JP6795897B2 - Wheel independent drive type vehicle drive control device - Google Patents

Description

The present invention relates to a wheel-independent drive vehicle drive control device that controls a wheel-independent drive vehicle that can individually control a plurality of traveling motors, such as two-wheel drive or four-wheel drive, and particularly of a current sensor thereof. Related to abnormality detection.

In the inverter that drives the traveling motor, a target current is set from the command torque and the command rotation speed, and feedback control is performed to detect the current actually flowing through the motor and make it follow the target current. If an abnormality such as offset or gain deviation occurs in the current sensor for detecting current, the target current cannot flow and the torque or rotation speed will not be sufficient, or conversely, the target current will be set. It is conceivable that an excessive current that greatly exceeds the flow will flow, resulting in an unintended excessive torque or high rotation speed. Therefore, it is desirable to inspect before the vehicle travels.

Patent Documents 1 and 2 propose that the current sensor is inspected by passing an inspection winding or wiring through the current sensor and passing an inspection current through the winding or wiring. Patent Document 3 proposes a method of detecting an abnormality in a system without generating torque by passing only a vector-controlled d-axis current when the vehicle is stopped.

Japanese Unexamined Patent Publication No. 2006-145426 Japanese Unexamined Patent Publication No. 2006-352949 Japanese Unexamined Patent Publication No. 11-341897

In the configurations described in Patent Documents 1 and 2, a winding / wiring for inspection and a constant current source are required, the number of parts increases, the cost increases, and the weight increases. In the case of the configuration of Patent Document 3, the d-axis current flows through each phase depending on the rotor angle. Therefore, depending on the rotor angle, only a current of zero or a current close to zero can flow, and an inspectable phase is formed. Sometimes.

An object of the present invention is to inspect all phases of an abnormality of the current sensor before the vehicle travels without adding a circuit for inspection to the current sensor and without adding a current source or the like dedicated to inspection. It is to propose a drive control device for a wheel-independent drive vehicle.

The drive control device for a wheel-independent drive vehicle of the present invention controls the drive of a wheel-independent drive vehicle that controls a wheel-independent drive vehicle having a plurality of traveling motors 6 capable of independently driving the wheels left and right or front and rear. In the device
A plurality of power circuit units 28 that pass a current through each of the plurality of motors 6, a motor drive control unit 30 that controls the current flowing through these power circuit units 28, and a current for each phase flowing through each of the motors 6 are detected. Equipped with a current sensor 38
In addition, with the inspection reverse torque command unit 36 that outputs a command to the motor drive control unit 30 to flow a current in which torque is applied to the left and right or front and rear motors 6 of the motor 6 in opposite directions to each other when the vehicle is stopped. It is characterized by including an abnormality detecting unit 34 that detects an abnormality of all the current sensors 38 when a current applying torque in the opposite direction is flowing.

According to this configuration, a drive current is passed through the motor 6, and a current is passed through the current sensor 38 itself, that is, in the same portion of the current sensor 38 as when the current flowing through each motor 6 is detected during traveling, and the current sensor 38 is used. Since the abnormality is detected from the current of 38, the abnormality can be detected without adding a winding or wiring for inspection to the current sensor 38. In addition, a power supply dedicated to inspection is not required. Such circuit components to be added to is unnecessary, et no such a cost increase and weight increase. Since the drive current is passed through the motor 6, the movement of the vehicle becomes a problem. However, when the vehicle is stopped, the current is passed through the motor 6 so that torque is applied to the left and right or front and rear motors 6 in opposite directions of wheel rotation. The current sensor 38 can be inspected without moving as a vehicle while flowing. Therefore, it can be detected before the vehicle travels. Further, the reverse torque command unit 36 for inspection and the abnormality detection unit 34, which causes a current to flow so that torque in the opposite direction is applied, can both be configured by a light electric logic circuit or the like, and constitute a motor drive control unit 30. It can be incorporated into an IC chip such as a microcomputer or a circuit board.

