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    倒立二輪車
    1.
    发明专利
    倒立二輪車 审中-公开

    公开(公告)号：JP2017077743A

    公开(公告)日：2017-04-27

    申请号：JP2015205473

    申请日：2015-10-19

    Applicant: トヨタ自動車株式会社 ,  Toyota Motor Corp

    Inventor： KIMURA AKIHIRO ,  AOKI HIDESUKE ,  SUZUKI HARUTAKA

    IPC: B62K17/00 ,  B62K3/00 ,  G09B9/04

    Abstract: 【課題】訓練初期では搭乗者の両脚のうち不自由でない方の脚を優先的に利用して走行操作でき、訓練が進んで来たら不自由な方の脚も積極的に利用して走行操作できる倒立二輪車を提供する。【解決手段】倒立二輪車は、車両本体に設けられた車輪と、車輪を駆動する駆動手段5L、5Rと、走行操作するための一対のステップと、車両本体の倒立状態を維持する制御を行うと共に、一方のステップの操作量及び操作方向に応じた第1制御指令に第1比率を乗算した乗算結果と、他方のステップの操作量及び操作方向に応じた第2制御指令に第2比率を乗算した乗算結果と、を加算することで、各ステップによる第1及び第2制御指令の統合制御指令を算出し、該統合制御指令に基づいて駆動手段5L、5Rの駆動を制御することで、倒立二輪車の並進走行及び旋回走行を制御する制御手段8と、第1及び第2比率のうち少なくとも一方を変更する比率変更手段9と、を備える。【選択図】図2

    Control device for vehicle
    2.
    发明专利
    Control device for vehicle 有权
    车辆控制装置

    公开(公告)号：JP2014166836A

    公开(公告)日：2014-09-11

    申请号：JP2013039936

    申请日：2013-02-28

    Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社 ,  Aisin Aw Co Ltd ,  アイシン・エィ・ダブリュ株式会社

    Inventor： KATO HARUYA ,  KIMURA AKIHIRO ,  KITAZAWA YUSUKE ,  FURUTA HIDEKI

    IPC: B60W10/08 ,  B60K6/445 ,  B60L11/14 ,  B60W20/00

    CPC classification number: Y02T10/6239 ,  Y02T10/7077

    Abstract: PROBLEM TO BE SOLVED: To provide a control device for a hybrid vehicle that prevents change in driving torque and maintains drivability when output torque of an internal combustion engine is increased due to an advance of ignition timing after start of the internal combustion engine in the hybrid vehicle including a differential mechanism and a first rotating machine and a second rotating machine that are connected to the differential mechanism.SOLUTION: Rotational frequency of a first motor generator MG1 is changed to a direction in which an increase in output torque of an engine 12 caused by an advance angle of ignition timing does not affect torque of an intermediate power transmission shaft 16, so as to avoid a situation where the increase in the output torque of the engine 12 is transmitted to the intermediate power transmission shaft 16 and a second motor generator MG2. Thus regardless of the increase in the output torque of the engine 12 caused by the advance angle after start of the engine 12, change in driving torque of a vehicle is suppressed and drivability is maintained.

    Abstract translation: 要解决的问题：提供一种用于混合动力车辆的控制装置，其防止在内燃机的输出转矩由于内燃机启动之后的点火正时的前进而增加时驱动转矩的变化，并且保持驾驶性能 车辆，包括差速机构，第一旋转机械和第二旋转机械，其连接到差速机构。解决方案：第一电动发电机MG1的转速改变为引起发动机12的输出转矩增加的方向 通过提前的点火正时角度不会影响中间动力传递轴16的转矩，以避免发动机12的输出转矩的增加传递到中间动力传递轴16和第二电动发电机 MG2。 因此，不管由发动机12启动后的提前角度引起的发动机12的输出转矩的增加，都能够抑制车辆的驱动转矩的变化，并且保持驾驶性能。

    Vehicle control device
    3.
    发明专利
    Vehicle control device 有权
    车辆控制装置

    公开(公告)号：JP2014162360A

    公开(公告)日：2014-09-08

    申请号：JP2013035190

    申请日：2013-02-25

    Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社 ,  Aisin Aw Co Ltd ,  アイシン・エィ・ダブリュ株式会社

