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1. 发明授权

US06255798B1 Control apparatus for electric vehicle 失效
标题翻译：电动车控制装置
公开(公告)号：US06255798B1
公开(公告)日：2001-07-03
申请号：US08736346
申请日：1996-10-23
申请人： Sanshiro Obara , Ryoso Masaki , Yuusuke Takamoto , Eiichi Ohtsu , Hiroyuki Yamada
发明人： Sanshiro Obara , Ryoso Masaki , Yuusuke Takamoto , Eiichi Ohtsu , Hiroyuki Yamada
IPC分类号： H02D534
CPC分类号： B60L11/1803 , B60L15/025 , H02P21/00 , Y02T10/643 , Y02T10/7005 , Y02T10/7258
摘要： A more compact and light-weight drive unit is required for an electric vehicle in order to improve its mileage per charge, acceleration performance and overall efficiency. A control apparatus which generates drive signals to drive power devices in the power converter includes: a current reference generator calculates from a torque reference value a d-axis exciting current reference value on the basis of which the ac motor generates a magnetic flux, and a q-axis torque current reference value, the d-axis and the q-axis being orthogonal to each other; a current control circuit generates ac voltage reference values Vu*, Vv* and Vw* from the d-axis exciting current reference value and the q-axis torque current reference value; and a drive signal generator generates drive signals to drive power devices from the ac voltage reference values. Both the current reference generator and the current control circuit are processed digitally by the same arithmetic unit.
摘要翻译：电动汽车需要更紧凑，重量轻的驱动单元，以提高每次充电的里程，加速性能和整体效率。产生驱动信号以驱动功率转换器中的功率器件的控制装置包括：电流基准发生器根据转矩参考值来计算交流电动机产生磁通的d轴励磁电流参考值，以及 q轴转矩电流基准值，d轴和q轴彼此正交; 电流控制电路根据d轴励磁电流基准值和q轴转矩电流参考值产生交流电压参考值Vu *，Vv *和Vw *; 并且驱动信号发生器产生驱动信号以从交流电压参考值驱动功率器件。电流参考发生器和电流控制电路都由相同的运算单元进行数字处理。

2. 发明授权

US5345155A Control system for electric vehicle 失效
标题翻译：电动汽车控制系统
公开(公告)号：US5345155A
公开(公告)日：1994-09-06
申请号：US857335
申请日：1992-03-25
申请人： Ryoso Masaki , Yuusuke Takamoto , Sanshiro Obara , Hirohisa Yamamura , Hiroyuki Yamada
发明人： Ryoso Masaki , Yuusuke Takamoto , Sanshiro Obara , Hirohisa Yamamura , Hiroyuki Yamada
IPC分类号： B60L9/18 , B60L11/18 , B60L15/20 , H02P5/00 , H02P5/74 , H02J7/24 , H02P5/28
CPC分类号： B60L11/1803 , B60L15/2036 , Y02T10/645 , Y02T10/646 , Y02T10/648 , Y02T10/7005 , Y02T10/7275
摘要： An electric vehicle control system, according to the present invention, comprises at least two electric motors for independently driving left and right wheels of the vehicle, power supply unit for supplying power to the motors, unit for detecting command entered by a driver of the vehicle and driving operational amount provided for the vehicle, unit for detecting output torques of the two motors, unit for calculating a motor speed difference command signal for making the two output torques consistent with each other, unit for calculating a vehicle speed command signal for the vehicle on the basis of detected command and the driving operational amount, unit for calculating motor speed command signals for respective of the motors on the basis of calculated motor speed difference command signal and the vehicle speed command signal, unit for detecting actual speeds of the two motors, and control unit for voltage controlling supply power from the power supply unit to the motors so that the detected actual speeds of the motors become consistent with the motor speed commands for respective motors.
摘要翻译：根据本发明的电动车辆控制系统包括用于独立地驱动车辆的左轮和右车的至少两个电动机，用于向电动机供电的供电单元，用于检测车辆驾驶员输入的命令的单元以及为车辆提供的驾驶操作量，用于检测两个电动机的输出转矩的单元，用于计算用于使两个输出转矩一致的电动机速度差指令信号的单元，用于计算车辆的车速指令信号的单元基于检测到的指令和驾驶操作量，基于计算的电动机速度差指令信号和车速指令信号来计算各个电动机的电动机速度指令信号的单元，用于检测两个电动机的实际速度的单元以及控制单元，用于对从电源单元向电动机供电的电压进行控制检测到的电机的实际速度与各个电机的电机速度指令一致。