Therefore, abnormality detection of the current sensor 38 can be performed without adding a circuit for inspection to the current sensor 38 and without adding a current source or the like dedicated to inspection. Further, the inspection is not limited to the d-axis current, and an arbitrary current can be passed through each phase for inspection, so that all phases can be inspected. In this way, it is possible to inspect all phases of the current sensor 38 before the vehicle travels due to an abnormality in the current sensor 38 without adding a circuit for inspection to the current sensor 38 and without adding a current source or the like dedicated to inspection. it can.
Incidentally, the start of the test for reverse torque command unit 36 and the abnormality detection unit 34, for example, to perform an on-the starter switch 50 as a trigger, as part of a series of tests various accessories devices before traveling, the It is also possible to carry out the inspection of the current sensor 38 not good.

In the present invention, the motor drive control unit 30 has a function of performing current feedback control according to a value detected by the current sensor 38, and the inspection reverse torque command unit 36 controls the motor drive control unit 30 in reverse. A control mode is set in which a current applying torque in the direction is passed in an open loop, and the abnormality detection unit 34 detects an abnormality if the current detection value when the current is flowing in the open loop is not within the specified range. You may try to do it.
By controlling with an open loop, even if the current detection value is an abnormal value, the flowing current does not change, so the same reverse torque is applied and the vehicle can be inspected without moving.

In the present invention, each of the motors 6 is a three-phase AC motor, and the motor drive control unit 30 has a function of performing current feedback control according to a value detected by the current sensor 38, and the reverse torque command unit for inspection. Reference numeral 36 denotes a control mode in which the motor drive control unit 30 causes the current applying the torque in the opposite direction to flow in an open loop, and the abnormality detection unit 34 has each of the three phases when the current flows in the open loop. If the sum of the currents of the phases is not substantially zero, an abnormality detection may be performed.
In the case of a three-phase AC motor, the sum of the currents of each of the three phases is zero. Therefore, if the sum of the currents of the three phases is not zero, abnormality detection may be performed. However, in consideration of an allowable error in the current sensor 38, wiring, etc., it is not limited to zero, and it is preferable that the current sensor 38 is not limited to zero but is substantially zero.

In the present invention, the reverse torque command unit 36 for inspection tells the motor drive control unit 30 that the reverse torque command unit 36 is in the reverse direction when each condition is satisfied, one of the conditions is that the main brake of the vehicle is maintaining the braking state. A command to flow a current with torque in the direction may be output.
There is no difference between the left and right torques depending on the presence or absence of an abnormality in the current sensor 38, but if the torques are not the same and opposite due to an abnormality in the drive circuit or the rotor angle detection circuit, the vehicle may move. In this case, by starting the inspection on the condition that the main brake is maintaining the braking state, the vehicle is prevented from moving unexpectedly at the time of the inspection, and the safety is improved.
The load sensor recognizes that the main brake is maintaining the braking state even if the braking force is actually applied to the main brake even if it is performed from the state of the brake operating means such as when the brake pedal 51 is depressed. It may be detected by such as.

In the present invention, the reverse torque command unit 36 for inspection tells the motor drive control unit 30 that the reverse torque command unit 36 is in the reverse direction when each condition is satisfied, one of the conditions is that the side brake of the vehicle is maintaining the braking state. A command to flow a current with torque in the direction may be output.
Safety can be ensured not only by the main brake but also by detecting an abnormality of the current sensor 38 when the side brake is activated. Whether or not the side brake is maintaining the braking state may be recognized by detecting whether or not an operating means such as the operating lever 52 of the side brake is pulled.

In the present invention, the reverse torque command unit 36 for inspection tells the motor drive control unit 30 that the reverse torque command unit 36 is in reverse to the motor drive control unit 30 when each condition is satisfied, provided that the shift lever 53 of the vehicle is in parking. A command to flow a current with torque in the direction may be output.
When the shift lever is in parking, the torque transmission system from the motor 6 to the wheels cannot transmit or the wheels are locked, and the vehicle does not move even if the motor 6 tries to rotate unexpectedly. Therefore, even if the inspection is started on the condition that the vehicle is in the parking lot, the vehicle is prevented from moving unexpectedly due to the application of the current for the inspection.

In the present invention, the inspection reverse torque command unit 36 and the abnormality detection unit 34 are said to be said when the fluctuation of the rotor angle of each motor 6 passing a current to which the torque is applied in the reverse direction exceeds a set threshold value. The output of the command for passing the current in the opposite direction and the detection of the abnormality may be terminated.
In the unlikely event that the rotor angle fluctuates beyond a certain threshold value, it is more preferable to determine that there is some abnormality and end the abnormality detection in order to improve safety.

