WO2009084401A1 - 車両のスリップ制御装置 - Google Patents
車両のスリップ制御装置 Download PDFInfo
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- WO2009084401A1 WO2009084401A1 PCT/JP2008/072557 JP2008072557W WO2009084401A1 WO 2009084401 A1 WO2009084401 A1 WO 2009084401A1 JP 2008072557 W JP2008072557 W JP 2008072557W WO 2009084401 A1 WO2009084401 A1 WO 2009084401A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- slip
- rotational speed
- motor
- vehicle
- control device
- Prior art date
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Classifications
-
- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
Definitions
- the present invention relates to a slip control device for controlling a motor that transmits power to a drive shaft connected to a drive wheel of a wheel.
- Japanese Patent Application Laid-Open No. 2004-112973 discloses a traction control that determines that a slip has occurred when the angular acceleration of a drive shaft that transmits power to a drive wheel exceeds a predetermined threshold, and limits the drive torque. It mentions. In the same publication, even when the angular acceleration of the drive shaft exceeds a predetermined threshold, when it is determined that the driving state of the vehicle is a state in which the angular acceleration of the drive shaft varies without depending on the slip. It also mentions prohibiting the limitation of drive torque. JP 2004-112973 A
- a PWM (Pulse Wide Modulation) signal that controls the inverter that supplies AC power to the motor
- the resolver pickup period for detecting the rotor position (angular velocity) of the motor may resonate, and fluctuations may occur in the resolver detection signal.
- Such fluctuations in the resolver detection signal may be misjudged as meaning an increase in the angular acceleration of the motor (slip occurrence), and the drive torque is limited despite the grip running. It was a factor causing unexpected malfunctions.
- an object of the present invention is to propose a slip control device for a vehicle that avoids erroneous slip determination in a high rotation range of the motor.
- a slip control device for a vehicle is a slip control device that controls a motor that transmits power to a drive shaft connected to a drive wheel of a wheel, and a rotational speed detection device that detects the rotational speed of the motor; Detected by an angular acceleration detection device that detects angular acceleration of the drive shaft, a slip determination device that determines whether or not the drive wheel is slipping based on the angular acceleration detected by the angular acceleration detection device, and a rotational speed detection device When the detected rotation speed is less than a predetermined threshold value, slip determination by the slip determination apparatus is permitted, while when the rotation speed detected by the rotation speed detection apparatus is greater than or equal to a predetermined threshold value, A slip determination execution condition determination device that prohibits determination.
- slip determination in the high rotation range of the motor can be avoided by prohibiting slip determination by the slip determination device.
- the predetermined threshold value be the minimum number of rotations of the motor rotation range in which the slip determination device erroneously determines the slip based on the detection error of the angular velocity detection device.
- FIG. 1 shows a system configuration of a fuel cell system 100 that functions as an in-vehicle power supply system for a fuel cell vehicle.
- the fuel cell stack 40 is a solid polymer electrolyte type cell stack formed by stacking a large number of cells in series.
- the fuel cell stack 40 is a membrane-electrode junction in which an anode electrode 42 and a cathode electrode 43 are formed by screen printing or the like on both surfaces of a polymer electrolyte membrane 41 made of a proton conductive ion exchange membrane or the like made of a fluorine resin or the like.
- a body (MEA) 44 is provided. Both surfaces of the membrane-electrode assembly 44 are sandwiched by a ribbed separator (not shown), and a grooved anode gas channel and cathode gas channel are formed between the separator and the anode electrode 42 and the cathode electrode 43, respectively.
- the oxidation reaction of the formula (1) occurs at the anode electrode
- the reduction reaction of the equation (2) occurs at the cathode electrode.
- the fuel cell stack 40 as a whole undergoes an electromotive reaction of the formula
- the fuel cell stack 40 is provided with a voltage sensor 91 for detecting the output voltage of the fuel cell stack 40 and a current sensor 92 for detecting the output current.
- the fuel gas supply source 70 is composed of, for example, a high-pressure hydrogen tank or a hydrogen storage alloy, and stores high-pressure (for example, 35 MPa to 70 MPa) hydrogen gas.
- the supply pressure of the hydrogen gas is regulated by the pressure regulating valve 71.
- the oxidizing gas supply source 80 is, for example, an air compressor that pressurizes air taken from the atmosphere and supplies pressurized air (oxidizing gas).
