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1. 发明申请

US20080129241A1 Methods for Electric Vehicle Motor Control and Rotor Position Detection Fault-Tolerant Processing 有权
标题翻译：电动汽车电机控制和转子位置检测方法容错处理
公开(公告)号：US20080129241A1
公开(公告)日：2008-06-05
申请号：US11951305
申请日：2007-12-05
申请人： Ming Yu , Xiaohua Tang , Nan Liu , Jian Gong , Yingwu Xu , Ting Luo , Kai Liu , Xianhong Jiang , Qiaoqiao Wu , Xuguang Zhou , Guangming Yang
发明人： Ming Yu , Xiaohua Tang , Nan Liu , Jian Gong , Yingwu Xu , Ting Luo , Kai Liu , Xianhong Jiang , Qiaoqiao Wu , Xuguang Zhou , Guangming Yang
IPC分类号： G05B21/02 , G05B19/31 , G05B1/04
CPC分类号： H02P29/032 , H02P2203/05
摘要： This invention provides methods for electric vehicle motor control and rotor position detection and fault-tolerant processing. The rotor position signal sampled by the system is compared with the previous rotor position θ0. When there is a sudden change, the current position signal acquired is discarded. Instead, a fault-tolerant processing strategy for use during an error condition is employed where the previous sampled rotor position θ0 is used as a base to determine the corrected current rotor position angle Θ1′. Then the correcting value is used to control the electric motor. Thus, during the motor operation, when the detection of the motor rotor position is erroneous because of a sensor such as a revolver that may be interfered by external conditions such as electromagnetic fields or vibrations or when there is a breakdown in other related hardware components or transmitting circuits, the fault-tolerant processing methods of this invention can effectively prevent the motor from losing control and allow it to maintain its continuity and stability.
摘要翻译：本发明提供电动车辆电动机控制和转子位置检测和容错处理的方法。将由系统采样的转子位置信号与先前的转子位置θ0比较。当发生突然变化时，取消当前位置信号。相反，使用在错误状态期间使用的容错处理策略，其中先前采样的转子位置θ0作为基准来确定校正的当前转子位置角Theta1 < / SUB>'。然后使用校正值来控制电动机。因此，在电动机运转中，当电动机转子位置的检测由于诸如电动机或振动之类的外部条件等受到干扰的左轮传感器或者其他相关的硬件部件的故障而导致错误时，传输电路，本发明的容错处理方法可以有效地防止电机失去控制并使其保持其连续性和稳定性。

2. 发明授权

US07755317B2 Methods for electric vehicle motor control and rotor position detection fault-tolerant processing 有权
标题翻译：电动汽车电机控制和转子位置检测方法容错处理
公开(公告)号：US07755317B2
公开(公告)日：2010-07-13
申请号：US11951305
申请日：2007-12-05
申请人： Ming Yu , Xiaohua Tang , Nan Liu , Jian Gong , Yingwu Xu , Ting Luo , Kai Liu , Xianhong Jiang , Qiaoqiao Wu , Xuguang Zhou , Guangming Yang
发明人： Ming Yu , Xiaohua Tang , Nan Liu , Jian Gong , Yingwu Xu , Ting Luo , Kai Liu , Xianhong Jiang , Qiaoqiao Wu , Xuguang Zhou , Guangming Yang
IPC分类号： H02H7/08
CPC分类号： H02P29/032 , H02P2203/05
摘要： This invention provides methods for electric vehicle motor control and rotor position detection and fault-tolerant processing. The rotor position signal sampled by the system is compared with the previous rotor position θ0. When there is a sudden change, the current position signal acquired is discarded. Instead, a fault-tolerant processing strategy for use during an error condition is employed where the previous sampled rotor position θ0 is used as a base to determine the corrected current rotor position angle Θ1′. Then the correcting value is used to control the electric motor. Thus, during the motor operation, when the detection of the motor rotor position is erroneous because of a sensor such as a revolver that may be interfered by external conditions such as electromagnetic fields or vibrations or when there is a breakdown in other related hardware components or transmitting circuits, the fault-tolerant processing methods of this invention can effectively prevent the motor from losing control and allow it to maintain its continuity and stability.
摘要翻译：本发明提供电动车辆电动机控制和转子位置检测和容错处理的方法。将系统采样的转子位置信号与先前的转子位置进行比较; 0。当发生突然变化时，取消当前位置信号。相反，采用在错误状态期间使用的容错处理策略，其中先前采样的转子位置和角度0用作确定校正的当前转子位置角度θ1'的基准。然后使用校正值来控制电动机。因此，在电动机运转中，当电动机转子位置的检测由于诸如电动机或振动之类的外部条件等受到干扰的左轮传感器或者其他相关的硬件部件的故障而导致错误时，传输电路，本发明的容错处理方法可以有效地防止电机失去控制并使其保持其连续性和稳定性。