The drive control device for a wheel-independent drive vehicle of the present invention is a drive control device for a wheel-independent drive vehicle that controls a wheel-independent drive vehicle having a plurality of traveling motors capable of independently driving the wheels left and right or front and rear. In the above, a plurality of power circuit units for passing a current through each of the plurality of motors, a motor drive control unit for controlling the current flowing through these power circuit units, and a current sensor for detecting the current for each phase flowing through the motors. A reverse torque command for inspection that outputs a command to the motor drive control unit to pass a current in which torque is applied to the left and right or front and rear wheel motors of the motor when the vehicle is stopped. Since it is provided with a unit and an abnormality detection unit that detects an abnormality of all the current sensors when a current applying torque in the opposite direction is flowing, the current sensor is inspected without adding an inspection circuit. All phases can be inspected before the vehicle travels due to an abnormality in the current sensor without adding a dedicated current source or the like.

It is a block diagram which shows the conceptual structure of the drive control device of the wheel independent drive type vehicle which concerns on one Embodiment of this invention. It is a block diagram which shows the structural example of the motor drive control part. It is a block diagram which showed only the block used when operating in the open loop mode about the motor drive control part. It is a flow chart which shows the control example of the reverse torque command part for inspection in the drive control device of the wheel independent drive type vehicle. It is a flow chart which shows the other control example such as the reverse torque command part for inspection in the drive control device of the wheel independent drive type vehicle. It is explanatory drawing which shows various wheel independent drive type vehicles equipped with the drive control device in a plane. It is explanatory drawing which shows the example of the wheel rotation direction at the time of inspection in each wheel independently drive type vehicle of FIGS. 6A to 6C. It is explanatory drawing which shows the motor current of each phase of a three-phase AC motor.

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a conceptual configuration of a drive control device for a wheel-independent drive vehicle. The wheel-independent drive vehicle to be controlled in this embodiment is, for example, an electric vehicle equipped with two traveling motors 6 and 6 for driving two drive wheels 1 and 1 which are front wheels shown in FIG. 6 (A). It is a car. The rear wheels are the trailing wheels 2 and 2. The motors 6 and 6 are installed on the chassis 3 and are connected to the drive wheels 1 and 1 via the drive shaft 4 and the constant velocity joints 5a and 5b at both ends thereof. The drive wheels 1 and 1, which are the front wheels, are changed in direction via a steering mechanism (not shown) by operating the steering handle 7.

The vehicle to be controlled may be an electric vehicle in which the rear wheels shown in FIG. 6 (B) are the driving wheels 1 and 1 and the front wheels are the driven wheels 2 and 2. In addition to this, it can also be applied to a four-wheel drive electric vehicle. FIG. 6C is an example of a four-wheel drive vehicle, in which two front wheels are driven by one motor 6 and two rear wheels are driven by one motor 6, respectively, via a differential 8. For four-wheel drive, it may be a type having a motor 6 to the four wheels individually as in FIG. 6 (D). In the case of a four-wheel drive vehicle in which each of the four wheels has a motor 6, although the embodiment of the drive control device is omitted, the power circuit unit 28 and the motor drive control unit 30 described later together with FIG. 1 for each motor 6 are omitted. Is provided.
In addition, although each example of FIG. 6 is an on-board type in which motors 6 and 6 are installed on the chassis 3, it may be an in-wheel motor type vehicle.

In FIG. 1, the drive control device includes an ECU 21 which is an electric control unit that controls the entire automobile, and an inverter device 22 that controls the motors 6 and 6 for traveling according to the command of the ECU 21. The ECU 21 and the inverter device 22 are connected to each other by an in-vehicle communication means such as a controller area network (CAN). The ECU 21 is composed of a computer, a program executed by the computer, various electronic circuits, and the like. The ECU 21 has a command torque calculation unit 47 and a torque distribution means 48.

