JPS6289403A - Electric type differential driving apparatus - Google Patents
Electric type differential driving apparatusInfo
- Publication number
- JPS6289403A JPS6289403A JP60227505A JP22750585A JPS6289403A JP S6289403 A JPS6289403 A JP S6289403A JP 60227505 A JP60227505 A JP 60227505A JP 22750585 A JP22750585 A JP 22750585A JP S6289403 A JPS6289403 A JP S6289403A
- Authority
- JP
- Japan
- Prior art keywords
- torque
- deviation
- motors
- inverter
- inverters
- 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.)
- Granted
Links
Classifications
-
- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、車両の電動機駆動において、車輪がカーブを
走行する際に生ずる内側車輪、夕（側車輪の回転速度差
によるトルクアンバランスに対し、左右車輪に別々に結
合した電動機の制御によってバランスの良い運転をする
だめの装置に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention solves the torque imbalance caused by the rotational speed difference between the inner wheel and the side wheel, which occurs when the wheels run around a curve in the electric motor drive of a vehicle. , relates to a device for achieving well-balanced driving by controlling electric motors connected to left and right wheels separately.
第４図は、電気式車両の駆動機構を示すものであり、前
輪１．２はそれぞれ電動機５．６で駆動され、左右独立
した制御装置７．８により制御される。図中３．４は後
輪である。FIG. 4 shows the drive mechanism of the electric vehicle, in which the front wheels 1.2 are each driven by an electric motor 5.6 and controlled by left and right independent control devices 7.8. In the figure, 3.4 is the rear wheel.
このような車両駆動は、従来、直流電動機により駆動さ
れていた。これは、始動トルクが大きいこと、速度制御
を行いやすいことのためである。Conventionally, such vehicles have been driven by DC motors. This is because the starting torque is large and speed control is easy to perform.
直流電動機駆動でトルクバランスをとる一つの方法とし
て、第５図の方式が実用されている。The method shown in FIG. 5 is in practical use as one method of achieving torque balance in a DC motor drive.
第５図において、Ｌは左側の車輪用電動機、Ｒは右側の
車輪用電動機である。２台の電動機は直列に接続してい
るので、同一電流が流れる。車両が曲線走行に移り、両
型動機に速度差が生じると、速度差に応して電機子電圧
の分担が変化する。従って、界磁を一定に保つと両型動
機のトルクはバランスする。界磁電流を電機子電圧に反
比例するように制御すると、両型動機の出力バランスが
保たれる。In FIG. 5, L is an electric motor for the left wheel, and R is an electric motor for the right wheel. Since the two motors are connected in series, the same current flows through them. When the vehicle starts traveling on a curve and a speed difference occurs between the two types of motors, the armature voltage distribution changes in accordance with the speed difference. Therefore, if the field is kept constant, the torques of both types of motors will be balanced. By controlling the field current so that it is inversely proportional to the armature voltage, the output balance of both types of motors is maintained.
この第５図の方式の難点の一つは、一方の車両が空転し
た場合、その車輪を駆動する電動機に全電圧が加わり、
電圧飽和で電流を流せない状態になって駆動力を失うこ
とになることである。One of the drawbacks of the system shown in Figure 5 is that when one vehicle is idling, full voltage is applied to the electric motor driving that wheel.
The problem is that the voltage becomes saturated and the current cannot flow, resulting in a loss of driving force.
一方、インバータによる交流電動機ドライブの技術が向
上するとともに、無保守化、悪環境への適用のニーズも
高まり、本駆動装置の交流化の要求が強い。On the other hand, as the technology of AC motor drives using inverters improves, the need for maintenance-free and application to harsh environments increases, and there is a strong demand for AC motor drives.
この要求に対し、電動機の２次１１（抗を大きくする方
法があるが、効率を極度に低下さゼる欠点がある。また
、ヘクトル制御インバータを適用して、制御によりトル
クバランスを与える方法もあるが、システムが複雑にな
る欠点がある。To meet this demand, there is a method of increasing the secondary resistance of the electric motor, but it has the disadvantage of extremely reducing efficiency.Also, there is a method of applying a hector control inverter to provide torque balance through control. However, the disadvantage is that the system becomes complicated.
（発明が解決しようとする問題点〕
本発明は、このような従来の問題点に鑑みて発明された
ものであり、インバータで給電する交流電動機で車両の
左右車輪を個別に駆動する装置において、曲線走行時に
、左右の速度差が生じても、双方のトルクまたは出ツノ
をバランスさせ、また一方の車輪が空転した場合でも、
速度差が、設定された値以上に一トがらず常に駆動力を
確保できる制御方式を捉供することをＩＪ的とするもの
である。(Problems to be Solved by the Invention) The present invention was invented in view of these conventional problems, and provides an apparatus for individually driving left and right wheels of a vehicle using an AC motor supplied with power by an inverter. When driving on a curve, even if there is a speed difference between the left and right sides, it balances the torque or output of both sides, and even if one wheel is spinning,
The purpose of IJ is to provide a control system that can always ensure driving force without causing the speed difference to exceed a set value.