3. 发明授权

US08202196B2 Clutch engaging control method and control system in hybrid power output device 有权
标题翻译：混合动力输出装置离合器控制方法及控制系统
公开(公告)号：US08202196B2
公开(公告)日：2012-06-19
申请号：US12670499
申请日：2008-05-22
申请人： Xiaohua Tang , Nan Liu , Jian Gong , Ming Yu , Yingwu Xu , Kai Liu , Xianhong Jiang , Qiaoqiao Wu
发明人： Xiaohua Tang , Nan Liu , Jian Gong , Ming Yu , Yingwu Xu , Kai Liu , Xianhong Jiang , Qiaoqiao Wu
IPC分类号： B60W10/08
CPC分类号： B60W20/40 , B60K1/02 , B60K6/442 , B60L2240/421 , B60W10/02 , B60W10/06 , B60W10/08 , B60W20/00 , B60W2510/081 , B60W2510/082 , B60W2710/081 , B60W2710/082 , Y02T10/6234 , Y02T10/6286 , Y02T10/642 , Y10T477/26
摘要： The present invention provides a clutch engaging control method in a hybrid power output device, wherein the device comprises an engine, a first motor, a clutch and a second motor that are connected in sequence, a battery, and a speed reducing mechanism and a drive shaft that are connected to the output end of the second motor; the method comprises: (a) detecting the rotation speed ω2 of the second motor and setting the rotation speed ω2 as the target rotation speed ω0 of the first motor, when the vehicle is driven by the second motor and the engine is required to be started to provide assistance to the second motor; (b) starting the first motor to drive the engine, and controlling the actual rotation speed ω1 of the first motor to be close to the target rotation speed ω0; (c) switching the state of the first motor from a driving motor to a power generator when the actual rotation speed ω1 of the first motor is approximately equal to the target rotation speed ω0; and (d) engaging the clutch. The method can improve the dynamic response time of the engine and suppress impact in the clutch engaging process. The present invention further provides a clutch engaging control system in a hybrid power output device.
摘要翻译：本发明提供了一种混合动力输出装置中的离合器接合控制方法，其中，该装置包括依次连接的发动机，第一马达，离合器和第二马达，电池和减速机构以及驱动轴，其连接到第二电动机的输出端; 该方法包括：（a）当车辆由第二马达驱动并且需要启动发动机时，检测第二马达的转速ω2和将转速ω2设定为第一马达的目标转速ω0 为第二台电机提供协助; （b）启动第一马达驱动发动机，并且控制第一马达的实际转速ω1接近目标转速ω0; （c）当第一电动机的实际转速ω1近似等于目标转速ω0时，将第一电动机的状态从驱动电动机切换到发电机; 和（d）接合离合器。该方法可以改善发动机的动态响应时间并抑制离合器接合过程中的冲击。本发明还提供一种混合动力输出装置中的离合器接合控制系统。