The command torque calculation unit 47 calculates the command torque of the entire vehicle from the acceleration command output by the accelerator operating means (not shown) such as the accelerator pedal and the deceleration command output by the brake operating means such as the brake pedal 51. It is a means. The torque distribution means 48 is a means for sending the command torque calculated by the command torque calculation unit 47 to the inverter device 22 so as to be distributed to the motors 6 and 6. The torque distribution means 48 may have a function of changing the ratio of distribution to both motors 6 and 6 according to the steering amount of the steering handle 7 (see FIG. 6) for turning assistance.

The inverter device 22 has a power circuit unit 28 provided for each motor 6 and a motor control unit 29 that controls the power circuit unit 28. Each power circuit unit 28 has an inverter 31 that converts DC power of a battery (not shown) into three-phase AC power used for power running and regeneration of a motor 6, and a PWM driver 32 that controls the inverter 31. The motor 6 is a three-phase AC motor and includes a synchronous motor or an induction motor. It may be a single-phase motor. The motor 6 is provided with a rotation angle sensor 33 for detecting the rotation angle as the electric angle of the rotor, and a current sensor 38 is provided in the power supply circuit between the inverter 31 and the motor 6. As shown in FIG. 2, the current sensor 38 is provided for each of the three phases, but in FIG. 1, a plurality of current sensors 38 are shown in one block for the sake of simplicity. The current sensor 38 is the target of abnormality detection by the drive control device of this embodiment. The current sensor 38 may be provided only in two of the three phases.

The inverter 31 is composed of a bridge circuit of a plurality of semiconductor switching elements, and the PWM driver 32 modulates the input current command with a pulse width and gives an on / off command to each of the semiconductor switching elements.

The motor control unit 29 is composed of a computer, a program executed by the computer, and an electronic circuit, and includes two motor drive control units 30 provided corresponding to each power circuit as a basic control unit thereof. The motor drive control unit 30 performs various controls on the torque command distributed from the torque distribution means 48 of the ECU 21 which is the upper control means, converts it into a current command, and sends the current command to the PWM driver 32 of the power circuit unit 28. It is a means of giving. The current command is given as a voltage value of each phase.

The motor drive control unit 30 is basically a closed loop control by a current feedback according to the detected value of the current value of the motor 6 and a control loop according to the detected value of the rotor rotation angle for improving motor efficiency. In this embodiment, the current control can be switched between an open loop control mode and a closed loop control (feedback control) mode.

As shown in FIG. 2, the motor drive control unit 30 is configured to perform vector control in this embodiment. The motor drive control unit 30 includes a current command unit 40, a current PI control unit 41, and a two-phase / three-phase conversion unit 42. In addition to this, as a part of the motor drive control unit 30
Alternatively, independently, a three-phase / two-phase conversion unit 43, a speed calculation unit 44, and a rotation angle calculation unit 33b of the rotation angle detection means 33 are provided.

The current command unit 40 uses the detection value obtained by detecting the drive current applied to the motor 6 by the rotation angle detecting means 33 and converting it to the angular velocity ω, and the command torque given by the torque distribution means 48 to the motor. Using the torque table (not shown) set in the control unit 29, the corresponding two-phase command current (O) id, O It is a means to generate iq).
The rotation angle detecting means 33 includes a detection unit 33a that detects the rotor angle of the electric angle of the motor 6, and a rotation angle calculation unit 33b that calculates the rotation angle of the electric angle from the detected signal. The rotation angle θ calculated by the rotation angle calculation unit 33b is converted into an angular velocity ω by the speed calculation unit 44 and input to the current command unit 40.

The current PI control unit 41 is a current command (O) generated by the current command unit 40. id, O iq) is a means for performing PI (proportional integration) feedback control so that the current value of each phase by the current sensor 38 does not deviate. The three-phase current values Iu, Iv, and Iw detected by the current sensor 38 are converted into two-phase current commands id and iq by the three-phase / two-phase conversion unit 43 and input to the current PI control unit 41. ..

The two-phase / three-phase conversion unit 42 sets the two-phase voltage command values Vd and Vq output from the current PI control unit 41 to appropriate values according to the rotation angle θ detected by the rotation angle detecting means 33. This is a means for setting the converted three-phase voltage commands Vu, Vv, and Vw.

In the motor control unit 29 of FIG. 1 including the motor drive control unit 30 having such a configuration, in this embodiment, the following reverse torque command unit 36 for inspection and the abnormality detection unit 34 are provided.

