Patent Application
20190389301
The present invention relates to a drive control device in which necessary torque limitation is performed and loads on machine elements such as a bearing and a gear is reduced at low temperature.
An in-wheel motor drive device including an electric motor, a wheel bearing, and a speed reducer has been proposed (Patent Document 1). The speed reducer described in Patent Document 1 is lubricated with lubricating oil that is pressure-fed by an oil pump. In the invention described in Patent Document 1, when the temperature of the lubricating oil or the temperature of the electric motor is equal to or lower than a threshold value, an output limitation means limits the output from the electric motor.
[Patent Document 1] JP Laid-open Patent Publication No. 2014-93845
In the prior art, a torque that the motor generates is limited through determination of a limited torque value based only on the oil temperature or the motor temperature. In such case, for example, on a downslope or the like, the electric motor is sometimes rotated at a high speed even with a limited torque. If the electric motor is rotated at a high speed and oil supply is not sufficient, a malfunction can occur in a portion of the bearing or the speed reducer. If a small limited torque value, i.e., a large torque limitation amount, which is suitable for a downslope, is set, a possibility such as significant deterioration of accelerating performance or incapability of running upslope, arises.
An object of the present invention is to provide a drive control device in which the minimal necessary acceleration performance and upslope-running performance is ensured and loads on a speed reducer and the like at low temperature is reduced.
In the following description, the reference characters in the embodiments are used for convenience sake in order to facilitate the understanding.
A drive control device according to the present invention is a drive control device 20 for controlling a motor 6 of a vehicle, the vehicle including the motor 6 for driving the vehicle, a speed reducer 7 for reducing a speed of rotation of the motor 6 to transmit the reduced rotation to a wheel 2, and an oil supply mechanism Jk for suppling lubricating oil to the motor 6 and the speed reducer 7,
the drive control device 20 including:
an oil temperature sensor Sa configured to obtain a temperature of the lubricating oil;
a rotation speed detection module 28 configured to detect a rotation speed of the motor 6; and
a torque limitation module 26 configured to limit a torque to be generated in the motor 6, based on the oil temperature obtained by the oil temperature sensor Sa and the rotation speed of the motor 6 detected by the rotation speed detection module 28, when the oil temperature obtained by the oil temperature sensor Sa is equal to or lower than a predetermined temperature.
The predetermined temperature is any temperature that is determined in accordance with designing or the like, and is determined by obtaining an appropriate temperature through, for example, an experiment and/or a simulation.
In this disclosure, the “rotation speed” has the same meaning as the number of rotations per unit time. Hereinafter, the number of rotations per unit time is sometimes referred to simply as the “number of rotations”.
In this configuration, the oil temperature sensor Sa obtains the temperature of the lubricating oil by, for example, sensing or estimation. The rotation speed detection module 28 detects the rotation speed of the motor 6. The torque limitation module 26 determines whether or not the obtained oil temperature is equal to or lower than the predetermined temperature. If the oil temperature is determined to be higher than the predetermined temperature, a motor torque is outputted in accordance with the manipulation amount of an accelerator pedal or the like. If the oil temperature is determined to be equal to or lower than the predetermined temperature, the torque limitation module 26 limits the torque of the motor 6 based on the obtained oil temperature and the detected rotation speed of the motor 6. By thus limiting the torque of the motor 6 in consideration not only of the oil temperature but also of the rotation speed of the motor, the following effects are obtained. When the temperature is low, i.e., when the viscosity of the lubricating oil is high, if the rotation speed of the motor 6 is undesirably increasing, the limited torque value is made small so that increase in the rotation speed of the motor can be suppressed. In this way, a problem such as excessive wear can be prevented from occurring on the speed reducer or the like. In addition, since the torque of the motor 6 is limited finely in consideration not only of the oil temperature but also of the rotation speed of the motor, the minimal necessary acceleration performance and upslope-running performance can be ensured.
The drive control device may further include a storage section 30 configured to store a map Mp in which a value related to limitation on the torque to be generated in the motor 6 is set with respect to an oil temperature and a rotation speed, wherein the torque limitation module 26 may extract, from the map Mp, a limited torque value for the oil temperature obtained by the oil temperature sensor Sa and the rotation speed of the motor 6 detected by the rotation speed detection module 28, the limited torque value limiting the torque to be generated in the motor 6. The map Mp is determined through an experiment and/or a simulation.