3. 发明授权

US6008617A Motor control device for high frequency AC driven motor 有权
标题翻译：高频交流驱动电机电机控制装置
公开(公告)号：US6008617A
公开(公告)日：1999-12-28
申请号：US198503
申请日：1998-11-24
申请人： Satoru Kaneko , Ryoso Masaki , Sanshiro Obara , Yuusuke Takamoto
发明人： Satoru Kaneko , Ryoso Masaki , Sanshiro Obara , Yuusuke Takamoto
IPC分类号： A47B51/00 , H02P21/00
CPC分类号： H02P21/06 , H02P21/0085
摘要： A motor control device for an AC motor driven by a power converter with a maximum output frequency more than 500 Hz has a digital arithmetic unit which performs current-feed back control of the AC motor up to a maximum output frequency of the power converter, and outputs an AC voltage command to the power converter. The digital arithmetic unit includes a voltage control signal calculating unit for calculating a vector sum of the d-axis current deviation from a first subtracting unit and the q-axis current deviation from a second subtracting unit based on the d-axis and q-axis phases from a phase calculating unit as well as for calculating a d-axis voltage control signal and a q-axis voltage control signal according to the calculated vector sum, and performs current integration control for the d-axis and q-axis using the calculated vector sum as an input value. The AC voltage command is calculated based on the d-axis voltage control signal and the q-axis voltage control signals.
摘要翻译：用于由最大输出频率大于500Hz的功率转换器驱动的交流电动机的电动机控制装置具有数字运算单元，其执行直流电动机的最大输出频率的电流反馈控制，以及向电力转换器输出交流电压指令。数字运算单元包括：电压控制信号计算单元，用于基于d轴和q轴计算来自第一减法单元的d轴电流偏差和来自第二减法单元的q轴电流偏差的矢量和根据计算出的矢量和计算d轴电压控制信号和q轴电压控制信号，并使用计算出的矢量和相位计算单元对d轴和q轴进行电流积分控制向量和作为输入值。根据d轴电压控制信号和q轴电压控制信号计算交流电压指令。

4. 发明授权

US5877607A Electric motor controller capable of performing stable current control during load disturbance and/or a regenerating mode 失效
标题翻译：电动机控制器能够在负载扰动和/或再生模式期间执行稳定的电流控制
公开(公告)号：US5877607A
公开(公告)日：1999-03-02
申请号：US705597
申请日：1996-08-30
申请人： Ryoso Masaki , Yuusuke Takamoto , Taizou Miyazaki , Satoru Kaneko , Sanshiro Obara
发明人： Ryoso Masaki , Yuusuke Takamoto , Taizou Miyazaki , Satoru Kaneko , Sanshiro Obara
IPC分类号： B60L9/18 , B60L7/20 , B60L15/02 , H02P21/00 , H02P27/04 , H02P27/06 , H02P7/00
CPC分类号： B60L7/20 , B60L15/025 , Y02T10/643
摘要： In a controller for an electric vehicle, a voltage current phase difference calculating circuit calculates a vector phase .theta..sub.c from a voltage command value and the primary current of an alternating current motor. The vector phase .theta..sub.c is input to a second voltage command circuit which calculates a second d-axis voltage command value and a second q-axis voltage command value using the vector phase .theta..sub.c and d-axis and q-axis current differences. By correcting the voltage command value using the second d-axis and second q-axis voltage command values, the stability of the current control system is improved. By controlling the electric vehicle using such a system, a stable current control can be attained even when the electric vehicle is driven under a regenerative running state or a weak magnetic field control state.
摘要翻译：在电动车辆的控制器中，电压电流相位差计算电路根据电压指令值和交流电动机的一次电流来计算向量相位θc。矢量相位θc被输入到使用向量相位θc和d轴和q轴电流差计算第二d轴电压指令值和第二q轴电压指令值的第二电压指令电路。通过使用第二d轴和第二q轴电压指令值校正电压指令值，提高了电流控制系统的稳定性。通过使用这种系统控制电动车辆，即使在电动车辆在再生行驶状态或弱磁场控制状态下被驱动，也可以获得稳定的电流控制。