- the supply pressure of the pressurized air is regulated by the pressure regulating valve 81.
- the fuel cell system 100 is configured as a parallel hybrid system in which the DC / DC converter 30 and the traction inverter 60 are connected to the fuel cell stack 40 in parallel.
- the DC / DC converter 30 boosts the DC voltage supplied from the battery 20 and outputs it to the traction inverter 60, and the DC power generated by the fuel cell stack 40 or the regenerative power recovered by the traction motor 61 by regenerative braking. And the function of charging the battery 20 by lowering the voltage.
- the charge / discharge of the battery 20 is controlled by these functions of the DC / DC converter 30. Further, the operation point (output voltage, output current) of the fuel cell stack 40 is controlled by voltage conversion control by the DC / DC converter 30.
- the battery 20 functions as a surplus power storage source, a regenerative energy storage source during regenerative braking, and an energy buffer during load fluctuations associated with acceleration or deceleration of the fuel cell vehicle.
- the battery 20 is preferably a secondary battery such as a nickel / cadmium storage battery, a nickel / hydrogen storage battery, or a lithium secondary battery.
- the battery 20 is provided with an SOC sensor 21 for detecting SOC (State-of-charge).
- the traction inverter 60 is, for example, a PWM inverter driven by a pulse width modulation method, and converts a DC voltage output from the fuel cell stack 40 or the battery 20 into a three-phase AC voltage according to a control command from the control unit 10.
- the rotational torque of the traction motor 61 is controlled.
- the traction motor 61 is a three-phase AC motor, for example, and constitutes a power source of the fuel cell vehicle.
- the drive shaft 65 transmits the drive torque output from the traction motor 61 to the drive wheels 63L and 63R via the reduction gear 62.
- An angular velocity detection sensor 64 that detects the angular velocity of the drive shaft 65 is attached to the drive shaft 65.
- a resolver (variable reluctance type angle detection device) that detects the rotor position of the traction motor 61 is suitable.
- the angular velocity of the drive shaft 65 is proportional to the motor speed.
- Auxiliary machines 50 are motors (for example, power sources such as pumps) disposed in each part of the fuel cell system 100, inverters for driving these motors, and various on-vehicle auxiliary machines.
- motors for example, power sources such as pumps
- inverters for driving these motors
- various on-vehicle auxiliary machines for example, an air compressor, an injector, a cooling water circulation pump, a radiator, etc.
- an air compressor, an injector, a cooling water circulation pump, a radiator, etc. is a general term.
- the control unit 10 receives output signals from various sensors (for example, the voltage sensor 91, the current sensor 92, the SOC sensor 21, the angular velocity detection sensor 64, etc.) and controls each part of the fuel cell system 100. For example, when the control unit 10 receives the start signal IG output from the ignition switch, the control unit 10 starts the operation of the fuel cell system 100, and the accelerator opening signal ACC output from the accelerator sensor or the vehicle speed output from the vehicle speed sensor. Based on the signal VC and the like, the vehicle running power and the auxiliary machine power consumption are calculated.
- various sensors for example, the voltage sensor 91, the current sensor 92, the SOC sensor 21, the angular velocity detection sensor 64, etc.
- auxiliary electric power includes electric power consumed by in-vehicle auxiliary equipment (humidifier, air compressor, hydrogen pump, cooling water circulation pump, etc.), and equipment required for vehicle travel (transmission, wheel control device, steering) Power consumed by devices, suspension devices, etc.), power consumed by devices (air conditioners, lighting equipment, audio, etc.) disposed in the passenger space, and the like.
- in-vehicle auxiliary equipment humidity, air compressor, hydrogen pump, cooling water circulation pump, etc.
- equipment required for vehicle travel transmission, wheel control device, steering
- devices air conditioners, lighting equipment, audio, etc.
- the control unit 10 determines the distribution of the output power of each of the fuel cell stack 40 and the battery 20, and the fuel gas supply source 70 and the oxidizing gas so that the power generation amount of the fuel cell stack 40 matches the target power.
- the control unit 10 outputs the U-phase, V-phase, and W-phase AC voltage command values to the traction inverter 60 as switching commands, for example, so as to obtain a target torque according to the accelerator opening, The output torque of the traction motor 61 and the rotation speed are controlled.
- FIG. 2 shows a slip determination execution condition determination flow according to the present embodiment.
- This slip determination execution condition determination flow is repeatedly executed every predetermined calculation cycle.