本発明は、左右の駆動車輪を駆動する左右個別の誘導電
動機のトルク差を検出し、そのトルク差の最大幅を規制
した上でそのトルク差信号をその符号に応じて速度設定
値から加算および減算し、それぞれ前記誘導電動機制御
回路の速度指令値として与えるようにしたものである。The present invention detects the torque difference between the left and right individual induction motors that drive the left and right drive wheels, regulates the maximum width of the torque difference, and then adds the torque difference signal from the speed setting value according to its sign. The subtracted values are respectively given as speed command values for the induction motor control circuit.
以下、本発明を図面に示す実施例に基づいて具体的に説
明する。Hereinafter, the present invention will be specifically described based on embodiments shown in the drawings.
第１図は本発明のブロック図を示すものであり、左右車
輪を駆動する各電動機５，６はそれぞれ個別のインバー
タ１０．１１で給電し、各インバータは、トルクまたは
出力を電気的に検出できる機能を持たせておく（トルク
検出ブロンク１２．１３）。図中１４は偏差検出器、１
５は信号平滑のための１次遅れ要素、１６は空転防止の
ためのトルク制限ブロック、１７．１８はそれぞれ減算
器および加算器、１９は周波数設定器、２０は整流器、
２１はインバータにブレーキ機能を持たせる制動ブロッ
クである。FIG. 1 shows a block diagram of the present invention, in which each electric motor 5, 6 driving the left and right wheels is powered by an individual inverter 10, 11, and each inverter can electrically detect torque or output. (Torque detection bronch 12.13). In the figure, 14 is a deviation detector, 1
5 is a first-order delay element for signal smoothing, 16 is a torque limit block for preventing slippage, 17.18 is a subtracter and an adder, respectively, 19 is a frequency setter, 20 is a rectifier,
21 is a braking block that gives the inverter a braking function.
検出したトルクまたは出力（ＫＷ）の差をとり、これを
各インバータ１０．１１の周波数指令にフィードバンク
する。フィードバックの極性は、負荷が重い方のインバ
ータの周波数を下げ、負荷が軽い方の周波数を上げるよ
うにする。The difference between the detected torques or outputs (KW) is taken and fed to the frequency command of each inverter 10.11. The polarity of the feedback is such that the frequency of the inverter with a heavier load is lowered and the frequency of the inverter with a lighter load is increased.
このようにして、速度差によって負荷トルクの変動がで
きる、その差を検出して、２台のインバータ１０．１１
の周波数指令に差をつけ、バランスを保たせる。In this way, the load torque can vary depending on the speed difference, and by detecting the difference, the two inverters 10.11
Differentiate the frequency commands to maintain balance.
トルクまたは出力の検出については、最近のインバータ
は、電圧自動補償、スト−ル（脱調）防止、ロードメー
タ（負荷監視）などの目的に使うために、有効電流また
は有効電力の演算によって、トルクまたは出力に相当す
る信号を検出する機能を備えている。Regarding torque or output detection, modern inverters are capable of detecting torque by calculating active current or active power for purposes such as automatic voltage compensation, stall prevention, and load monitoring. Or it has a function to detect a signal corresponding to the output.
また、本発明のような目的に対しては、誘導電動機自体
がすべりを持っており、多少のトルクアンバランスは許
容できるので、トルクまたは出力検出の精度は厳密なも
のである必要はない。Furthermore, for the purpose of the present invention, the induction motor itself has slippage and some torque imbalance can be tolerated, so the accuracy of torque or output detection does not need to be exact.
また、各インバータに検出機能を設け、その差をとる方
法を一歩進めて、第２図のように１個の直流変流器（Ｃ
Ｔ）でインバータ直流主回路電流差を直接検出すること
ができる。In addition, by providing a detection function in each inverter and taking the difference one step further, one DC current transformer (C
T) can directly detect the inverter DC main circuit current difference.
直流電流は、直流電圧が一定のパルス幅変調（ＰＷＭ）
方式の場合は、出力電力にほぼ比例し、直流電圧を変化
させて出力電圧制御するパルス振幅変調（ｐＡＭ）方式
では、トルクにほぼ比例する。Direct current is pulse width modulated (PWM) where the DC voltage is constant.
In the case of the pulse amplitude modulation (pAM) method, which controls the output voltage by changing the DC voltage, it is approximately proportional to the torque.