5. 发明授权

US06320349B1 Method of estimating field pole position of synchronous motor, motor controller, and electric vehicle 有权
标题翻译：同步电机，电机控制器和电动车辆的励磁极位置估算方法
公开(公告)号：US06320349B1
公开(公告)日：2001-11-20
申请号：US09371046
申请日：1999-08-10
申请人： Satoru Kaneko , Ryoso Masaki , Yuusuke Takamoto , Taizou Miyazaki , Sanshiro Obara
发明人： Satoru Kaneko , Ryoso Masaki , Yuusuke Takamoto , Taizou Miyazaki , Sanshiro Obara
IPC分类号： H02P528
CPC分类号： B60L15/025 , B60L2220/14 , H02P21/18 , Y02T10/643
摘要： A power corresponding to an A/C voltage command id1* is applied in the d-axis direction of rotational coordinates of a stopped synchronous motor via a current control unit, a three-phase converting unit, and a power converter. Further, by using “an amplitude value of a current iq′ in the q-axis direction of the rotational coordinates generated in response to the A/C voltage command id1*” which is fed back and detected via a current detector and a dq converting unit, a field pole position estimation value &thgr;{circumflex over ( )} is converged. The field pole position is estimated by using the converged field pole position estimation value &thgr;{circumflex over ( )} as a true value of the field pole position &thgr; of the synchronous motor.
摘要翻译：通过电流控制单元，三相转换单元和功率转换器，在停止的同步电机的旋转坐标的d轴方向上施加与A / C电压指令id1 *相对应的功率。此外，通过使用“响应于通过电流检测器反馈并检测的A / C电压指令id1 *”产生的旋转坐标的q轴方向上的电流iq的振幅值，以及dq转换单位，场极位置估计值θ{circumflex over（）}被收敛。通过使用收敛场极点位置估计值θ{circumflex over（）}来估计场极位置作为同步电动机的场极位置theta的真实值。

6. 发明授权

US5841263A Frequency dependent current control system for an AC motor 失效
标题翻译：用于交流电机的频率相关电流控制系统
公开(公告)号：US5841263A
公开(公告)日：1998-11-24
申请号：US859087
申请日：1997-05-20
申请人： Satoru Kaneko , Ryoso Masaki , Sanshiro Obara , Yuusuke Takamoto
发明人： Satoru Kaneko , Ryoso Masaki , Sanshiro Obara , Yuusuke Takamoto
IPC分类号： B60L9/16 , B60L15/02 , H02P21/00 , H02P27/04 , H02P27/06 , A47B51/00
CPC分类号： H02P21/0085 , B60L15/025 , B60L2210/40 , B60L2240/429 , B60L2260/44 , Y02T10/643 , Y02T10/7241
摘要： In a method and apparatus for motor control in an electric vehicle, current feedback control from an AC motor is performed using a digital arithmetic unit. The motor control equipment includes a power converter having a maximum output frequency of at least 500 Hz for driving the AC motor, and the digital arithmetic unit outputs an AC voltage command to the power converter based on current feedback from the AC motor up to the maximum output frequency of the power converter. The digital arithmetic unit includes a first subtractor for calculating the deviation between a detected value and a command value for the d-axis current, and a second subtractor for calculating the deviation between a detected value and a command value for the q-axis current. A phase calculator calculates a d-axis phase corresponding to the resistance and reactance components of the impedance of the d-axis, and a q-axis phase corresponding to the resistance components of the impedance of the q-axis. A voltage control calculator calculates control signals for the d- and q-axis voltages, due to the d-axis current deviation and the q-axis current deviation, based on the d-axis phase and the q-axis phase. The AC voltage command is output to the power converter based on the d- and q- axis voltage control signals.
摘要翻译：在电动汽车的电动机控制方法和装置中，使用数字运算装置进行来自交流电动机的电流反馈控制。所述电动机控制装置具有驱动所述交流电动机的最大输出频率为500Hz以上的功率转换器，所述数字运算单元根据来自所述交流电动机的电流反馈向所述功率变换器输出交流电压指令，直到最大值功率转换器的输出频率。数字运算单元包括：第一减法器，用于计算检测值与d轴电流的指令值之间的偏差;以及第二减法器，用于计算检测值与q轴电流的指令值之间的偏差。相位计算器计算与d轴的阻抗的电阻和电抗分量相对应的d轴相位和与q轴的阻抗的电阻分量相对应的q轴相位。基于d轴相位和q轴相位，由于d轴电流偏差和q轴电流偏差，电压控制计算器计算d轴和q轴电压的控制信号。交流电压指令根据d轴和q轴电压控制信号输出到功率转换器。