    Inventor： KATO HARUYA ,  KIMURA AKIHIRO ,  YAMAMOTO MASAYA ,  FURUTA HIDEKI ,  MORI YUMA

    IPC: B60W10/02 ,  B60K6/445 ,  B60K6/547 ,  B60W20/00 ,  F16D48/02

    CPC classification number: Y02T10/6239

    Abstract: PROBLEM TO BE SOLVED: To improve the accuracy in correcting the transmission torque of a clutch when the clutch is slipping.SOLUTION: Correction of AT transmission torque Tat deviating from an instruction value by using a difference ΔTat between an estimation value of the AT transmission torque Tat and the instruction value thereof makes it possible to improve accuracy in correcting the AT transmission torque Tat in an inertia phase of speed change transition of a transmission 20. That is, the difference between the instruction value of the AT transmission torque Tat and the estimation value thereof is directly corrected, and therefore it is possible to correct the AT transmission torque Tat as required. Here, using of differences ΔTat at plural temporal points in the inertia phase instead of one point therein enables correction even if there is a variation trend of the difference ΔTat throughout an inertia phase. That is, for magnification of the difference ΔTat, and variations thereof in any temporal point throughout the inertia phase, it is possible to acquire plural times of learning opportunities with only one execution of speed change. This enables improvement in accuracy of a learning value ΔTgk and in converging performance.

    Abstract translation: 要解决的问题：提高离合器滑动时离合器传动扭矩的校正精度。解决方案：通过使用差值Dgr; Tat在AT的估计值之间校正AT传动转矩Tat与指令值的偏差 传动转矩Tat及其指令值使得可以提高变速器20的变速转换惯性阶段中的AT传动转矩Tat的校正精度。也就是说，AT传动转矩Tat的指令值与 其估计值被直接校正，因此可以根据需要校正AT传输转矩Tat。 这里，即使在整个惯性阶段存在差异Dgr; Tat的变化趋势，也可以在惯性阶段的多个时间点使用差分Dgr; Tat而不是其中一个点进行校正。 也就是说，在整个惯性阶段的任何时间点，为了放大差值Dgr，Tat及其变化，可以仅仅一次执行速度变化来获得多次学习机会。 这使得能够提高学习值＆Dgr; Tgk和收敛性能的准确性。

    Vehicle control device
    4.
    发明专利
    Vehicle control device 有权
    车辆控制装置

    公开(公告)号：JP2014162359A

    公开(公告)日：2014-09-08

    申请号：JP2013035189

    申请日：2013-02-25

    Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社 ,  Aisin Aw Co Ltd ,  アイシン・エィ・ダブリュ株式会社

    Inventor： KATO HARUYA ,  KIMURA AKIHIRO ,  YAMAMOTO MASAYA ,  FURUTA HIDEKI ,  MORI YUMA

    IPC: B60W10/02 ,  B60K6/445 ,  B60K6/547 ,  B60W20/00

    CPC classification number: Y02T10/6239

    Abstract: PROBLEM TO BE SOLVED: To improve the accuracy in correcting the transmission torque of a clutch when the clutch is slipping.SOLUTION: Correction of AT transmission torque Tat deviating from an instruction value by using a difference ΔTat between an estimation value of the AT transmission torque Tat and the instruction value thereof makes it possible to improve accuracy in correcting the AT transmission torque Tat when a transmission 20 is engaged in changing speeds. That is, the difference between the instruction value of the AT transmission torque Tat and the estimation value thereof is directly corrected, and therefore it is possible to correct the AT transmission torque Tat as required. Here, using of a delay-considered instruction value for the instruction value of the AT transmission torque Tat makes it possible to reduce a temporal error between the instruction value and estimation value at the time of calculating the difference ΔTat, enabling a further accuracy in correcting the AT transmission torque Tat. This enables improvement of a life of components (e.g., a friction member of a clutch C) and suppression of deterioration in drivability.