トルクまたは出力偏差のフィードバンク回路に第１図の
ように制限回路１６を設けることにより、車輪空転時の
速度差を制限し、駆動力を確保することができる。また
、第３図のように不感帯を入れることにより、検出誤差
などに対し、安定な動作をさせることができる。By providing the limiting circuit 16 in the torque or output deviation feed bank circuit as shown in FIG. 1, it is possible to limit the speed difference when the wheels are idling and ensure the driving force. Furthermore, by providing a dead zone as shown in FIG. 3, stable operation can be achieved against detection errors.
上述したように本発明によれば、車両の左右車輪を個別
インバータ駆動する装置において、左右駆動装置のトル
クまたは出力（電力）偏差をインバータ周波数指令にフ
ィードバンクする簡単な回路を追加することに、１、す
、ディファレンシャルギヤ（差動歯車）の効果を電気的
に得ることができ、経済的でしかも安定な車両の駆動が
できるという効果を奏するものである。As described above, according to the present invention, in a device for individually driving the left and right wheels of a vehicle by inverters, adding a simple circuit that feedbanks the torque or output (power) deviation of the left and right drive devices to an inverter frequency command, 1. The effect of a differential gear can be obtained electrically, and the vehicle can be driven economically and stably.
第１図は本発明の実施例の構成を示すブロック図、第２
図は直流変流器を用いた他の実施例を示すブロック図、
第３図はフィードバック信号に不感帯を設ける場合の、
トルク偏差とフィードバック値との関係を示すグラフ、
第４図は電気車両の駆動機構の説明図、第５図は直流電
動機を用いた場合の差動駆動装置のブロック図である。
１．２：前輪
３．４：後輪
５．６＝電動機
１０．１１：インバータ
１２．１３：トルク検出ブロック
１４：偏差検出器
１５：１次遅れ要素
１６：トルク制限ブ１１ツク
１７ ：減算器
１８：加算器
１９１周波数設定器
２０：整流器
２１ｉ制動機能ブロックFIG. 1 is a block diagram showing the configuration of an embodiment of the present invention, and FIG.
The figure is a block diagram showing another embodiment using a DC current transformer,
Figure 3 shows the case where a dead zone is provided in the feedback signal.
A graph showing the relationship between torque deviation and feedback value,
FIG. 4 is an explanatory diagram of a drive mechanism of an electric vehicle, and FIG. 5 is a block diagram of a differential drive device using a DC motor. 1.2: Front wheel 3.4: Rear wheel 5.6 = Electric motor 10.11: Inverter 12.13: Torque detection block 14: Deviation detector 15: First-order delay element 16: Torque limit block 11 block 17: Subtractor 18: Adder 191 Frequency setter 20: Rectifier 21i Braking function block
Claims (1)
、同左右の誘導電動機のトルク差を検出するトルク差検
出器と、そのトルク差の最大幅を規制するトルク制限手
段とを備え、その最大幅を規制されたトルク差信号をそ
の信号の符号に応じて速度設定値から加算および減算し
、それぞれ前記誘導電動機制御回路の速度指令値として
与えることを特徴とする電気式差動駆動装置。1.Equipped with separate left and right induction motors that drive the left and right drive wheels, a torque difference detector that detects the torque difference between the left and right induction motors, and a torque limiter that regulates the maximum width of the torque difference. An electric differential drive device characterized in that a torque difference signal whose maximum width is regulated is added to and subtracted from a speed setting value according to the sign of the signal, and each of the signals is provided as a speed command value for the induction motor control circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60227505A JPH088722B2 (en) | 1985-10-12 | 1985-10-12 | Electric differential drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60227505A JPH088722B2 (en) | 1985-10-12 | 1985-10-12 | Electric differential drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6289403A true JPS6289403A (en) | 1987-04-23 |
| JPH088722B2 JPH088722B2 (en) | 1996-01-29 |
Family
ID=16861946
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60227505A Expired - Lifetime JPH088722B2 (en) | 1985-10-12 | 1985-10-12 | Electric differential drive |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH088722B2 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0587120A3 (en) * | 1992-09-11 | 1994-07-13 | Fuji Electric Co Ltd | Driving system for an electric vehicle |
| FR2701436A1 (en) * | 1993-02-16 | 1994-08-19 | Auxelic | Electric traction chain with driving axle with electric differential effect. |
| WO2011071014A1 (en) * | 2009-12-11 | 2011-06-16 | Ntn株式会社 | Control apparatus and control method for electrically driven vehicle |
| JP2013251973A (en) * | 2012-05-31 | 2013-12-12 | Ntn Corp | Speed control device of electric vehicle |
| JP2014147291A (en) * | 2014-05-21 | 2014-08-14 | Ntn Corp | Control apparatus for electric vehicle |