In this configuration, the torque limitation module 26 can easily extract the limited torque value by searching the map Mp with the oil temperature and the rotation speed of the motor. The limited torque value enables a motor torque to be limited.
The motor 6, a wheel bearing 4 rotationally supporting the wheel 2, and the speed reducer 7 for reducing the speed of the rotation of the motor 6 to transmit the reduced rotation to the wheel bearing 4, may form an in-wheel motor drive device MM. The in-wheel motor drive device IWM is at least partially exposed to the outside of the vehicle and is close to the ground. As such, the in-wheel motor drive device is used under severer condition, and thus the oil temperature more easily becomes low, than in a motor drive device of a so-called on-hoard type. Even in a vehicle including such in-wheel motor drive devices IWM, a problem such as excessive wear can be prevented from occurring on the speed reducer or the like by limiting the torque of the motor 6 in accordance with the oil temperature and the rotation speed of the motor. Also, the minimal necessary acceleration performance and upslope-running performance can be ensured.
A drive control system according to the present invention may be a drive control system including two or more drive control devices 20 each of which is described above, the vehicle being mounted with the two or more drive control devices 20, in the vehicle left and right wheels being driven independently, wherein the two or more drive control devices 20 may share, or may separately have, the torque limitation module 26, and the shared torque limitation module 26 or at least one of the separate torque limitation module 26 may extract limited torque values, the limited torque values limiting the torques to be generated in the respective motors 6 for left and right drive wheels 2, and may set a limited torque value that is smaller between the limited torque values, as a limited torque value for both motors for the respective left and right drive wheels 2. In this case, no difference is generated between torques that are to be applied to the left and right wheels of the vehicle, whereby the straight-running stability and the like of the vehicle is improved.
A drive control system according to the present invention may be a drive control system including two or more drive control devices 20 each of which is described above, the vehicle being mounted with the two or more drive control devices 20, in the vehicle left and right wheels being driven independently, wherein the two or more drive control devices 20 may share, or may separately have, the torque limitation module 26, and the shared torque limitation module 26 or at least one of the separate torque limitation module 26 may extract a limited torque value for an oil temperature that is lower between oil temperatures obtained by the respective oil temperature sensors Sa of the drive control devices 20 on the left and right, and a rotation speed that is higher between rotation speeds detected by the respective rotation speed detection modules 28 of the drive control devices 20 on the left and right, and may set the extracted limited torque value as a limited torque value for both motors 6 for respective left and right drive wheels 2. In this case, the extraction of the limited torque value is simplified, which reduces an arithmetic processing load on the drive control devices 20.
Any combination of at least two constructions, disclosed in the appended claims and/or the specification and/or the accompanying drawings should be construed as included within the scope of the present invention. In particular, any combination of two or more of the appended claims should be equally construed as included within the scope of the present invention.
In any event, the present invention will become more clearly understood from the following description of preferred embodiments thereof, when taken in conjunction with the accompanying drawings. However, the embodiments and the drawings are given only for the purpose of illustration and explanation, and are not to be taken as limiting the scope of the present invention in any way whatsoever, which scope is to be determined by the appended claims. In the accompanying drawings, like reference numerals are used to denote like parts throughout the several views, and:
An embodiment of the present invention will be described with reference to
<Conceptual Configuration of Electric Automobile (Vehicle)>
<Schematic Configuration of in-Wheel Motor Drive Device IWM>
As shown in
<Oil Supply Mechanism>
As shown in
The pump 27 is a cycloidal pump that includes: an inner rotor 40, which rotates along with rotation of an output member 12; an outer rotor 41, which is rotated so as to follow the rotation of the inner rotor 40; a pump chamber 42; a suction port 43; and an ejection port 44. The inner rotor 40 is configured to be able to rotate along with the rotation of the output member 12. When the inner rotor 40 rotates along with the rotation of the output member 12 driven by the motor 6, the outer rotor 41 is rotated so as to follow the rotation of the inner rotor 40. At this time, the inner rotor 40 and the outer rotor 41 respectively rotate about rotation centers c1 and c2, which are different from each other, so that the volume of the pump chamber 42 constantly changes. In this way, the lubricating oil accumulated in the lubricating oil accumulating portion 10 is pumped up so as to flow in from the suction port 43, and is sequentially pressure-fed from the ejection port 44 to the plurality of oil passages 11.