4. 发明申请

US20100210411A1 Clutch Engaging Control Method and Control System in Hybrid Power Output Device 有权
标题翻译：混合动力输出装置离合器联动控制方法与控制系统
公开(公告)号：US20100210411A1
公开(公告)日：2010-08-19
申请号：US12670499
申请日：2008-05-22
申请人： Xiaohua Tang , Nan Liu , Jian Gong , Ming Yu , Yingwu Xu , Kai Liu , Xianhong Jiang , Qiaoqiao Wu
发明人： Xiaohua Tang , Nan Liu , Jian Gong , Ming Yu , Yingwu Xu , Kai Liu , Xianhong Jiang , Qiaoqiao Wu
IPC分类号： B60W10/02 , B60W20/00
CPC分类号： B60W20/40 , B60K1/02 , B60K6/442 , B60L2240/421 , B60W10/02 , B60W10/06 , B60W10/08 , B60W20/00 , B60W2510/081 , B60W2510/082 , B60W2710/081 , B60W2710/082 , Y02T10/6234 , Y02T10/6286 , Y02T10/642 , Y10T477/26
摘要： The present invention provides a clutch engaging control method in a hybrid power output device, wherein the device comprises an engine, a first motor, a clutch and a second motor that are connected in sequence, a battery, and a speed reducing mechanism and a drive shaft that are connected to the output end of the second motor; the method comprises: (a) detecting the rotation speed ω2 of the second motor and setting the rotation speed ω2 as the target rotation speed ω0 of the first motor, when the vehicle is driven by the second motor and the engine is required to be started to provide assistance to the second motor; (b) starting the first motor to drive the engine, and controlling the actual rotation speed ω1 of the first motor to be close to the target rotation speed ω0; (c) switching the state of the first motor from a driving motor to a power generator when the actual rotation speed ω1 of the first motor is approximately equal to the target rotation speed ω0; and (d) engaging the clutch. The method can improve the dynamic response time of the engine and suppress impact in the clutch engaging process. The present invention further provides a clutch engaging control system in a hybrid power output device.
摘要翻译：本发明提供了一种混合动力输出装置中的离合器接合控制方法，其中，该装置包括依次连接的发动机，第一马达，离合器和第二马达，电池和减速机构以及驱动轴，其连接到第二电动机的输出端; 该方法包括：（a）当车辆由第二马达驱动并且需要启动发动机时，检测第二马达的转速ω2和将转速ω2设定为第一马达的目标转速ω0 为第二台电机提供协助; （b）启动第一马达驱动发动机，并且控制第一马达的实际转速ω1接近目标转速ω0; （c）当第一电动机的实际转速ω1近似等于目标转速ω0时，将第一电动机的状态从驱动电动机切换到发电机; 和（d）接合离合器。该方法可以改善发动机的动态响应时间并抑制离合器接合过程中的冲击。本发明还提供一种混合动力输出装置中的离合器接合控制系统。

5. 发明授权

US08214096B2 Apparatus and method for controlling an accelerator for electric vehicles 有权
标题翻译：用于控制电动车辆的加速器的装置和方法
公开(公告)号：US08214096B2
公开(公告)日：2012-07-03
申请号：US12518731
申请日：2007-12-11
申请人： Yingwu Xu , Xuguang Zhou , Xiaohua Tang , Jian Gong , Nan Liu , Guangming Yang , Ming Yu
发明人： Yingwu Xu , Xuguang Zhou , Xiaohua Tang , Jian Gong , Nan Liu , Guangming Yang , Ming Yu
IPC分类号： G06F7/00 , G06F17/00
CPC分类号： B60L15/20 , B60L2240/12 , B60L2240/16 , B60L2240/423 , B60L2250/28 , B60L2270/145 , Y02T10/645 , Y02T10/7275 , Y10S903/914 , Y10T477/23 , Y10T477/30 , Y10T477/635 , Y10T477/679
摘要： The present invention provides an apparatus and method for controlling an accelerator for electric vehicles. The method comprises steps of: acquiring an actual accelerator pedal depth value and a current vehicle speed; determining a maximum output torque of motor under the current vehicle speed based on the current vehicle speed; and controlling the output torque of motor in such a way that the growth rate of the output torque higher than that of the actual accelerator pedal depth value at the beginning and then closed to that of the actual accelerator pedal depth value during the actual accelerator pedal depth value growing. The invention makes the output torque grown rapidly within the shallow range of accelerator pedal depth, while makes the output torque grown closed to that of the accelerator pedal depth within the relative deep range of accelerator pedal depth. Thus during the initial stage of acceleration, the vehicle may rapidly output a bigger torque, with an excellent dynamic response, to improve the driving comfort.
摘要翻译：本发明提供一种用于控制电动车辆的加速器的装置和方法。该方法包括以下步骤：获取实际加速踏板深度值和当前车速; 基于当前车速确定当前车速下的电动机的最大输出转矩; 并且以这样的方式控制电动机的输出转矩，使得输出转矩的增长率高于开始时的实际加速器踏板深度值的增长速率，然后在实际加速器踏板深度期间闭合至实际加速器踏板深度值价值增长。本发明使得输出扭矩在加速踏板深度的浅范围内快速生长，同时使加速踏板深度的相对深度范围内的输出转矩增加到加速踏板深度的输出转矩。因此，在加速的初始阶段，车辆可以快速输出更大的转矩，具有出色的动态响应，以提高驾驶舒适性。