| JP2016188143A (en) * | 2016-02-18 | 2016-11-04 | 三井造船株式会社 | Crane and method for controlling crane |
| US10167177B2 (en) | 2015-03-27 | 2019-01-01 | Mitsui Engineering & Shipbuilding Co., Ltd. | Crane, and crane control method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102515525B (en) * | 2011-11-22 | 2014-03-12 | 上海罗金玻璃有限公司 | Glass with high transmissivity of ultraviolet A and preparation method for same |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6032501A (en) * | 1983-07-22 | 1985-02-19 | Fuji Electric Co Ltd | Control system of electric vehicle |
| JPS60106386A (en) * | 1983-11-10 | 1985-06-11 | Hitachi Ltd | Variable speed controller for induction machine |
-
1985
- 1985-10-12 JP JP60227505A patent/JPH088722B2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6032501A (en) * | 1983-07-22 | 1985-02-19 | Fuji Electric Co Ltd | Control system of electric vehicle |
| JPS60106386A (en) * | 1983-11-10 | 1985-06-11 | Hitachi Ltd | Variable speed controller for induction machine |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0587120A3 (en) * | 1992-09-11 | 1994-07-13 | Fuji Electric Co Ltd | Driving system for an electric vehicle |
| US5487438A (en) * | 1992-09-11 | 1996-01-30 | Fuji Electric Co., Ltd. | Driving system for an electric vehicle |
| FR2701436A1 (en) * | 1993-02-16 | 1994-08-19 | Auxelic | Electric traction chain with driving axle with electric differential effect. |
| WO1994019208A1 (en) * | 1993-02-16 | 1994-09-01 | Auxilec | Electric drive system with electric differential effect drive axle |
| CN102656050A (en) * | 2009-12-11 | 2012-09-05 | Ntn株式会社 | Control apparatus and control method for electrically driven vehicle |
| JP2011125150A (en) * | 2009-12-11 | 2011-06-23 | Ntn Corp | Device and method for controlling electric vehicle |
| WO2011071014A1 (en) * | 2009-12-11 | 2011-06-16 | Ntn株式会社 | Control apparatus and control method for electrically driven vehicle |
| CN102656050B (en) * | 2009-12-11 | 2015-04-01 | Ntn株式会社 | Control apparatus and control method for electrically driven vehicle |
| US9211807B2 (en) | 2009-12-11 | 2015-12-15 | Ntn Corporation | Control apparatus and control method for electrically driven vehicle |
| JP2013251973A (en) * | 2012-05-31 | 2013-12-12 | Ntn Corp | Speed control device of electric vehicle |
| JP2014147291A (en) * | 2014-05-21 | 2014-08-14 | Ntn Corp | Control apparatus for electric vehicle |
| US10167177B2 (en) | 2015-03-27 | 2019-01-01 | Mitsui Engineering & Shipbuilding Co., Ltd. | Crane, and crane control method |
| JP2016188143A (en) * | 2016-02-18 | 2016-11-04 | 三井造船株式会社 | Crane and method for controlling crane |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH088722B2 (en) | 1996-01-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4701682A (en) | Control system for maintaining traction of rolling stock | |
| JPS624923B2 (en) | ||
| EP0022267A1 (en) | Control system for induction motor-driven car | |
| JPS6289403A (en) | Electric type differential driving apparatus | |
| JPH0355389B2 (en) | ||
| JPH10194650A (en) | Controller for escalator | |
| JP3234120B2 (en) | Inverter for elevator | |
| JPS61262006A (en) | Controller of induction motor for vehicle | |
| JPH10262392A (en) | Inverter controller | |
| JPS61122078A (en) | Controller of motor type power steering device | |
| JP2645159B2 (en) | Induction machine control device | |
| JPH055835Y2 (en) | ||
| JPS6171275A (en) | Motor power steering system | |
| JP2835055B2 (en) | Electric car control device | |
| SK3572000A3 (en) | Device for controlling the adherence of an electrically driven railway train | |
| JP2594968B2 (en) | Drive control device for induction motor | |
| JP3367617B2 (en) | Control method and device for dynamic braking device | |
| JPH08164863A (en) | Electric power steering device | |
| JPS61161974A (en) | Regenerative controller of ac motor | |
| JPS58103807A (en) | Control system for electric rolling stock | |
| JPS6281990A (en) | Controller for induction motor | |
| JPH0552155B2 (en) | ||
| JPS60261385A (en) | Control system of inverter for induction motor | |
| JPS6059990A (en) | Operation controlling method of inverter drive induction motor | |
| JPH031918B2 (en) |