JP6526614B2 - 燃料電池車両 - Google Patents
燃料電池車両 Download PDFInfo
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- JP6526614B2 JP6526614B2 JP2016216688A JP2016216688A JP6526614B2 JP 6526614 B2 JP6526614 B2 JP 6526614B2 JP 2016216688 A JP2016216688 A JP 2016216688A JP 2016216688 A JP2016216688 A JP 2016216688A JP 6526614 B2 JP6526614 B2 JP 6526614B2
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- 239000000446 fuel Substances 0.000 title claims description 128
- 238000010248 power generation Methods 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 10
- 239000003990 capacitor Substances 0.000 description 62
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 239000001257 hydrogen Substances 0.000 description 6
- 229910052739 hydrogen Inorganic materials 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000001301 oxygen Substances 0.000 description 3
- 229910052760 oxygen Inorganic materials 0.000 description 3
- 239000000498 cooling water Substances 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- 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
- B60L15/2045—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 for optimising the use of energy
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
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- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/40—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for controlling a combination of batteries and fuel cells
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
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- H01M8/04—Auxiliary arrangements, e.g. for control of pressure or for circulation of fluids
- H01M8/04298—Processes for controlling fuel cells or fuel cell systems
- H01M8/04313—Processes for controlling fuel cells or fuel cell systems characterised by the detection or assessment of variables; characterised by the detection or assessment of failure or abnormal function
- H01M8/04537—Electric variables
- H01M8/04634—Other electric variables, e.g. resistance or impedance
- H01M8/04656—Other electric variables, e.g. resistance or impedance of auxiliary devices, e.g. batteries, capacitors
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- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M8/00—Fuel cells; Manufacture thereof
- H01M8/04—Auxiliary arrangements, e.g. for control of pressure or for circulation of fluids
- H01M8/04298—Processes for controlling fuel cells or fuel cell systems
- H01M8/04694—Processes for controlling fuel cells or fuel cell systems characterised by variables to be controlled
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- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
- B60L2200/42—Fork lift trucks
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B60Y2200/90—Vehicles comprising electric prime movers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/60—Control of electric machines, e.g. problems related to electric motors or generators
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- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- H01M2250/00—Fuel cells for particular applications; Specific features of fuel cell system
- H01M2250/20—Fuel cells in motive systems, e.g. vehicle, ship, plane
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Description
本発明の目的は、充電装置の保護のための燃料電池システム停止を防止することができる燃料電池車両を提供することにある。