- the control unit 10 reads the angular velocity detection signal output from the angular velocity detection sensor 64 to detect the motor rotational speed (step 201), and whether the rotational speed of the traction motor 61 is equal to or greater than a predetermined threshold Nm [rpm]. It is determined whether or not (step 202).
- the threshold value Nm the PWM signal for controlling the traction inverter 60 resonates with the pickup cycle of the angular velocity detection sensor 64 even though the fuel cell vehicle is gripping, and the angular velocity detection sensor 64 detects the angular velocity.
- the minimum number of rotations in the rotation range where the signal fluctuates is preferable.
- the rotation speed of the traction motor 61 is equal to or greater than the threshold value Nm (step 202; YES)
- the angular velocity detection signal fluctuates and is erroneously determined as meaning an increase in angular acceleration (slip occurrence) of the traction motor 61. Since there is a possibility, the control unit 10 prohibits the slip determination (step 203).
- the control unit 10 permits the slip determination (step 204).
- the control unit 10 calculates the angular acceleration ⁇ of the drive shaft 65 based on the angular velocity detection signal output from the angular velocity detection sensor 64, and whether or not the angular acceleration ⁇ exceeds a predetermined threshold ⁇ th.
- the angular acceleration ⁇ exceeds the threshold value ⁇ th, it is determined that slip has occurred in the drive wheels 63L and 63R, and the slip amounts of the drive wheels 63L and 63R match the target slip amount.
- the driving torque of the traction motor 61 is limited to suppress overdischarge of the battery 20 during slip traveling.
- the slip determination is prohibited, so that it is possible to avoid a slip erroneous determination in a high rotation range of Nm or more.
- the higher the motor rotation speed the smaller the motor torque. Therefore, considering that the power error at the time of slip generation becomes smaller as the rotation speed increases, slip judgment is prohibited in the high rotation range of Nm or more.
- the motor rotation range for erroneous slip determination is limited to the high rotation range, the erroneous slip determination is not performed in the low rotation range.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
図1は燃料電池車両の車載電源システムとして機能する燃料電池システム100のシステム構成を示す。
(1/2)O2+2H++2e- → H2O …(2)
H2+(1/2)O2 → H2O …(3)
このスリップ判定実行条件判定フローは、所定の演算周期毎に繰り返し実行されるものとする。
制御ユニット10は、角速度検出センサ64から出力される角速度検出信号を読み取ることにより、モータ回転数を検出し(ステップ201)、トラクションモータ61の回転数が所定の閾値Nm[rpm]以上であるか否かを判定する(ステップ202)。閾値Nmとしては、燃料電池車両がグリップ走行をしているにも関らず、トラクションインバータ60を制御するPWM信号と、角速度検出センサ64のピックアップ周期とが共振し、角速度検センサ64の角速度検出信号に揺らぎが発生する回転域(スリップ誤判定し易い回転域)の最小回転数が好適である。トラクションモータ61の回転数が閾値Nm以上である場合(ステップ202;YES)、角速度検出信号に揺らぎが発生し、トラクションモータ61の角加速度の上昇(スリップ発生)を意味するものとして誤判定される可能性があるので、制御ユニット10は、スリップ判定を禁止する(ステップ203)。一方、トラクションモータ61の回転数が所定の閾値Nm未満である場合(ステップ202;NO)、制御ユニット10は、スリップ判定を許可する(ステップ204)。
Claims (2)
- 車輪の駆動輪に接続された駆動軸に動力を伝達するモータを制御するスリップ制御装置であって、
前記モータの回転数を検出する回転数検出装置と、
前記駆動軸の角加速度を検出する角加速度検出装置と、
前記角加速度検出装置により検出された角加速度に基づいて前記駆動輪がスリップしているか否かを判定するスリップ判定装置と、
前記回転数検出装置により検出された回転数が所定の閾値未満である場合に、前記スリップ判定装置によるスリップ判定を許可する一方、前記回転数検出装置により検出された回転数が所定の閾値以上である場合に、前記スリップ判定装置によるスリップ判定を禁止するスリップ判定実行条件判定装置と、
を備える車両のスリップ制御装置。 - 請求項1に記載の車両のスリップ制御装置であって、