The inspection reverse torque command unit 36 issues a command (command torque) to the motors 6 and 6 to apply a current having the same magnitude in the opposite wheel rotation directions when the vehicle is stopped. Output to 30 and 30.
For example, in the case of front wheel drive as shown in FIG. 6 (A), as shown in FIG. 7 (A), one of the two front wheels 1 and 1 (left in the figure) A forward torque (ANm) is generated on the drive wheels 1 and a backward torque (BNm) is generated on the other drive wheel 1 (right in the figure). Both torques A and B have the same magnitude.
In the case of rear wheel drive as shown in FIG. 6 (B), as shown in FIG. 7 (B), one of the two rear wheels 1, 1 (left in the figure). A forward torque (CNm) is generated in the drive wheel 1, and a rear torque (DNm) is generated in the other drive wheel 1 (right in the figure). Both torques C and D have the same magnitude.
In the case of the four-wheel drive shown in FIGS. 6 (C) and 6 (D), as shown in FIG. 7 (C), one of the front and rear wheels, for example, two drive wheels 1, 1 which are front wheels, is directed forward. torque (ANm, BNM) and the rear wheels at a two backward torque to the drive wheels 1, 1 (CNM, so as to generate a DNm. in this case, the size of each torque A~D is the front wheel torque (A + B) and the sum of torques of the rear wheels (C + D) should be the same.

The abnormality detection unit 34 detects an abnormality in the current sensor 38 when a current applying torque in the opposite direction is flowing. Whether or not the reverse torque command unit 36 for inspection outputs the reverse torque command to the motor drive control units 30 and 30 is when the current for which the torque is applied in the reverse direction is flowing. Recognize with.

More specifically, the inspection reverse torque command unit 36 sets the motor drive control unit 30 in a control mode in which the current to which the torque is applied in the reverse direction flows in an open loop without current feedback. In this case, the abnormality detection unit 34 outputs a detection signal indicating that the abnormality is abnormal if the current detection value when the current is flowing in the open loop is not within the specified range.
Specifically, the motor drive control unit 30 has a current loop 49 whose PI is controlled by the current PI control unit 41 according to the detected value of the current sensor 38 as described above together with FIG. 2, but the current loop 49 is caused to flow in the open loop. In the control mode, the current loop 49 is not used, and instead of the current PI control unit 41, the voltage calculation unit 41A is used instead of the current PI control unit 41 to provide current commands for the d-axis and q-axis. The voltage values Vd and Vq that serve as current commands are output. In this case, the voltage calculation unit 41A calculates the voltage values Vd and Vq using the angular velocity obtained by the rotation angle detecting means 33 and calculated by the speed calculation unit 44.
Both the current PI control unit 41 and the voltage calculation unit 41A are provided in the motor drive control unit 30, and are used by switching between them.

More specifically, the abnormality detection unit 34 determines an abnormality detection if the current detection value of the current sensor 38 when the current is flowing in the open loop is not within the specified range. In this case, when the motor 6 is a three-phase AC motor as in this embodiment, the sum of the motor currents of each of the three phases when the current is flowing in the open loop is not substantially zero. It may be used as an abnormality detection. As shown in FIG. 8, the motor currents (phase currents) of each phase of the three-phase AC motor are out of phase with each other by 120 degrees, but the sum of the motor currents of each phase is zero. Therefore, if the sum of the currents of each of the three phases is not zero, it can be determined that the condition is abnormal. However, in consideration of an allowable error in the current sensor 38, wiring, etc., it is not limited to zero, and if it is substantially zero, it is regarded as normal.

In addition to the fact that the vehicle is stopped, the inspection reverse torque command unit 36 outputs a command for passing a current to which the torque is applied in the reverse direction, and the main brake of the vehicle (not shown). Is maintaining the braking state, the side brake (not shown) is maintaining the braking state, or the shift lever 53 (see FIG. 1) is in parking. When each of the above conditions is satisfied, the motor drive control unit 30 is made to output a command to flow a current in which torque is applied in the opposite direction.

