JP6973151B2 - モータの制御装置 - Google Patents
モータの制御装置 Download PDFInfo
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- JP6973151B2 JP6973151B2 JP2018023685A JP2018023685A JP6973151B2 JP 6973151 B2 JP6973151 B2 JP 6973151B2 JP 2018023685 A JP2018023685 A JP 2018023685A JP 2018023685 A JP2018023685 A JP 2018023685A JP 6973151 B2 JP6973151 B2 JP 6973151B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/50—Control strategies for responding to system failures, e.g. for fault diagnosis, failsafe operation or limp mode
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/023—Avoiding failures by using redundant parts
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/035—Bringing the control units into a predefined state, e.g. giving priority to particular actuators
-
- 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
- H02P31/00—Arrangements for regulating or controlling electric motors not provided for in groups H02P1/00 - H02P5/00, H02P7/00 or H02P21/00 - H02P29/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
- B60W2050/0006—Digital architecture hierarchy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0044—In digital systems
- B60W2050/0045—In digital systems using databus protocols
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- 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)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Power Engineering (AREA)
- Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Description
モータの制御指令を生成する第1制御部と、
前記第1制御部と通信可能で前記モータを制御する第2制御部と、
を備えるモータの制御装置であって、
前記第1制御部と前記第2制御部とは、第1通信線を介して互いに接続されると共に、少なくとも1つの第3制御部と共に第2通信線に接続され、
前記第1通信線に異常が生じていないときには、
前記第1制御部は、前記制御指令の第1データを前記第1通信線を介して前記第2制御部に送信し、
前記第2制御部は、前記第1データに基づいて前記モータを制御し、
前記第1通信線に異常が生じたときには、
前記第1制御部は、前記制御指令に基づいて前記第1データよりもデータ量の少ない第2データを生成すると共に前記第2データを前記第2通信線を介して前記第2制御部に送信し、
前記第2制御部は、前記第2データに基づいて前記モータを制御する、
ことを要旨とする。
Tm*[k]=前回Tcom+ΔTm[k] (2)
Claims (5)
- モータの制御指令を生成する第1制御部と、
前記第1制御部と通信可能で前記モータを制御する第2制御部と、
を備えるモータの制御装置であって、
前記第1制御部と前記第2制御部とは、第1通信線を介して互いに接続されると共に、少なくとも1つの第3制御部と共に第2通信線に接続され、
前記第1通信線に異常が生じていないときには、
前記第1制御部は、前記制御指令の第1データを前記第1通信線を介して前記第2制御部に送信し、
前記第2制御部は、前記第1データに基づいて前記モータを制御し、
前記第1通信線に異常が生じたときには、
前記第1制御部は、前記制御指令に基づいて前記第1データよりもデータ量の少ない第2データを生成すると共に前記第2データを前記第2通信線を介して前記第2制御部に送信し、
前記第2制御部は、前記第2データに基づいて前記モータを制御する、
モータの制御装置。 - 請求項1記載のモータの制御装置であって、
前記第1データは、前記モータのトルク指令値の第1ビット数のデータであり、
前記第2データは、前記トルク指令値の変化率に基づく変化率データと、前記トルク指令値に基づく指令値データと、を組み合わせた第2ビット数のデータである、
モータの制御装置。 - 請求項2記載のモータの制御装置であって、
前記第2制御部は、前記第2データに含まれる前記変化率データおよび前記指令値データを用いて各時刻の制御用トルクを設定し、前記制御用トルクを用いて前記モータを制御する、
モータの制御装置。 - 請求項3記載のモータの制御装置であって、
前記第2制御部は、
前記指令値データを前記トルク指令値に変換し、
前記変化率データに基づいて、前記制御用トルクの時間変化の様子を示した複数のマップから1つのマップを選択し、
選択した前記マップと、今回および前回の前記トルク指令値と、前記第2データを受信してからの経過時間と、に基づいて各時刻の前記制御用トルクを設定する、