請求項4に記載のように、請求項1〜3のいずれか1項に記載の燃料電池車両において、前記駆動モータは、走行モータと荷役モータを含み、前記制御手段は、制限を加える際に、前記走行モータの駆動の方が前記荷役モータの駆動よりも制限を小さくするとよい。この場合には、荷役よりも走行を重視することによりオペレータに違和感が生じにくくすることができる。
図1に示すように、燃料電池フォークリフト10の車体11の前側下部には駆動輪(前輪)12aが設けられ、車体11の後側下部には操舵輪(後輪)12bが設けられている。マスト13が車体11の前部に立設されている。マスト13は車体11に対して前後に傾動可能に支持された左右一対のアウタマスト13aと、これにスライドして昇降するインナマスト13bとからなる。各アウタマスト13aの後部にはリフトシリンダ14が配設されている。インナマスト13bの内側にはフォーク15を備えたリフトブラケット16が昇降可能に支持されている。そして、リフトシリンダ14の伸縮作動によりフォーク15がリフトブラケット16とともに昇降される。
次に、図2を用いて燃料電池システム22と車両システム30について説明する。
燃料電池システム側ECU37は、キャパシタ39の充電状態を監視しながら多段階で燃料電池スタック31の発電電力を制御している。詳しくは、燃料電池システム側ECU37は、図3に示すように、発電停止している状態からキャパシタ39のSOCが閾値Vth01を下回ったとき低発電に入る。その状態から閾値Vth10を上回った場合、発電停止し、閾値Vth12を下回ると中発電に入る。その状態から閾値Vth21を上回った場合、低発電に移行し、閾値Vth23を下回ると高発電に入る。高発電から閾値Vth32を上回った場合、中発電に移行する。
車両側ECU43は、図7において、ステップS10で操作量を取り込んで、ステップS11で操作量に応じたモータ回転数を指令する。これに伴い図5(d)で示すようにt1のタイミングでモータ23,24が高回転駆動される。
制限処理において、キャパシタ39からの放電が無くても済むように、燃料電池スタック31の出力電力を「A」、コンプレッサ33、ウォータポンプ36、ラジエータファン等の補機による損失を「B」(発電電力は「A+B」)、走行のための駆動力を「C」、荷役のための駆動力を「D」、照明機器やパワーステアリング装置等の補機によるその他の損失を「E」としたとき、次の式(1)を成立させる。
ただし、式(1)中のα1,α2は、それぞれ重み付けであり(α1+α2=1)、走行単独動作時はα1=1、α2=0、荷役単独動作時はα1=0、α2=1、荷役走行同時動作時はα1=x、α2=1−xとして、xは任意に決定される。
また、荷役のための駆動力Dは、モータトルクとモータ回転数から算出され、具体的には、荷役モータ回転数を「Nn」、モータトルクを「Tn」、モータ効率を「μmn」、インバータ効率を「μin」としたとき、次の式(3)で表される。
モータトルクTsは走行斜面の傾斜θ1と荷役重量mにより決められる。モータ回転数Nsは、図4に示す予め取得しているマップの動作点L1を用いてモータトルクTsから導き出せ、その動作点でのモータ効率及びインバータ効率も予め取得している。なお、図4のマップ(動作点)は車両側ECU43の内部メモリに記憶されている。
図6において、燃料電池システム側ECU37は、ステップS4でキャパシタ39のSOCが閾値Vth2(図5(b)参照)以上か否か判定する。燃料電池システム側ECU37は、図5(a)でのt3のタイミングで示すごとくキャパシタ39のSOCが閾値Vth2以上に回復すると、ステップS5に移行して駆動モータ(走行モータ23及び荷役モータ24)の駆動の制限を解除すべく図5(c)に示すごとく車両側ECU43に対し制限指令をオフにする。即ち、制限解除信号を送出する。
その結果、燃料電池システム側ECU37と車両側ECU43との間で協調制御を行うことで、連続高負荷による燃料電池システム22でのキャパシタ39の過放電防止のためのシステム停止を回避することができる。
(1)燃料電池車両、特に、燃料電池産業車両としての燃料電池フォークリフト10の構成として、走行モータ23及び荷役モータ24を含む車両負荷に電気的に接続される燃料電池スタック31と、車両負荷と並列に燃料電池スタック31に電気的に接続されるキャパシタ39を備える。さらに、充電状態検出手段としての端子電圧計測器40と燃料電池システム側ECU37とを備え、端子電圧計測器40と燃料電池システム側ECU37とによりキャパシタ39の充電状態が検出される。制御手段としての燃料電池システム側ECU37は、検出されたキャパシタ39の充電状態に基づいて燃料電池スタック31の発電電力を制御する。車両負荷は、操作部材としてのアクセルペダル21、リフトレバー19及びティルトレバー20の操作に基づいて駆動する駆動モータ(走行モータ23及び荷役モータ24)を含む。制御手段としての燃料電池システム側ECU37は、検出されたキャパシタ39の充電状態が閾値Vth1以下に低下すると、車両側ECU43を介して駆動モータ(走行モータ23及び荷役モータ24)の駆動に制限を加える。よって、キャパシタ39の充電状態が閾値Vth1以下に低下するのが抑制されてキャパシタ39の保護のための燃料電池システム停止を防止することができ、その結果、走行や荷役の作業を継続することができる。
○ キャパシタ39の端子電圧Vt等に基づいてキャパシタ39のSOC(充電状態)を推定したが、これに限らず、他の手法でキャパシタ39の充電状態を検出してもよい。例えばキャパシタ39に入出力される電流を積算することによってキャパシタ39の充電状態を検出してもよい。
○ 制限処理において、前述の式(1)に代わり、(A−B)≧(α1×C+α2×D+E)を満足させるようにしてもよい。(A−B)=(α1×C+α2×D+E)とした場合にもシステム停止に至らない。
Claims (4)
- 車両負荷に電気的に接続される燃料電池スタックと、
前記車両負荷と並列に前記燃料電池スタックに電気的に接続される蓄電装置と、
前記蓄電装置の充電状態を検出する充電状態検出手段と、
前記充電状態検出手段により検出された前記蓄電装置の充電状態に基づいて前記燃料電池スタックの発電電力を制御する制御手段と、を備える燃料電池車両であって、
前記車両負荷は、操作部材の操作に基づいて駆動する駆動モータとしての走行モータと荷役モータとを含み、
前記走行モータ及び前記荷役モータが駆動されることにより車両の走行動作及び荷役動作が単独または同時に行われており、
前記制御手段は、前記充電状態検出手段により検出された前記蓄電装置の充電状態が閾値以下に低下すると、走行動作時には前記走行モータの駆動に制限を加える一方で、荷役動作時には前記荷役モータの駆動に制限を加え、荷役走行同時動作時には前記走行モータの駆動と前記荷役モータの駆動とに制限を加え、前記荷役走行同時動作時に制限を加える際に、前記走行モータの駆動の方が前記荷役モータの駆動よりも制限を小さくしたことを特徴とする燃料電池車両。 - 前記制御手段は、制限を加える際に、前記燃料電池スタックの発電による燃料電池システムの出力電力が前記駆動モータの要求電力以上となるようにしたことを特徴とする請求項1に記載の燃料電池車両。
- 前記制御手段は、制限を加える際に、前記駆動モータの回転数を調整することにより制限を加えることを特徴とする請求項1または2に記載の燃料電池車両。
- 前記制御手段は、前記制限を加えた後において、前記充電状態検出手段により検出された前記蓄電装置の充電状態が閾値以上に回復すると、前記制限を解除することを特徴とする請求項1〜3のいずれか1項に記載の燃料電池車両。
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