    Abstract translation: 要解决的问题：提高离合器滑动时离合器传动扭矩的校正精度。解决方案：通过使用差值Dgr; Tat在AT的估计值之间校正AT传动转矩Tat与指令值的偏差 传动转矩Tat及其指令值使得有可能在变速器20接合变速时提高校正AT传动转矩Tat的精度。 也就是说，直接校正AT传输转矩Tat的指令值与其估计值之间的差异，因此可以根据需要校正AT传输转矩Tat。 这里，通过使用延迟考虑的指令值作为AT传输转矩Tat的指令值，可以减少在计算差值Dgr; Tat时指令值与估计值之间的时间误差，从而能够进一步提高精度 在校正AT传输扭矩Tat时。 这使得能够提高部件（例如，离合器C的摩擦构件）的寿命和抑制驾驶性能的劣化。

    Control unit of vehicle
    5.
    发明专利
    Control unit of vehicle 有权
    车辆控制单元

    公开(公告)号：JP2014151845A

    公开(公告)日：2014-08-25

    申请号：JP2013024988

    申请日：2013-02-12

    Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社 ,  Aisin Aw Co Ltd ,  アイシン・エィ・ダブリュ株式会社

    Inventor： KATO HARUYA ,  KIMURA AKIHIRO ,  MORI YUMA ,  FURUTA HIDEKI

    IPC: B60W10/04 ,  B60K6/445 ,  B60W10/02 ,  B60W10/06 ,  B60W10/11 ,  B60W20/00 ,  F02D29/00 ,  F16H61/02

    CPC classification number: B60W10/12 ,  B60K6/445 ,  B60K6/547 ,  B60W10/04 ,  B60W10/06 ,  B60W10/115 ,  B60W30/19 ,  B60W2510/0638 ,  B60W2510/0695 ,  Y02T10/6239 ,  Y10T477/606

    Abstract: PROBLEM TO BE SOLVED: To appropriately implement power decrease control irrespective of a difference in a differential state of a differential unit when the power decrease control of an engine is implemented at the time of connecting a disconnection device in a vehicle having the differential unit.SOLUTION: When an MG2 rotating speed ωm that is an input rotating speed of an automatic transmission 20 is raised with engine power Pe in order to perform downshift, power decrease control of an engine 12 is implemented immediately before the M2 rotating speed ωm reaches a synchronous rotating speed ωmdoki attained successively to the downshift. When an engine speed ωe that is a rotating speed of a first rotary element (carrier C) of a differential unit 14 is low, a power decrease volume Pdown is made larger than it is when the engine speed is high. Therefore, the power decrease control is properly implemented irrespective of a difference in the differential state of the differential unit 14, that is, a difference in rotational energy Ediff. Eventually, driveability, fuel economy, exhaust gas, or the like can be upgraded.

    Abstract translation: 要解决的问题：在连接具有差速单元的车辆中的断路装置时实现发动机的减速控制时，不管差动单元的差速状态的差异如何，都能适当地实施减速控制。 ：当作为自动变速器20的输入转速的MG2转速ωm以发动机功率Pe上升以进行降档时，发动机12的减速控制在M2转速ωm达到同步转速之前 速度ωmdoki连续降档。 当作为差分单元14的第一旋转元件（载体C）的转速的发动机转速ωe为低时，使功率减小量Pdown比发动机转速高时大。 因此，无论差分单元14的差分状态的差异，即旋转能量Ediff的差异如何，均能适当地实施功率降低控制。 最终可以升级驾驶性，燃料经济性，废气等。

    Damping control system of vehicle
    6.
    发明专利
    Damping control system of vehicle 有权
    车辆阻尼控制系统

    公开(公告)号：JP2014151844A

    公开(公告)日：2014-08-25

    申请号：JP2013024987

    申请日：2013-02-12

    Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社 ,  Aisin Aw Co Ltd ,  アイシン・エィ・ダブリュ株式会社

    Inventor： KATO HARUYA ,  KIMURA AKIHIRO ,  FURUTA HIDEKI

    IPC: B60W10/08 ,  B60G17/015 ,  B60G17/016 ,  B60K6/445 ,  B60K6/48 ,  B60K6/547 ,  B60L11/14 ,  B60L15/20 ,  B60W20/00

    CPC classification number: Y02T10/6221 ,  Y02T10/6239 ,  Y02T10/7077 ,  Y02T10/7275

