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1. 发明专利

JP2014192932A Motor controlling device for each wheel in cart in which each wheel is driven independently 审中-公开
标题翻译：电动马达控制装置，适用于各车轮独立驾驶的各车轮
公开(公告)号：JP2014192932A
公开(公告)日：2014-10-06
申请号：JP2013063655
申请日：2013-03-26
申请人： Meidensha Corp , 株式会社明電舎 , Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： TADANO YUGO , YOSHIDA TAKANOBU , NOMURA MASAKATSU , EZAKI HIDEAKI , KAWADA HISANOSUKE , ISHIDA TAKESHI
IPC分类号： B60L15/20
CPC分类号： Y02T10/7275
摘要： PROBLEM TO BE SOLVED: To simplify calculation in a motor controlling device for each wheel in cart in which each wheel is driven independently by reducing the number of rotational angular velocity controllers for wheels.SOLUTION: A rotational angular velocity instruction correcting part 12 corrects a rotational angular velocity instruction value ωto a left wheel side rotational angular velocity instruction value ωand a right wheel side rotational angular velocity instruction value ωaccording to curve radius information R for track. Average processing parts 14a, 14b calculate a left wheel rotational angular velocity average value showing an average value of rotational angular velocity detected values ω, ωfor left wheels in a cart and a right wheel rotational angular velocity average value showing an average value of rotational angular velocity detected values ωF, ωfor right wheels in the cart. In addition, rotational angular velocity controllers 13e, 13f calculate left wheel side torque instruction values T, Tand right wheel side torque instruction values T, Tbased on the left wheel side rotational angular velocity instruction value ω, the left wheel rotational angular velocity average value, the right wheel side rotational angular velocity instruction value ωand the right wheel rotational angular velocity average value, respectively.
摘要翻译：要解决的问题：为了简化在车辆中的每个车轮的电动机控制装置中的计算，其中通过减少用于车轮的旋转角速度控制器的数量来独立地驱动每个车轮。解决方案：旋转角速度指令校正部分12校正旋转角速度指令值ω到左轮侧旋转角速度指令值ω和右轮侧旋转角速度指令值ω，根据曲线的曲线半径信息R。平均处理部14a，14b计算表示车辆左侧车轮的旋转角速度检测值ω，ω的平均值的左轮旋转角速度平均值，右轮转角角速度平均值表示旋转角速度的平均值车内右轮检测值ωF，ω。此外，旋转角速度控制器13e，13f计算左轮侧转矩指令值T，右轮侧转矩指令值T，右轮侧转矩指令值T，左轮侧旋转角速度指令值ω，左轮转速角速度平均值，右轮侧旋转角速度指令值ω和右轮旋转角速度平均值。