In this electric vehicle, when the motor 6 rotates, a portion of the lubricating oil having been pressure-fed into the rotation output shaft 9 is introduced to the motor 6 by the centrifugal force of the rotor 6a and the pressure of the pump 27, thereby cooling the motor 6. This portion of the lubricating oil having been used for the cooling moves downward owing to gravity so as to pool on the lower side of the housing 8, and then is accumulated in the lubricating oil accumulating portion 10, which communicates with the lower side of the housing 8. The remaining portion of the lubricating oil not having been used for cooling the motor 6 is introduced into the speed reducer 7 by the centrifugal force and the pressure of the pump 27, thereby lubricating and cooling various portions in the speed reducer 7. This remaining portion of the lubricating oil having been used for the lubrication and the like moves downward owing to gravity and is accumulated in the lubricating oil accumulating portion 10 through an oil discharge port not shown.
<Control System>
The drive control device 20 includes an ECU 21 and an inverter device 22. The ECU 21 and the inverter device 22 are mounted in the vehicle body 1 (
Although
Each inverter device 22 includes a power circuit unit 13 provided for the corresponding motor 6, and a motor control unit 14 for controlling the power circuit unit 13. A single motor control unit 14 may be shared by all of the power circuit units 13. Alternatively, a plurality of the motor control units 14 may be separately provided to the respective power circuit units 13. Even in a case where a single motor control unit 14 is shared, the motor control unit 14 can independently control the power circuit units 13 such that motor torques differ thereamong, for example. The motor control unit 14 retains various kinds of information about the corresponding in-wheel motor drive device IWM, such as detected values and/or control values. The motor control unit 14 outputs these kinds of information to the ECU 21.
The power circuit unit 13 includes an inverter 18 for converting DC power of a battery 17 into three-phase AC power for use in driving the electric motor 6, and a PWM driver 19 for controlling the inverter 18. The motor 6 is implemented by a three-phase synchronous motor. The inverter 18 includes a plurality of semiconductor switching elements (not shown). The PWM driver 19 performs pulse width modulation on an inputted voltage command, and gives an ON/OFF command to each of the semiconductor switching elements.
The motor control unit 14 is implemented by a computer, a program to be executed by the computer, and an electronic circuit. The motor control unit 14 includes a motor drive control module 23 as a basic control section thereof. The motor drive control module 23 converts, into a current command, an acceleration/deceleration command value that is a torque command, etc., which has been supplied from a command torque calculation module 21a (
In this embodiment, the motor control unit 14 includes a torque limitation module 26 described later, and a rotation speed detection module 28 for detecting the rotation speed of the motor 6 through, for example, differentiation of the rotation angle obtained from the angle sensor 25. The lubricating oil accumulating portion 10 (
The torque limitation module 26 includes a determination section 29, a storage section 30, and a current control section 31. From the time when a power supply of the vehicle is turned on, the determination section 29 constantly determines whether or not the oil temperature detected by the oil temperature acquisition device Sa is equal to or lower than the predetermined temperature (threshold value). The phrase “equal to or lower than the predetermined temperature (threshold value)” refers to, for example, a low temperature such as a temperature equal to or lower than −1° C. However, the “predetermined temperature” is not limited to a fixed temperature such as −1° C., but may be determined, as appropriate, with use of, as a reference, a temperature at which an abnormality such as excessive wear occurs on the speed reducer 7 or the bearing 4 (
When the oil temperature is determined to be equal to or lower than the threshold value by the determination section 29, the current control section 31 searches a map Mp to extract a limited torque value for the oil temperature and the rotation speed. The current control section 31 then supplies a command to the power circuit unit 13 via the motor drive control module 23 so as to reduce a current value to the motor 6 in accordance with the limited torque value. The map Mp is a torque command limitation map, which is stored in the storage section 30 in a rewritable manner. An example of the torque command limitation map is shown in Table 1.