Further, in this embodiment, the inspection reverse torque command unit 36 is activated by triggering the on of a specific switch 50 (see FIG. 1) operated while the vehicle is stopped, and determines the satisfaction of each condition. When the condition is satisfied, a command for passing a current to which the torque in the opposite direction is applied is output. The particular switch 50 is, for example, a starter switch, as part of a series of tests various accessories devices before traveling, by the test for reverse torque command unit 36 and the abnormality detecting portion 34 of the current sensor 38 I try to do an inspection.

The condition is, for example, that the main brake (not shown) is maintaining the braking state, or the side brake is maintaining the braking state. It is detected that the brake pedal 51 (see FIG. 1) is stepped on for the main brake and the operating lever 52 (see FIG. 1) is pulled for the side brake to maintain the braking state. To do. As the condition, in addition, it may be pressurized strong point that the shift lever 53 is in the parking.

The control operation of the above configuration will be described with reference to FIG. When the switch 50 such as the starter switch of the vehicle is turned on, the inspection reverse torque command unit 36 starts the process shown in FIG.
First, as a condition determination, it is determined whether the side brake is engaged, the brake pedal 51 of the main brake is depressed, and the shift lever 53 is in the parking position (step S1). If both are N0, the driving of the motor 6 is prohibited (step S6). That is, the inspection reverse torque command unit 36 prevents the motor drive control unit 30 from issuing a command to apply reverse torque.
In the case of satisfying the conditions, the process proceeds to step S2, and as described above with FIGS. 7A to 7C, the opposite torques having the same magnitude are generated in the left and right or front and rear drive wheels 1 and 1. The left and right motors 6 and 6 are energized in an open loop with respect to the current loop shown in 3 (step S2).

While driving in this open loop, the abnormality detection unit 34 determines whether or not the current detection value of the current sensor 38 is within the specified range (step S3). In this determination process, it may be detected for each phase whether or not the motor current, which is the phase current, is within the range of each regulation, and the motor 6 is a three-phase AC motor as in this embodiment. In some cases, as in step S3'in FIG. 5, it may be determined whether or not the sum of the currents of the three phases is within the specified range depending on whether or not the sum of the currents is substantially zero. FIG. 5 differs from FIG. 4 only in step S3'.
When it is within the specified range (for example, when the sum of the currents of the three phases is substantially zero), the abnormality detection unit 34 determines that the current sensor 38 is normal (step S3: Yes), and controls the motor drive. The unit 30 shifts to normal control according to the signal of the determination result (step S4). That is, the motor 6 is driven by performing the current feedback control described with reference to FIG. 2 according to the command torque from the torque distribution means 48 of the ECU 21.

If not within the specified range, it is determined that the abnormal detection unit 34 is abnormal (Step S3: No), the process proceeds to the abnormality control (step S5). For example, sends a determination result indicating abnormal detection unit 34 is abnormal to the motor drive control unit 30, the motor drive control unit 30, in response to the determination result, control by the open loop described above in conjunction with FIG. 3 I do. However, in this case, the control is performed according to the command torque output from the torque distribution means 48 of the ECU 21.

In this embodiment, in a vehicle in which the wheels can be driven independently on the left and right or front and rear, a current is applied so that the opposite torque is applied to the left and right or front and rear drive wheels 1 and 1 when the vehicle is stopped. Detects an abnormality in the detection circuit. For example, a current that applies the opposite torque is passed in an open loop, and abnormality detection is performed based on whether or not the current detection value at that time falls within the specified range. Alternatively, a current that applies the opposite torque is passed in an open loop, and abnormality detection is performed based on whether the sum of the three-phase currents is zero or a value close to zero.

When such anomaly detection is performed, the same reverse torque is applied, so that the current detection circuit can be inspected without moving as a vehicle. Moreover, since it is not limited to the d-axis current, an arbitrary current can be passed through each phase. In addition, a circuit added to the current sensor 38 and a dedicated power supply are not required, which does not increase the cost or weight.
Further, by controlling in an open loop, even if the current sensor 38 is abnormal and the current detection value is an abnormal value, the flowing current does not change, so that the same reverse torque is applied and the vehicle does not move. You can inspect as it is.
However, although there is no difference in left-right or front-rear torque depending on the presence or absence of an abnormality in the current sensor 38, the vehicle may move if the torque is not the same and opposite due to an abnormality in the drive circuit or rotor angle detection circuit. .. Therefore, whether the brake pedal 51 is depressed, the operation lever 52 of the side brake is pulled, or the shift lever 53 is in parking may be a condition for performing abnormality detection. This makes it possible to prevent the vehicle from moving unexpectedly.
Further, in the unlikely event that a fluctuation that exceeds a threshold value in the rotor angle occurs, the abnormality detection unit 34 may determine that there is some abnormality and end the abnormality detection performed by applying the reverse torque.