2. 发明专利

JP2014192931A Racing/slipping controlling device and vehicle comprising racing/slipping controlling device 审中-公开
标题翻译：赛车/拖车控制装置和包含赛车/拖车控制装置的车辆
公开(公告)号：JP2014192931A
公开(公告)日：2014-10-06
申请号：JP2013063654
申请日：2013-03-26
申请人： Meidensha Corp , 株式会社明電舎 , Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： YOSHIDA TAKANOBU , TADANO YUGO , NOMURA MASAKATSU , EZAKI HIDEAKI , KAWADA HISANOSUKE , ISHIDA TAKESHI
IPC分类号： B60L15/20
CPC分类号： Y02T10/7275
摘要： PROBLEM TO BE SOLVED: To provide controlling means used in a case where racing or slipping occurs in a track type vehicle in which right and left wheel axes are separated and to provide also a vehicle for it.SOLUTION: It is so constructed that a vehicle speed estimating part Vp outputs to each of racing/slipping calculating parts an electric machine angular velocity average value or a wheel axis angular velocity average value based on each of angular velocity conversion values or each of angular velocity detected values. Each of the racing/slipping calculating parts outputs to each of corresponding racing/slipping detection parts each of racing/slipping rates. Each of the racing/slipping calculating parts determines the presence or absence of racing/slipping with the racing/slipping rates and outputs to a torque instruction correcting part and the vehicle speed estimating part each of the determination results with each of racing/slipping flags. The vehicle speed estimating part outputs to each of the racing/slipping calculating parts an electric machine angular velocity average value or wheel axis angular velocity average value which is calculated from values other than that provided by a wheel axis in which racing/slipping has been detected. A torque instruction correcting part Tc outputs corrected torque instruction values T1, T2, T3, T4 in which a specially input torque instruction value T is corrected with each of the values of each of the racing/slipping flags as each of wheel axis output values.
摘要翻译：要解决的问题：提供用于在左右车轮轴分离的轨道车辆中发生赛车或滑动并且还提供车辆的赛车或滑动的情况下的控制装置。解决方案：其构造使得车辆速度估计部Vp基于每个角速度转换值或每个角速度检测值输出到每个赛车/滑动计算部分的电机角速度平均值或车轮轴角速度平均值。每个赛车/滑行计算部分每个赛车/滑移检测部分输出每个赛车/滑倒速度。每个赛车/滑行计算部分通过赛车/滑移速率确定赛车/滑行的存在或不存在，并且通过每个赛车/滑动标志将每个确定结果输出到扭矩指令校正部分和车速估计部分。车辆速度估计部分输出到每个赛车/滑行计算部分的电机角速度平均值或车轮轴角速度平均值，该电机的角速度平均值或车轮轴角速度平均值是根据检测到赛车/滑行的车轮轴提供的值以外的值计算的。转矩指令校正部Tc输出校正的转矩指令值T1，T2，T3，T4，其中，每个转轮/滑动标志的每个值作为车轮轴输出值，校正专门输入的转矩指令值T。

3. 发明专利

JP2014192973A Train vehicle drive controller 审中-公开
标题翻译：火车驾驶控制器
公开(公告)号：JP2014192973A
公开(公告)日：2014-10-06
申请号：JP2013064921
申请日：2013-03-26
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社 , Meidensha Corp , 株式会社明電舎
发明人： TATEISHI GO , EZAKI HIDEAKI , KAWADA HISANOSUKE , YOSHIDA TAKANOBU , TADANO YUGO , NOMURA MASAKATSU
IPC分类号： B60L15/20
CPC分类号： Y02T10/7275
摘要： PROBLEM TO BE SOLVED: To control driving of a train vehicle so that the train vehicle can smoothly travel on a sharp curve.SOLUTION: A train vehicle drive controller comprises: a left and right reference velocity correction gain calculation unit 130 that calculates a left and right reference velocity correction gain according to a radius of track curvature R, the left and right reference velocity correction gain being a function (f(α)) of a gain value (α), providing the same gain value (α)for a front-axis left side reference velocity Vand a back-axis left side reference velocity V, and being common to a front-axis right side reference velocity Vand a back-axis right side reference velocity V; and a front and back reference velocity correction gain calculation unit 140 that calculates a front and back reference velocity correction gain according to the radius of track curvature R, the front and back reference velocity correction gain being a function (f(β)) of a gain value (β), providing the same gain value (β) for the front-axis left side reference velocity Vand the a front-axis right side reference velocity Vand being common to the back-axis left side reference velocity Vand the back-axis right side reference velocity V.
摘要翻译：要解决的问题：为了控制列车车辆的行驶，使得列车车辆能够在一条锋利的曲线上平稳行进。解决方案：列车车辆驱动控制器包括：左和右基准速度校正增益计算单元130，根据轨迹曲率半径R的右参考速度校正增益，左和右参考速度校正增益是增益值（α）的函数（f（α）），为前面提供相同的增益值（α）轴的左侧参考速度V和后轴左侧参考速度V，并且与前轴右侧参考速度V和后轴右侧参考速度V相同; 以及前后参考速度校正增益计算单元140，其根据轨道曲率半径R计算前和后参考速度校正增益，前和后参考速度校正增益是函数（f（＆bgr）））为前轴左侧参考速度V提供相同的增益值（＆bgr），增益值（＆bgr））和前轴左侧参考速度Vb与后轴左侧参考速度V相同，并且后轴右侧参考速度V.