In Table 1, a plurality of stepwise magnitudes of the number of rotations are indicated in columns, and a plurality of stepwise values of the temperature are indicated in rows. Each of numerical values at respective intersection cells in Table 1 represents, in a percentage, a proportion relative to a maximum torque for the motor. The maximum torque is multiplied by the numerical value, i.e., the proportion, thereby calculating a limited torque value. The limited torque value with respect to the same number of rotations becomes smaller, that is, the limitation on a command torque becomes larger as the detected oil temperature becomes lower. Therefore, the current value to the motor is smaller for lower oil temperature with respect to the same command torque.
In a case where the detected oil temperature is, for example, −10° C., the current control section 31 provides a command of a motor torque that is not less than 50% and not greater than 90% of the maximum torque and that is dependent on the number of rotations (rotation speed) of the motor, via the motor drive control module 23 to the power circuit unit 13. When, for example, the oil temperature is −10° C. and the rotation speed of the motor is 7000 the current control section 31 provides a command via the motor drive control module 23 to the power circuit unit 13 such that the motor torque does not exceed 80% of the maximum torque at most.
For example, after a power supply (not shown) of the vehicle is turned on, this process is started, and the determination section 29 determines whether or not the oil temperature is equal to or lower than the threshold value (step a1). If the oil temperature is determined to be higher than the threshold value (step a1; No), the torque limitation module 26 sets the maximum torque as the limited torque value (step a2). Thereafter, this process is ended.
If the oil temperature is determined to be equal to or lower than the threshold value (step a1; Yes), the torque limitation module 26 searches the map Mp to extract a limited torque value for the oil temperature and the rotation speed of the motor (step a3). The current control section 31 provides a command via the motor drive control module 23 to the power circuit unit 13 to reduce the current value while the extracted limited torque value is maximum. Thereafter, this process is ended.
In the drive control device 20 described above, if the oil temperature is determined to be equal to or lower than the threshold value, the torque limitation module 26 limits the torque of the motor 6 on the basis of the detected oil temperature and the detected rotation speed of the motor 6. By thus limiting the torque of the motor 6 in consideration not only of the oil temperature but also of the rotation speed of the motor, the following effects are obtained. When the temperature is low, i.e., when the viscosity of the lubricating oil is high, if the rotation speed of the motor 6 is undesirably increasing, the limited torque value can be made small so that increase in the rotation speed of the motor can be suppressed. In this way, a problem such as excessive wear can be prevented from occurring on the speed reducer or the like. In addition, since the torque of the motor 6 is limited finely in accordance with the magnitude of the rotation speed of the motor, the minimal necessary acceleration performance and upslope-running performance can be ensured.
The in-wheel motor drive device IWM is at least partially exposed to the outside of the vehicle and is close to the ground. As such, the in-wheel motor drive device IWM is used under severer condition, and thus the oil temperature more easily becomes low, than in a motor drive device of a so-called on-board type. Even in a vehicle including such in-wheel motor drive devices IWM, a problem such as excessive wear can be prevented from occurring on the speed reducer or the like by limiting the torque of the motor 6 in accordance with the oil temperature and the rotation speed of the motor. Also, the minimal necessary acceleration performance and upslope-running performance can be ensured.
In the following description, parts corresponding to the matters described in the preceding embodiment are denoted by the same reference numerals, and the redundant description thereof is omitted. When only a part of a configuration is described, the remaining part of the configuration is the same as that described in the preceding embodiment, unless otherwise specified. The same advantageous effects are achieved by the same configuration. A combination of parts that are specifically described in the embodiments can be implemented, and, further, the embodiments may be partially combined unless such combination causes any problem.
A drive control device according to a second embodiment and a process by the drive control device will be described as follows with reference to
If the determination section 29 determines that at least one of the oil temperatures is equal to or lower than the threshold value (step hi; Yes), the torque limitation module 26 searches the map Mp to extract a limited torque value for the oil temperature and the rotation speed of each of the motors for the left or right wheel (step b3). The torque limitation module 26 then determines whether or not the extracted limited torque value for the motor for the right wheel (hereinafter, referred to simply as “right-wheel limited torque value”) is larger than the extracted limited torque value for the motor for the left wheel (hereinafter, referred to simply as “left-wheel limited torque value”) (step b4). That is, the magnitudes of these limited torque values are compared with each other. If the right-wheel limited torque value is larger than the left-wheel limited torque value (step b4; Yes), the torque limitation module 26 sets, as the limited torque value for both wheels, the left-wheel limited torque value, which is the lower limited torque value (step b5), If the right-wheel limited torque value is equal to or smaller than the left-wheel limited torque value (step b4; No), the torque limitation module 26 sets, as the limited torque value for both wheels, the right-wheel limited torque value; which is the lower limited torque value (step b6), Thereafter, this process is ended.