6. 发明申请

US20100082189A1 APPARATUS AND METHOD FOR CONTROLLING AN ACCELERATOR FOR ELECTRIC VEHICLES 有权
标题翻译：用于控制电动车辆加速器的装置和方法
公开(公告)号：US20100082189A1
公开(公告)日：2010-04-01
申请号：US12518731
申请日：2007-12-11
申请人： Yingwu Xu , Xuguang Zhou , Xiaohua Tang , Jian Gong , Nan Liu , Guangming Yang , Ming Yu
发明人： Yingwu Xu , Xuguang Zhou , Xiaohua Tang , Jian Gong , Nan Liu , Guangming Yang , Ming Yu
IPC分类号： B60L15/20
CPC分类号： B60L15/20 , B60L2240/12 , B60L2240/16 , B60L2240/423 , B60L2250/28 , B60L2270/145 , Y02T10/645 , Y02T10/7275 , Y10S903/914 , Y10T477/23 , Y10T477/30 , Y10T477/635 , Y10T477/679
摘要： The present invention provides an apparatus and method for controlling an accelerator for electric vehicles. The method comprises steps of: acquiring an actual accelerator pedal depth value and a current vehicle speed; determining a maximum output torque of motor under the current vehicle speed based on the current vehicle speed; and controlling the output torque of motor in such a way that the growth rate of the output torque higher than that of the actual accelerator pedal depth value at the beginning and then closed to that of the actual accelerator pedal depth value during the actual accelerator pedal depth value growing. The invention makes the output torque grown rapidly within the shallow range of accelerator pedal depth, while makes the output torque grown closed to that of the accelerator pedal depth within the relative deep range of accelerator pedal depth. Thus during the initial stage of acceleration, the vehicle may rapidly output a bigger torque, with an excellent dynamic response, to improve the driving comfort.
摘要翻译：本发明提供一种用于控制电动车辆的加速器的装置和方法。该方法包括以下步骤：获取实际加速踏板深度值和当前车速; 基于当前车速确定当前车速下的电动机的最大输出转矩; 并且以这样的方式控制电动机的输出转矩，使得输出转矩的增长率高于开始时的实际加速器踏板深度值的增长速率，然后在实际加速器踏板深度期间闭合至实际加速器踏板深度值价值增长。本发明使得输出扭矩在加速踏板深度的浅范围内快速生长，同时使加速踏板深度的相对深度范围内的输出转矩增加到加速踏板深度的输出转矩。因此，在加速的初始阶段，车辆可以快速输出更大的转矩，具有出色的动态响应，以提高驾驶舒适性。