4. 发明专利

JP2014192929A Controlling device for cart in which each wheel is driven independently 有权
标题翻译：控制每个轮子独立驱动的装置
公开(公告)号：JP2014192929A
公开(公告)日：2014-10-06
申请号：JP2013063647
申请日：2013-03-26
申请人： Meidensha Corp , 株式会社明電舎
发明人： TADANO YUGO , YOSHIDA TAKANOBU
IPC分类号： B60L15/20 , B61F3/16
CPC分类号： Y02T10/7275
摘要： PROBLEM TO BE SOLVED: To achieve more efficient adhesion recovering control by providing a method of performing continuous adhesion recovering control without performing shift in control manner.SOLUTION: If a deviation between a notch torque instruction value and an average value of load torque estimation values for wheels in cart frame is smaller than a threshold, the notch torque instruction value is selected. If the deviation between the notch torque instruction value and the average value of load torque estimation values for wheels in cart frame is threshold or lager, a torque value based on a load torque estimation value Tis selected. A rotational angular velocity instruction value converting part 23 calculates a rotational angular velocity instruction value for wheels in vehicle from a torque instruction T. In addition, a gain adjustment instruction generating part 29 reduces gain in a rotational angular velocity controllers 25 if the deviations between the notch torque instruction and the load torque estimation value Tfor all wheels in cart are larger than a preset threshold.
摘要翻译：要解决的问题：通过提供一种执行连续粘附恢复控制的方法来实现更有效的粘合恢复控制，而不进行控制方式的移动。解决方案：如果缺口转矩指令值与负载转矩估计值的平均值之间的偏差为车框中的车轮小于阈值，选择缺口转矩指令值。如果缺口转矩指令值与车厢中的车轮的负载转矩估计值的平均值之间的偏差是阈值或较大的，则选择基于负载转矩估计值T i的转矩值。旋转角速度指令值变换部23根据转矩指令T计算车辆的车轮的旋转角速度指令值。另外，增益调整指示生成部29减小旋转角速度控制器25的增益，缺口转矩指令和车辆中所有车轮的负载转矩估计值T大于预设阈值。

5. 发明专利

JP2014192928A Controlling device for cart in which each wheel is driven independently 有权
标题翻译：控制每个轮子独立驱动的装置
公开(公告)号：JP2014192928A
公开(公告)日：2014-10-06
申请号：JP2013063646
申请日：2013-03-26
申请人： Meidensha Corp , 株式会社明電舎
发明人： TADANO YUGO , YOSHIDA TAKANOBU
IPC分类号： B60L15/20 , B61F3/16
CPC分类号： Y02T10/7275
摘要： PROBLEM TO BE SOLVED: To achieve more efficient adhesion recovering control by providing a method of performing continuous adhesion recovering control without switching control manner.SOLUTION: An instruction torque selecting part 21 selects a notch torque instruction value Tif the deviation between the notch torque instruction value Tand an average value Tof load torque instruction values for wheels in cart frame is lower than a threshold, whereas the instruction torque selecting part 21 selects a torque value based on a motor input torque instruction Tif the deviation between the notch torque instruction value Tand the average value Tof the load torque estimation values for the wheels in the cart frame is the threshold or larger. A rotational angular velocity instruction value converting part 22 calculates a rotational angular velocity instruction value ωto be a base from a torque instruction T. A gain adjustment instruction converting part 26 reduce gain in a rotational angular velocity controller 23 if the deviation between the notch torque instruction value Tand the average value of load torque estimation values Tfor the wheels in the cart frame is threshold or larger.
摘要翻译：要解决的问题：通过提供一种不切换控制方式进行连续粘附恢复控制的方法来实现更有效的粘附恢复控制。解决方案：指令转矩选择部分21选择缺口转矩指令值Tif，其中缺口转矩指令值平均值车架中车轮的平均值Tof负载转矩指令值低于阈值，而指令转矩选择部21基于电动机输入转矩指令Tif选择转矩值，该转矩指令在缺口转矩指令值T与平均值之间的偏差值Tof车架中车轮的负载转矩估计值为阈值以上。旋转角速度指令值转换部22根据转矩指令T计算旋转角速度指令值ωto为基数。增益调整指示变换部26如果缺口转矩指令之间的偏差减小旋转角速度控制器23的增益，值Tand车架中的车轮的负载转矩估计值T的平均值为阈值或更大。