Although the embodiments for carrying out the present invention have been described above based on the examples, the embodiments disclosed here are examples in all respects and are not limiting. The scope of the present invention is shown by the scope of claims rather than the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 ... Drive wheel 2 ... Driven wheel 6 ... Motor 28 ... Power circuit unit 30 ... Motor drive control unit 33 ... Rotation angle detection means 34 ... Abnormality detection unit 36 ... Reverse torque command unit for inspection 38 ... Current sensor 41 ... Current P1 control Unit 41A ... Voltage calculation unit 49 ... Current loop

Claims (7)

In a wheel independent drive vehicle drive control device that controls a wheel independent drive vehicle having a plurality of traveling motors capable of independently driving the wheels left and right or front and rear.
A plurality of power circuit units for passing a current through each of the plurality of motors, a motor drive control unit for controlling the current flowing through these power circuit units, and a current sensor for detecting the current for each phase flowing through the motors. Prepare,
In addition, an inspection reverse torque command unit that outputs a command to the motor drive control unit to flow a current in which torque is applied to the left and right or front and rear wheel motors of the motor when the vehicle is stopped. A drive control device for a wheel-independent drive vehicle, comprising: an abnormality detection unit that detects an abnormality of all the current sensors when a current applying torque in the opposite direction is flowing. In the drive control device for a wheel-independent drive vehicle according to claim 1, the motor drive control unit has a function of performing current feedback control based on a value detected by the current sensor, and the reverse torque command unit for inspection has a function of performing current feedback control. The motor drive control unit is set to a control mode in which a current applying torque in the opposite direction is passed in an open loop, and the abnormality detection unit is within a range specified by a current detection value when a current is flowing in the open loop. A drive control device for a wheel-independent drive vehicle that detects an abnormality if it is not included. In the drive control device for a wheel-independent drive vehicle according to claim 1, each of the motors is a three-phase AC motor, and the motor drive control unit has a function of performing current feedback control according to a value detected by the current sensor. The reverse torque command unit for inspection sets the motor drive control unit in a control mode in which a current for which torque is applied in the reverse direction flows in an open loop, and the abnormality detection unit causes a current to flow in the open loop. A drive control device for a wheel-independent drive vehicle that detects an abnormality if the sum of the currents of each of the three phases is not substantially zero. In the drive control device for a wheel-independent drive vehicle according to any one of claims 1 to 3, the inspection reverse torque command unit is conditioned on the condition that the main brake of the vehicle is maintaining the braking state. One of the drive control devices for wheel-independent drive vehicles is to output a command to the motor drive control unit to flow a current in which torque is applied in the opposite direction when each condition is satisfied. In the drive control device for a wheel-independent drive vehicle according to any one of claims 1 to 4, the inspection reverse torque command unit is conditioned on the side brake of the vehicle being maintained in a braking state. One of the drive control devices for wheel-independent drive vehicles is to output a command to the motor drive control unit to flow a current in which torque is applied in the opposite direction when each condition is satisfied. In the drive control device for a wheel-independent drive vehicle according to any one of claims 1 to 5, the inspection reverse torque command unit is subject to the condition that the shift lever of the vehicle is in parking. One is a wheel-independent drive vehicle drive control device that outputs a command to the motor drive control unit to flow a current in which torque is applied in the opposite direction when each condition is satisfied. In the drive control device for a wheel-independent drive vehicle according to any one of claims 1 to 6, the inspection reverse torque command unit and the abnormality detection unit flow a current to which torque is applied in the reverse direction. A wheel-independent drive vehicle drive control device that ends the output of a command to flow the current in the opposite direction and the detection of the abnormality when the fluctuation of the rotor angle of each of the motors exceeds a set threshold value.

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