7. 发明授权

US5467275A Control apparatus for electric vehicle 失效
标题翻译：电动车控制装置
公开(公告)号：US5467275A
公开(公告)日：1995-11-14
申请号：US33742
申请日：1993-03-19
申请人： Yuusuke Takamoto , Ryoso Masaki , Sanshiro Obara , Satoru Kaneko
发明人： Yuusuke Takamoto , Ryoso Masaki , Sanshiro Obara , Satoru Kaneko
IPC分类号： B60L3/00 , B60L7/00 , B60L15/20 , B60L15/34
CPC分类号： H02P3/025 , B60L15/2009 , B60L15/2018 , B60L7/06 , B60L7/08 , B60L2220/12 , B60L2240/12 , B60L2240/421 , B60L2240/423 , B60L2250/26 , B60L2260/22 , Y02T10/645 , Y02T10/7275
摘要： An electric vehicle control unit capable of position control so that the vehicle can be held in its stop position without vibration, even if an operator does not keep the brake pressed. The control circuit of the electric vehicle comprises a speed/torque instruction generation circuit, a position control selection circuit, a position instruction generation circuit and a motor control circuit. When the vehicle stops, control of the motor is changed from speed or torque control to position control.
摘要翻译：一种电动车辆控制单元，能够进行位置控制，使得即使操作者不保持制动器按压，车辆也能够无振动地保持在停止位置。电动车辆的控制电路包括速度/转矩指令生成电路，位置控制选择电路，位置指令生成电路和电动机控制电路。当车辆停止时，电动机的控制从速度或转矩控制变为位置控制。

8. 发明授权

US5309073A Electric vehicle control device 失效
标题翻译：电动车控制装置
公开(公告)号：US5309073A
公开(公告)日：1994-05-03
申请号：US963765
申请日：1992-10-20
申请人： Satoru Kaneko , Ryoso Masaki , Sanshiro Obara , Tsutomu Ohmae , Yuusuke Takamoto , Hirohisa Yamamura
发明人： Satoru Kaneko , Ryoso Masaki , Sanshiro Obara , Tsutomu Ohmae , Yuusuke Takamoto , Hirohisa Yamamura
IPC分类号： B60L3/00 , B60L11/18 , H02J11/00
CPC分类号： B60L3/003 , B60L11/1803 , B60L11/1814 , B60L11/1816 , B60L2200/26 , B60L2210/20 , B60L2220/54 , B60L2250/30 , Y02T10/641 , Y02T10/7005 , Y02T10/7072 , Y02T10/725 , Y02T90/127 , Y02T90/14 , Y10T307/707
摘要： An electric vehicle control device is disclosed, which includes an AC motor for driving a vehicle; a main electric power conversion unit for supplying an AC voltage to the AC motor; a battery for supplying a DC voltage to the main electric power conversion unit; an auxiliary electric power conversion unit connected to the battery and adapted to be connected to a load or a power supply; a controller for controlling the main and auxiliary electric power conversion units so as to act selectively as an inverter or a converter; and a switching unit for giving selectively the AC motor the AC voltage from the main and auxiliary electric power conversion units under control of the controller. In the running mode of the electric vehicle, the controller described above makes the main electric power conversion unit act as an inverter and controls the switching unit so that the AC voltage from the main electric power conversion unit is given to the AC motor. Further, responding to detection of a failure of the main electric power conversion unit, the controller makes the auxiliary electric power conversion unit act as an inverter and controls the switching unit so that the AC voltage from the auxiliary electric power conversion unit is given to the AC motor.
摘要翻译：公开了一种电动车辆控制装置，其包括用于驱动车辆的AC电动机; 主电力转换单元，用于向AC电动机提供AC电压; 用于向主电力转换单元提供直流电压的电池; 连接到电池并适于连接到负载或电源的辅助电力转换单元; 用于控制主电力转换单元和辅助电力转换单元以便选择性地作为逆变器或转换器的控制器; 以及开关单元，用于在所述控制器的控制下选择性地给所述AC电动机提供来自所述主电力转换单元和所述辅助电力转换单元的AC电压。在电动车辆的运行模式中，上述控制器使得主电力转换单元作为逆变器，并且控制开关单元，使得来自主电力转换单元的AC电压被给予AC电动机。此外，响应于主电力转换单元的故障的检测，控制器使辅助电力转换单元充当逆变器，并控制开关单元，使得来自辅助电力转换单元的AC电压被给予交流电机。

