて、前記係数値を決定する決定部と、
をさらに有する請求項4記載のモータ駆動制御装置。 - 時間変化する車速の下側エンベロープを検出する検出部と、
前記検出部によって検出された前記下側エンベロープの値に応じて、前記平滑係数値と前記所定数の少なくともいずれかを検定する決定部と、
をさらに有する請求項5記載のモータ駆動制御装置。 - 時間変化する車速の下側エンベロープ及び上側エンベロープを検出する検出部と、
前記検出部によって検出された前記下側エンベロープの値及び前記上側エンベロープの値に応じて、前記平滑係数値と前記所定数の少なくともいずれかを決定する決定部と、
をさらに有する請求項5記載のモータ駆動制御装置。 - 前記所定数が増加するのに連動して前記平滑係数値が増加するように設定される
請求項5記載のモータ駆動制御装置。 - 前記平滑化処理部が、
車速に応じて前記トルク要求のサンプリングタイミングを変化させる
請求項1乃至10のいずれか1つ記載のモータ駆動制御装置。
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JP2014118326A JP5977782B2 (ja) | 2010-12-22 | 2014-06-09 | モータ駆動制御装置 |
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JP2014159283A true JP2014159283A (ja) | 2014-09-04 |
JP2014159283A5 JP2014159283A5 (ja) | 2015-01-15 |
JP5977782B2 JP5977782B2 (ja) | 2016-08-24 |
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JP2014118326A Expired - Fee Related JP5977782B2 (ja) | 2010-12-22 | 2014-06-09 | モータ駆動制御装置 |
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US (1) | US9120531B2 (ja) |
EP (1) | EP2657118B1 (ja) |
JP (3) | JP5586709B2 (ja) |
CN (2) | CN103429490B (ja) |
TW (1) | TWI650268B (ja) |
WO (1) | WO2012086458A1 (ja) |
Cited By (3)
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JP2019047730A (ja) * | 2018-12-25 | 2019-03-22 | キヤノン株式会社 | モータ制御装置、シート搬送装置、原稿給送装置、原稿読取装置及び画像形成装置 |
TWI660879B (zh) * | 2015-05-25 | 2019-06-01 | 日商島野股份有限公司 | 自行車傳動系統 |
JP2019194061A (ja) * | 2018-04-27 | 2019-11-07 | 株式会社シマノ | 人力駆動車用制御装置 |
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CN103429490B (zh) | 2017-06-27 |
JP5977782B2 (ja) | 2016-08-24 |
US20140039741A1 (en) | 2014-02-06 |
JPWO2012086458A1 (ja) | 2014-05-22 |
CN107253507B (zh) | 2020-06-23 |
EP2657118A4 (en) | 2014-05-07 |
WO2012086458A1 (ja) | 2012-06-28 |
JP2016064833A (ja) | 2016-04-28 |
CN107253507A (zh) | 2017-10-17 |
TWI650268B (zh) | 2019-02-11 |
TW201231348A (en) | 2012-08-01 |
CN103429490A (zh) | 2013-12-04 |
EP2657118A1 (en) | 2013-10-30 |
EP2657118B1 (en) | 2021-03-03 |
JP6178440B2 (ja) | 2017-08-09 |
JP5586709B2 (ja) | 2014-09-10 |
US9120531B2 (en) | 2015-09-01 |
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