6. 发明专利

JP2014192927A Controlling device for cart in which each wheel is driven independently 有权
标题翻译：控制每个轮子独立驱动的装置
公开(公告)号：JP2014192927A
公开(公告)日：2014-10-06
申请号：JP2013063645
申请日：2013-03-26
申请人： Meidensha Corp , 株式会社明電舎
发明人： YOSHIDA TAKANOBU , TADANO YUGO , NOMURA MASAKATSU
IPC分类号： B60L15/20
CPC分类号： B60L3/106 , B60L15/20 , B60L2200/36 , B60L2220/44 , B60L2240/423 , B60L2240/461 , B60L2260/28 , B60L2270/142 , B60L2270/145 , Y02T10/645 , Y02T10/7275
摘要： PROBLEM TO BE SOLVED: To suppress rapid acceleration and rapid deceleration while switching between adhesion recovering control and rotational angular velocity control in a controlling device for cart in which each wheel is driven independently and cooperative control for each wheel and adhesion recovering control are suppressed.SOLUTION: A rotational angular velocity instruction value converting part 14 converts a notch torque instruction Tto a rotational angular velocity instruction value ω. A rotational angular velocity instruction value correcting part 15 correct the rotational angular velocity instruction value ωto rotational angular velocity instruction values for each wheel ω, ωbased on a curve radius R so as to perform feedback control with the rotational angular velocity detected values ω, ω. If a wheel is in racing/slipping state, an adhesion recovering control torque Tis output as motor input torque instruction values T, Tand, if the wheel is in adhesive state, torque instruction values T, Tare output as the motor input torque instruction values T, T. In addition, if the wheel is in racing/slipping state, the rotational angular velocity instruction value converting part 14 outputs a rotational angular velocity average value ωfor a wheel in a cart frame as a rotational angular velocity instruction value ωfor the wheel.
摘要翻译：要解决的问题：在独立驱动每个车轮的车辆的控制装置中，在切换附着力恢复控制和旋转角速度控制之间抑制快速加速和快速减速，并且抑制每个车轮的协同控制和粘附恢复控制。旋转角速度指令值转换部14将切削转矩指令T转换为旋转角速度指令值ω。旋转角速度指令值校正部15基于曲线半径R将旋转角速度指令值ω校正为每个车轮ω的旋转角速度指令值，以便以旋转角速度检测值ω，ω进行反馈控制。如果车轮处于运动/滑动状态，则如果车轮处于粘合状态，则附着力恢复控制扭矩Tis作为电动机输入转矩指令值T，Tand输出，转矩指令值T，皮重输出作为电动机输入转矩指令值T 另外，如果车轮处于跑/滑动状态，则转动角速度指令值转换部分14将用于车架中的车轮的旋转角速度平均值ω输出为车轮的旋转角速度指令值ω。