9. 发明授权

US5726890A Control apparatus for electric vehicle 失效
公开(公告)号：US5726890A
公开(公告)日：1998-03-10
申请号：US523934
申请日：1995-09-06
申请人： Yuusuke Takamoto , Ryoso Masaki , Sanshiro Obara , Satoru Kaneko
发明人： Yuusuke Takamoto , Ryoso Masaki , Sanshiro Obara , Satoru Kaneko
IPC分类号： B60L3/00 , B60L7/00 , B60L15/20 , B60L15/34
CPC分类号： H02P3/025 , B60L15/2009 , B60L15/2018 , B60L7/06 , B60L7/08 , B60L2220/12 , B60L2240/12 , B60L2240/421 , B60L2240/423 , B60L2250/26 , B60L2260/22 , Y02T10/645 , Y02T10/7275
摘要： An electric vehicle control unit capable of position control so that the vehicle can be held in its stop position without vibration, even if an operator does not keep the brake pressed. The control circuit of the electric vehicle comprises a speed/torque instruction generation circuit, a position control selection circuit, a position instruction generation circuit and a motor control circuit. When the vehicle stops, control of the motor is changed from speed or torque control to position control.

10. 发明授权

US5631819A Power converter 失效
标题翻译：电源转换器
公开(公告)号：US5631819A
公开(公告)日：1997-05-20
申请号：US633000
申请日：1996-04-16
申请人： Ryoso Masaki , Takashi Ikimi , Hironori Ohashi , Yuusuke Takamoto , Seiji Ishida , Sanshiro Obara
发明人： Ryoso Masaki , Takashi Ikimi , Hironori Ohashi , Yuusuke Takamoto , Seiji Ishida , Sanshiro Obara
IPC分类号： H02M7/48 , H02P21/00 , H02P21/06 , H02P27/04 , H02P27/06 , H02P27/08 , H02M7/537 , H02M7/538
CPC分类号： H02P21/06 , H02M7/53873 , H02M2007/53876
摘要： The invention provides an electric power converter system which uses a standard low-priced control processor and is suitable for improving the voltage utilization factor in the output voltage. D-axis and q-axis voltage commands and a rotation angle .theta. defining a voltage command vector on a rotating coordinate system are input to a voltage calculation circuit. The voltage command vector is transformed in a rotating coordinate transformation unit into a .alpha. axis and .beta. axis voltage commands to be defined relative to stationary coordinate system. A judgment unit determines which section contains the voltage command vector, from among three sections on the stationary coordinate system having one axis thereof (.alpha.-axis for example) coinciding with one axis of the three phases. A three phase voltage generation unit then selects a method of calculation on the basis of a result of the section determination, and calculates three phase voltage command values respectively utilizing the .alpha. axis and .beta. axis voltage command values. Since calculation requires only a simple add/subtract and shift operation, a high performance economical power converter system which improves the voltage utilization factor substantially can be realized.
摘要翻译：本发明提供一种使用标准低价控制处理器的电力转换器系统，适用于提高输出电压的电压利用率。 D轴和q轴电压指令以及旋转坐标系上定义电压指令矢量的旋转角θ被输入到电压计算电路。电压指令矢量在旋转坐标变换单元中变换为相对于固定坐标系定义的α轴和β轴电压命令。判断单元从具有与三相的一个轴一致的一个轴（例如，α轴）的固定坐标系上的三个部分中确定哪个部分包含电压指令矢量。三相电压产生单元然后基于区段确定的结果选择一种计算方法，并且分别使用α轴和β轴电压指令值来计算三相电压指令值。由于计算仅需要简单的加/减运算，所以可以实现提高电压利用率的高性能经济型电力转换器系统。

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