7. 发明申请

US20100004808A1 METHOD AND APPARATUS FOR CONTROLLING OUTPUT TORQUE OF A MOTOR FOR AN ELECTRIC VEHICLE IN DOWNHILL MODE 有权
标题翻译：用于控制电动车辆在下坡模式下的输出扭矩的方法和装置
公开(公告)号：US20100004808A1
公开(公告)日：2010-01-07
申请号：US12521032
申请日：2007-12-26
申请人： Xiaohua Tang , Xuguang Zhou , Yingwu Xu , Jian Gong , Nan Liu , Guangming Yang
发明人： Xiaohua Tang , Xuguang Zhou , Yingwu Xu , Jian Gong , Nan Liu , Guangming Yang
IPC分类号： G06F19/00
CPC分类号： B60L15/2009 , B60L7/18 , B60L15/2018 , B60L2240/12 , B60L2240/423 , B60L2240/642 , B60L2250/26 , Y02T10/645 , Y02T10/7275 , Y02T10/7291 , Y02T90/16 , Y10T477/79
摘要： A method and an apparatus for controlling output torque of a motor for an electric vehicle in downhill mode comprises following steps: detecting a tilt angle value θ, a current vehicle speed value V and an accelerator-pedal travel value Gain of the vehicle, determining whether the vehicle is in downhill mode or not, and if the result is positive, then calculating a downhill slip torque T1 of the vehicle under the tilt angle value θ, obtaining a maximum output torque T2, calculating an output torque T of the motor based on T1, T2, Gain and a given vehicle speed delimitative value Vref, and controlling the motor to output the calculated output torque T. The present invention ensures the vehicle speed not too high by controlling the output torque of an electric vehicle in downhill mode, even if the brake-pedal travel is zero.
摘要翻译：一种用于在下坡模式下控制电动车辆的电动机的输出转矩的方法和装置包括以下步骤：检测车辆的倾斜角度值θ，当前车速值V和加速器踏板行驶值Gain，确定是否车辆处于下坡模式，如果结果为正，则在倾斜角度θ下计算车辆的下坡滑行转矩T1，获得最大输出转矩T2，基于以下方式计算电动机的输出转矩T T1，T2，增益和给定的车速定界值Vref，并且控制电动机输出计算出的输出转矩T.本发明通过控制下坡模式下的电动车辆的输出转矩来确保车速不会太高，甚至如果制动踏板行程为零。

8. 发明授权

US08326510B2 Method and apparatus for controlling output torque of a motor for an electric vehicle in downhill mode 有权
标题翻译：用于在下坡模式下控制用于电动车辆的电动机的输出转矩的方法和装置
公开(公告)号：US08326510B2
公开(公告)日：2012-12-04
申请号：US12521032
申请日：2007-12-26
申请人： Xiaohua Tang , Xuguang Zhou , Yingwu Xu , Jian Gong , Nan Liu , Guangming Yang
发明人： Xiaohua Tang , Xuguang Zhou , Yingwu Xu , Jian Gong , Nan Liu , Guangming Yang
IPC分类号： G06F7/00 , G06F17/00
CPC分类号： B60L15/2009 , B60L7/18 , B60L15/2018 , B60L2240/12 , B60L2240/423 , B60L2240/642 , B60L2250/26 , Y02T10/645 , Y02T10/7275 , Y02T10/7291 , Y02T90/16 , Y10T477/79
摘要： A method and an apparatus for controlling output torque of a motor for an electric vehicle in downhill mode comprises following steps: detecting a tilt angle value θ, a current vehicle speed value V and an accelerator-pedal travel value Gain of the vehicle, determining whether the vehicle is in downhill mode or not, and if the result is positive, then calculating a downhill slip torque T1 of the vehicle under the tilt angle value θ, obtaining a maximum output torque T2, calculating an output torque T of the motor based on T1, T2, Gain and a given vehicle speed delimitative value Vref, and controlling the motor to output the calculated output torque T. The present invention ensures the vehicle speed not too high by controlling the output torque of an electric vehicle in downhill mode, even if the brake-pedal travel is zero.
摘要翻译：一种在下坡模式下控制电动车辆用电动机的输出转矩的方法和装置，包括以下步骤：检测倾斜角度值，车辆的当前车速值V和加速踏板行驶值Gain，确定车辆是否处于下坡模式，如果结果为正，则在倾斜角度值下计算车辆的下坡滑行转矩T1;获得最大输出转矩T2，计算电动机的输出转矩T 基于T1，T2，增益和给定的车速定界值Vref，并且控制电动机输出计算出的输出转矩T.本发明通过控制下坡模式下的电动车辆的输出转矩来确保车速不会太高，即使制动踏板行程为零。