7. 发明专利

JP2014192923A Controlling device for electric vehicle 有权
标题翻译：电动车控制装置
公开(公告)号：JP2014192923A
公开(公告)日：2014-10-06
申请号：JP2013063641
申请日：2013-03-26
申请人： Meidensha Corp , 株式会社明電舎
发明人： YOSHIDA TAKANOBU , TADANO YUGO , NOMURA MASAKATSU
IPC分类号： B60L15/20 , B61C15/12
CPC分类号： Y02T10/7275
摘要： PROBLEM TO BE SOLVED: To maintain acceleration/deceleration performance by certainly performing adhesion recovering control.SOLUTION: When racing/slipping is detected, while the period in which motor rotational angular velocity torque conversion values T, T, which are calculated by differentiating wheel rotational angular velocity detected values ω, ωand multiplying the resulting value by inertia moment, are over a predetermined value, load torque estimation values calculated by subtracting the motor rotational angular velocity torque conversion values T, Tfrom a motor driving torque comprising a value corresponding to motor response delay are read several times and the load torque estimation values are updated with the latest latched value. In addition, when racing/slipping is detected, values calculated by multiplying the latest latched value of the load torque estimation values by a coefficient are output as motor driving torques T, T.
摘要翻译：要解决的问题：通过确定执行粘附恢复控制来保持加速/减速性能。解决方案：当检测到赛车/滑动时，在通过微分车轮旋转计算的电动机旋转角速度转矩转换值T，T的周期角速度检测值ω，ω和乘以惯性矩的结果值超过预定值，通过从包括对应于电动机响应的值的电动机驱动转矩减去电动机旋转角速度转矩转换值T，T而计算出的负载转矩估计值读取多次延迟，并用最新的锁存值更新负载转矩估计值。此外，当检测到赛车/滑行时，通过将负载转矩估计值的最新锁存值乘以系数而计算出的值作为电动机驱动转矩T，T输出。

8. 发明专利

JP2014192924A Controlling device for cart in which each wheel is driven independently 有权
标题翻译：控制每个轮子独立驱动的装置
公开(公告)号：JP2014192924A
公开(公告)日：2014-10-06
申请号：JP2013063642
申请日：2013-03-26
申请人： Meidensha Corp , 株式会社明電舎
发明人： YOSHIDA TAKANOBU , TADANO YUGO , NOMURA MASAKATSU
IPC分类号： B60L15/20
CPC分类号： Y02T10/7275
摘要： PROBLEM TO BE SOLVED: To suppress delay in detection of racing/slipping and to suppress detection error for racing/slipping in a cart in which each wheel is driven independently, and cooperative control for each wheel and adhesion recovering control are used together.SOLUTION: A cooperative controlling part 5 for each wheel calculates cooperative control torques T, Tbased on rotational angular velocity detected values for each wheel ω, ωand a change rate restricting part 7 performs change rate restriction of the cooperative control torques T, T. In addition, if both of a pair of right and left wheels do not race/slip, an adhesion-recover controlling part 6 outputs a value calculated by adding restriction cooperative control torques T', T' to notch torque instruction Tas motor driving torques T, T. If at least one of wheel among the pair of right and left wheels races/slips, adhesion recovering control torque in which the torque is reduced is output as the motor driving torques T, T.
摘要翻译：要解决的问题：为了抑制赛车/打滑检测的延迟，并且抑制各车轮独立驱动的车中的赛车/打滑的检测误差，并且每个车轮的协同控制和粘附恢复控制被一起使用。解决方案：每个车轮的协调控制部分5根据每个车轮ω的旋转角速度检测值计算协同控制转矩T，变化率限制部分7执行协同控制转矩T，T的变化率限制。此外，如果一对左右的车轮都不会滚动/滑动，粘附恢复控制部6将通过将限制协同控制转矩T'，T'相加而计算的值输出到缺口转矩指令Tas电动机驱动转矩T，T。一对左右轮圈/滑移中的车轮中的至少一个，转矩降低的附着力恢复控制扭矩作为电动机驱动转矩T，T输出。