モータの制御装置。 - 請求項1ないし4のうちの何れか1つの請求項に記載のモータの制御装置であって、
走行用の前記モータと共に車両に搭載され、
前記第1通信線に異常が生じたときには、前記第1制御部と前記第2制御部との前記第2通信線を介した通信を伴って前記第2制御部により前記モータを制御して走行を行なう、
モータの制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018023685A JP6973151B2 (ja) | 2018-02-14 | 2018-02-14 | モータの制御装置 |
CN201910108846.XA CN110165973B (zh) | 2018-02-14 | 2019-02-03 | 马达***以及马达***的控制方法 |
US16/270,650 US11091147B2 (en) | 2018-02-14 | 2019-02-08 | Motor system and control method for motor system |
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JP2018023685A JP6973151B2 (ja) | 2018-02-14 | 2018-02-14 | モータの制御装置 |
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JP2019140835A JP2019140835A (ja) | 2019-08-22 |
JP6973151B2 true JP6973151B2 (ja) | 2021-11-24 |
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JP (1) | JP6973151B2 (ja) |
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JP7172952B2 (ja) * | 2019-10-31 | 2022-11-16 | 株式会社デンソー | モータ駆動システム |
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DE3800977A1 (de) * | 1988-01-15 | 1989-07-27 | Ant Nachrichtentech | Digitalsignal-uebertragungssystem mit linienersatzbetrieb |
JP3660105B2 (ja) | 1997-07-30 | 2005-06-15 | 光洋精工株式会社 | 車両用制御装置 |
JP3476770B2 (ja) * | 2000-12-18 | 2003-12-10 | 科学技術振興事業団 | 電気自動車の制御装置 |
JP4242405B2 (ja) * | 2006-09-15 | 2009-03-25 | 三菱電機株式会社 | 車載電子制御装置 |
JP2009259040A (ja) | 2008-04-17 | 2009-11-05 | Toshiba Corp | 制御システム |
JP5257050B2 (ja) * | 2008-12-19 | 2013-08-07 | 日本精工株式会社 | 電動パワーステアリング装置 |
JP5177562B2 (ja) | 2009-01-13 | 2013-04-03 | 株式会社エクォス・リサーチ | 車両 |
JP5511934B2 (ja) * | 2012-11-14 | 2014-06-04 | 三菱電機株式会社 | モータ制御装置、モータ制御方法および電動パワーステアリング装置 |
CN103136911B (zh) * | 2013-01-25 | 2015-01-07 | 北京硕人时代科技股份有限公司 | 一种基于后备冗余数据的低功耗在线采集***和采集方法 |
JP6182770B2 (ja) * | 2013-08-30 | 2017-08-23 | 日立オートモティブシステムズ株式会社 | 電動車両制御システム |
JP6365072B2 (ja) * | 2014-07-29 | 2018-08-01 | 株式会社デンソー | ハイブリッド車両システム |
JP2016127778A (ja) * | 2015-01-08 | 2016-07-11 | 株式会社東芝 | 二次電池のための監視制御装置、監視制御方法、およびこの監視制御装置が適用された電源装置 |
JP6248976B2 (ja) * | 2015-04-23 | 2017-12-20 | トヨタ自動車株式会社 | 電動車両 |
JP6694325B2 (ja) * | 2016-05-19 | 2020-05-13 | 本田技研工業株式会社 | 車両制御システム |
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2019
- 2019-02-03 CN CN201910108846.XA patent/CN110165973B/zh active Active
- 2019-02-08 US US16/270,650 patent/US11091147B2/en active Active
Also Published As
Publication number | Publication date |
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US11091147B2 (en) | 2021-08-17 |
JP2019140835A (ja) | 2019-08-22 |
CN110165973B (zh) | 2022-09-20 |
US20190248363A1 (en) | 2019-08-15 |
CN110165973A (zh) | 2019-08-23 |
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