9. 发明授权

US08346417B2 Method and apparatus for controlling motor for skid mode of electric vehicle 有权
标题翻译：用于控制电动车辆滑行模式的电动机的方法和装置
公开(公告)号：US08346417B2
公开(公告)日：2013-01-01
申请号：US12521424
申请日：2007-12-25
申请人： Xiaohua Tang , Ming Yu , Xuguang Zhou , Jian Gong , Nan Liu , Guangming Yang
发明人： Xiaohua Tang , Ming Yu , Xuguang Zhou , Jian Gong , Nan Liu , Guangming Yang
IPC分类号： B60L15/20 , B60L3/10 , B60L9/18
CPC分类号： B60L15/10 , B60L3/106 , B60L15/025 , B60L2240/12 , B60L2240/421 , B60L2240/423 , B60L2250/26 , B60L2270/145 , B60T8/1764 , B60T2210/124 , Y02T10/643 , Y02T10/7258
摘要： The present invention discloses a method and apparatus for controlling a motor for an electric vehicle. The method and apparatus calculates the current acceleration α of the motor according to the detected rotor position values in real-time, and if the current acceleration α is greater than a predetermined forward acceleration α0, the output torque of the motor is decreased. If the acceleration α is less than a predetermined backward acceleration α1, then the output torque of the motor is decreased. Thus, when the vehicle travels from a normal road surface to a smooth road surface, the decrease or increase output torque may suppress the abrupt speed variations.
摘要翻译：本发明公开了一种电动汽车用电动机的控制方法和装置。该方法和装置实时地根据检测到的转子位置值来计算电动机的当前加速度α，并且如果当前加速度α大于预定的正向加速度α0，则马达的输出转矩降低。如果加速度α小于预定的后退加速度α1，则马达的输出转矩降低。因此，当车辆从正常路面行驶到平滑的路面时，输出转矩的减小或增加可以抑制突然的速度变化。

10. 发明申请

US20100000815A1 Control Method of Electromotor 有权
标题翻译：电机控制方法
公开(公告)号：US20100000815A1
公开(公告)日：2010-01-07
申请号：US12447429
申请日：2006-10-31
申请人： Xiaohua Tang , Xuguang Zhou , Hongbin Luo , Ming Yu , Nan Liu , Jian Gong , Guangming Yang
发明人： Xiaohua Tang , Xuguang Zhou , Hongbin Luo , Ming Yu , Nan Liu , Jian Gong , Guangming Yang
IPC分类号： B60W20/00 , H02P21/14
CPC分类号： H02P29/0016 , G01D21/00 , G01P3/48 , H02P21/22
摘要： A control method of the electromotor comprises: setting a target alternating axis current based on the rotor angular velocity of the electromotor and a target direct axis current based on the torque of the motor; simultaneously detecting three-phase currents and current rotor position angle of the electromotor; converting the three-phase currents to an actual alternating axis current and an actual direct axis current by Park and Clark conversions; inputting the difference between the target current and the actual current to a current loop, outputting the required direct axis current and the required alternating axis current; determining the three phase voltages according to the required direct axis current and alternating axis current and the angle of the electromotor rotor position; obtaining PWM control waveform through three-phase voltages, wherein said PWM control waveform is configured to control the conversion from direct current to alternating current and drives the electromotor.
摘要翻译：电动机的控制方法包括：基于电动机的转矩，基于电动机的转子角速度和目标直轴电流来设定目标交变轴电流; 同时检测电动机的三相电流和电流转子位置角; 通过Park和Clark转换将三相电流转换为实际交流轴电流和实际直轴电流; 将目标电流和实际电流之间的差分输入到电流回路，输出所需的直轴电流和所需的交变轴电流; 根据所需的直轴电流和交流轴电流以及电动机转子位置的角度确定三相电压; 通过三相电压获得PWM控制波形，其中所述PWM控制波形被配置为控制从直流到交流的转换并驱动电动机。

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