9. 发明专利

JP2014192925A Controlling device for cart in which each wheel is driven independently 有权
标题翻译：控制每个轮子独立驱动的装置
公开(公告)号：JP2014192925A
公开(公告)日：2014-10-06
申请号：JP2013063643
申请日：2013-03-26
申请人： Meidensha Corp , 株式会社明電舎
发明人： YOSHIDA TAKANOBU , TADANO YUGO , NOMURA MASAKATSU
IPC分类号： B60L15/20
CPC分类号： Y02T10/7275
摘要： PROBLEM TO BE SOLVED: To suppress acceleration to a level indicated in notch torque instruction or more in a controlling device of a cart in which each wheel is driven independently and adhesion recovering control and cooperative control for each wheel are combined.SOLUTION: A cooperative controlling part 22 for each wheel calculates and outputs cooperative control torques for each wheel T, Tfor controlling difference in rotational angular velocity between right and left wheels, and an adhesion-recover controlling part 25 outputs a value in which the cooperative control torques for each wheel T, Tare added to notch torque instruction Tas motor driving torques T, T. If at least one of wheel among a pair of right and left wheels races/slips, the cooperative controlling part 22 for each wheel outputs the cooperative control torques T, Tas 0 for a given time period and an adhesion-recover controlling part 25 outputs an adhesion recovering control torque Tin which torque is subtracted from the motor driving torques T, Tas the motor driving torques T, T.
摘要翻译：要解决的问题：将加速度抑制到每个车轮独立驱动的车的控制装置中的缺口扭矩指令或更多的指示水平，并且对每个车轮进行粘合恢复控制和协调控制。解决方案：协同控制每个车轮的部分22计算并输出用于每个车轮T，T的协调控制扭矩，用于控制左右车轮之间的旋转角速度的差异，并且粘附恢复控制部分25输出每个车轮T的协同控制转矩的值，切削转矩指令Tas马达驱动转矩T，T中加上皮重。如果左右一对车轮/滑块中的至少一个车轮，则每个车轮的协作控制部件22输出协同控制转矩T，Tas 0 在给定时间段内，粘附恢复控制部分25输出减去扭矩的粘附恢复控制扭矩Tin 电机驱动转矩T，Tas电机驱动转矩T，T

10. 发明专利

JP2014192922A Controlling device for cart in which each wheel is driven independently 有权
标题翻译：控制每个轮子独立驱动的装置
公开(公告)号：JP2014192922A
公开(公告)日：2014-10-06
申请号：JP2013063640
申请日：2013-03-26
申请人： Meidensha Corp , 株式会社明電舎
发明人： YOSHIDA TAKANOBU , TADANO YUGO , NOMURA MASAKATSU
IPC分类号： B60L15/20
CPC分类号： Y02T10/7275
摘要： PROBLEM TO BE SOLVED: To suppress acceleration to a level indicated in notch torque instruction or more in a cart in which each wheel is driven independently and adhesion recovering control and cooperative control for each wheel are combined.SOLUTION: A cooperative controlling part 22 for each wheel calculates cooperative control torques for each wheel T, Tfor correcting difference in rotational angular velocity of each wheel based on detected values, ωof rotational angular velocity for each wheel. In addition, an adhesion-recover controlling part 25 outputs a value in which notch torque instruction Tis added to cooperative control torques for each wheel T, Tas torque instructions T, Twhen both of a pair of right and left wheels do not race/slip. On the other hand, when at least one of wheel among the pair of right and left wheels races/slips, the cooperative control torques for each wheel T, Tare modified to 0, and the notch torque instruction Tis output as an adhesion recovering control torque, i.e. torque instructions T, T.
摘要翻译：要解决的问题：将加速度抑制在独立驱动每个车轮的推车中的缺口扭矩指令或更多级别中指示的水平，并且对每个车轮的粘合恢复控制和协调控制进行组合。解决方案：每个车轮的协作控制部分22 车轮计算每个车轮T，T的协调控制扭矩，用于根据每个车轮的旋转角速度的检测值ω来校正每个车轮的旋转角速度的差异。此外，粘附恢复控制部25输出对于每个车轮T，Tas扭矩指令T，Tw一对左右车轮的两个不匹配/滑动而添加了缺口转矩指令Tis的协调控制转矩的值。另一方面，在左右一对车轮/滑动对中的至少一方的车轮中，每个车轮T的协同控制转矩T修正为0，缺口转矩指令Tis作为附着力恢复控制扭矩输出，即扭矩指令T，T

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