前記所定の閾値は、前記角速度検出装置の検出誤差により前記スリップ判定装置がスリップ誤判定するモータ回転数域の最小回転数である、車両のスリップ制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2008801171113A CN101868370B (zh) | 2007-12-27 | 2008-12-11 | 车辆的滑移控制装置 |
US12/810,474 US8571732B2 (en) | 2007-12-27 | 2008-12-11 | Vehicle skid control device |
DE112008003450.8T DE112008003450B4 (de) | 2007-12-27 | 2008-12-11 | Fahrzeug-Schlupfregelungsvorrichtung |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007-337828 | 2007-12-27 | ||
JP2007337828A JP4281838B1 (ja) | 2007-12-27 | 2007-12-27 | 車両のスリップ制御装置 |
Publications (1)
Publication Number | Publication Date |
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WO2009084401A1 true WO2009084401A1 (ja) | 2009-07-09 |
Family
ID=40824122
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2008/072557 WO2009084401A1 (ja) | 2007-12-27 | 2008-12-11 | 車両のスリップ制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8571732B2 (ja) |
JP (1) | JP4281838B1 (ja) |
CN (1) | CN101868370B (ja) |
DE (1) | DE112008003450B4 (ja) |
WO (1) | WO2009084401A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8554440B1 (en) * | 2010-01-05 | 2013-10-08 | Davis Intellectual Properties LLC | Electronic traction control |
US8773068B2 (en) | 2011-01-20 | 2014-07-08 | Valence Technology, Inc. | Rechargeable battery systems and rechargeable battery system operational methods |
JP2016060219A (ja) * | 2014-09-12 | 2016-04-25 | アイシン精機株式会社 | 車両位置検出装置 |
CN111746300B (zh) * | 2020-06-19 | 2021-11-12 | 智新控制***有限公司 | 集中式驱动电动汽车驱动防滑控制方法及存储介质 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004096823A (ja) * | 2002-08-29 | 2004-03-25 | Toyota Motor Corp | 原動機の制御装置および原動機の制御方法 |
JP2004096825A (ja) * | 2002-08-29 | 2004-03-25 | Toyota Motor Corp | 原動機の制御装置および原動機の制御方法 |
JP2004096822A (ja) * | 2002-08-29 | 2004-03-25 | Toyota Motor Corp | 原動機の制御装置および原動機の制御方法 |
JP2006283591A (ja) * | 2005-03-31 | 2006-10-19 | Hitachi Ltd | 車両駆動力装置 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2946881B2 (ja) * | 1991-11-11 | 1999-09-06 | トヨタ自動車株式会社 | 内燃機関のスロットル弁制御装置 |
US6308115B1 (en) * | 1998-07-29 | 2001-10-23 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Vehicle running condition judgement device |
JP3772815B2 (ja) | 2002-09-20 | 2006-05-10 | トヨタ自動車株式会社 | 車両のスリップ制御装置及びその制御方法 |
-
2007
- 2007-12-27 JP JP2007337828A patent/JP4281838B1/ja active Active
-
2008
- 2008-12-11 US US12/810,474 patent/US8571732B2/en active Active
- 2008-12-11 WO PCT/JP2008/072557 patent/WO2009084401A1/ja active Application Filing
- 2008-12-11 DE DE112008003450.8T patent/DE112008003450B4/de not_active Expired - Fee Related
- 2008-12-11 CN CN2008801171113A patent/CN101868370B/zh not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004096823A (ja) * | 2002-08-29 | 2004-03-25 | Toyota Motor Corp | 原動機の制御装置および原動機の制御方法 |
JP2004096825A (ja) * | 2002-08-29 | 2004-03-25 | Toyota Motor Corp | 原動機の制御装置および原動機の制御方法 |
JP2004096822A (ja) * | 2002-08-29 | 2004-03-25 | Toyota Motor Corp | 原動機の制御装置および原動機の制御方法 |
JP2006283591A (ja) * | 2005-03-31 | 2006-10-19 | Hitachi Ltd | 車両駆動力装置 |
Also Published As
Publication number | Publication date |
---|---|
JP4281838B1 (ja) | 2009-06-17 |
DE112008003450T5 (de) | 2010-12-30 |
CN101868370B (zh) | 2013-09-04 |
US20100280696A1 (en) | 2010-11-04 |
DE112008003450B4 (de) | 2019-06-27 |
CN101868370A (zh) | 2010-10-20 |
US8571732B2 (en) | 2013-10-29 |
JP2009159788A (ja) | 2009-07-16 |
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