In this configuration, the torque limitation module 26 extracts left-wheel and right-wheel limited torque values and sets, as a limited torque value for both left and right wheels, a limited torque value that is smaller between the left-wheel and right-wheel limited torque values. As such, no difference is generated between torques that are to be applied to the left and right wheels of the vehicle, whereby the straight-running stability and the like of the vehicle is improved.
A drive control device according to a third embodiment and a process by the drive control device will be described as follows with reference to
If the right-wheel oil temperature is higher than the left-wheel oil temperature (step b3a; Yes), the torque limitation module 26 sets the left-wheel oil temperature, which is the lower oil temperature, as an oil temperature for extracting a limited torque value (step b4a). If the right-wheel oil temperature is equal to or lower than the left-wheel oil temperature (step b3a; No), the torque limitation module 26 sets the right-wheel oil temperature, which is the lower oil temperature, as the oil temperature for extracting a limited torque value (step b4b).
The torque limitation module 26 then determines whether or not the left-wheel rotation speed is higher than the right-wheel rotation speed (step b5a). If the left-wheel rotation speed is higher than the right-wheel rotation speed (step b5a; Yes), the torque limitation module 26 sets the left-wheel rotation speed, which is the higher rotation speed, as a rotation speed for extracting a limited torque value (step b6a). If the left-wheel rotation speed is equal to or lower than the right-wheel rotation speed (step b5a; No), the torque limitation module 26 sets the right-wheel rotation speed, which is the higher rotation speed; as the rotation speed for extracting a limited torque value (step b6b). Then, the torque limitation module 26 extracts, from the map Mp, a limited torque value for the lower oil temperature and the higher rotation speed, which have been set (step b7). Thereafter, this process is ended.
In this configuration, the extraction of the limited torque value is simplified, which reduces an arithmetic processing load on the drive control device 20.
As shown in
The in-wheel motor drive device may include a cycloidal speed reducer, a planetary speed reducer, a speed reducer with two parallel shafts, or another speed reducer. In addition, although rear-wheel drive is described in the in-wheel motor drive device of each of the aforementioned embodiments, front-wheel drive or four-wheel drive may be employed.
In each of the aforementioned embodiments, an example where the drive control device is used for the electric vehicle including the in-wheel motor drive devices, has been described. Alternatively, as shown in
As shown in
Although the oil temperature is directly detected in each of the embodiments described above, the oil temperature can also be indirectly estimated from a motor temperature. For example, after the temperature of the stator 6b (
Implementing the process by the drive control device according to any of the embodiments brings about the following effects. In a case where the vehicle is running on a flat road, an upslope, or a gentle downslope, the torque is reduced as the rotation speed of the motor increases, and the torque ultimately becomes zero, whereby increase in the rotation speed of the motor can be suppressed. Meanwhile, in a case where the vehicle is running on a steep downslope, the rotation speed of the motor could undesirably increase. Giving a braking command from the ECU 21 (
Although the modes for carrying out the present invention have been described on the basis of the embodiments, the embodiments disclosed herein are illustrative in all aspects and not restrictive. The scope of the present invention is indicated not by the above description but by the claims, and is intended to include any modifications within the scope and meaning equivalent to the claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2017-046153 | Mar 2017 | JP | national |
This application is a continuation application, under 35 U.S.C. 111(a), of international application No. PCT/JP2018/009260, filed Mar. 9, 2018, which claims Convention priority to Japanese patent application No. 2017-046153, filed Mar. 10, 2017, the entire disclosure of which is herein incorporated by reference as a part of this application.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/JP2018/009260 | Mar 2018 | US |
| Child | 16561582 | US |