    Abstract: PROBLEM TO BE SOLVED: To suppress resonance of a suspended region attributable to torsional vibrations of a drive line occurring at the time of starting an engine during traveling at a high gear ratio, and prevent occurrence of a shock.SOLUTION: When an engine 12 is started, if torsional vibrations in a resonant frequency band of a region suspended by a body mount 34 are decided to have occurred in a drive line, a damping torque Tvib for damping relative vibrations of the suspended region is added to a command torque of a second motor generator MG2. Therefore, the relative vibrations of the suspended region are damped. Accordingly, resonance of the suspended region attributable to the torsional vibrations occurring in the drive line at the time of starting the engine 12 during traveling at, for example, a high gear ratio is suppressed, and a shock derived from the resonance is minimized.

    Abstract translation: 要解决的问题：为了抑制由于在以高齿轮比行驶期间起动发动机时发生的驱动线的扭转振动引起的悬浮区域的共振，并且防止发生冲击。解决方案：当发动机12为 开始，如果在由主体安装件34悬挂的区域的共振频带中的扭转振动被确定为已经在驱动线路中发生，则用于阻止悬挂区域的相对振动的阻尼扭矩Tvib被添加到第二 电动发电机MG2。 因此，悬挂区域的相对振动被阻尼。 因此，抑制了以例如高速传动比的行驶期间起动发动机12时在驱动线路中产生的扭转振动引起的悬架区域的共振，并且由共振导出的冲击最小化。

    Electric vehicle and its control method
    9.
    发明专利
    Electric vehicle and its control method 审中-公开
    电动车及其控制方法

    公开(公告)号：JP2006254568A

    公开(公告)日：2006-09-21

    申请号：JP2005065677

    申请日：2005-03-09

    Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

    Inventor： KIMURA AKIHIRO

    IPC: B60L11/14 ,  B60K6/44 ,  B60K6/445 ,  B60K6/448 ,  B60K6/52 ,  B60L15/20 ,  B60W10/06 ,  B60W10/08 ,  B60W10/26 ,  B60W20/00

    CPC classification number: Y02T10/6286 ,  Y02T10/7077 ,  Y02T10/7275

    Abstract: PROBLEM TO BE SOLVED: To provide an electric vehicle in which a motor is controlled in a more appropriate range, and to provide its control method. SOLUTION: In an automobile comprises a motor outputting a traveling power, and a battery for exchanging power with the motor, a control r. p. m. Nm2* is set using a hysteresis value his having a trend of decreasing as the r. p. m. Nm2 of the motor increases (S140, S150), and a torque command Tm2* of the motor is set by limiting a temporary motor torque Tm2tmp to be output from the motor by torque limits Tmax and Tmin set by using the control r. p. m. Nm2* (S160-S180). Consequently, oscillation in torque being output from the motor can be suppressed more when the r. p. m. Nm2 of the motor is relatively low, and performance of the battery can be exhibited more by decreasing the hysteresis of power being output from the motor when the r. p. m. Nm2 of the motor is relatively high. Consequently, the motor can be controlled in a more appropriate range. COPYRIGHT: (C)2006,JPO&NCIPI

    Abstract translation: 要解决的问题：提供一种电动车辆，其中电动机被控制在更适当的范围内，并提供其控制方法。 解决方案：在汽车中，包括输出行驶动力的电动机和用于与电动机交换电力的电池，控制器r。 页。 米 使用滞后值设定Nm2 *，其具有作为r减小的趋势。 页。 米 马达的Nm2增加（S140，S150），并且通过使用控制r设定的转矩极限Tmax和Tmin限制从马达输出的临时马达转矩Tm2tmp来设定马达的转矩指令Tm2 *。 页。 米 Nm2 *（S160-S180）。 因此，当r输出时，可以更多地抑制从电动机输出的转矩的振荡。 页。 米 马达的Nm2相对较低，并且当r减小从马达输出的动力的滞后时，电池的性能可以更好地表现出来。 页。 米 电机的Nm2相对较高。 因此，可以将电动机控制在更适当的范围内。 版权所有（C）2006，JPO＆NCIPI

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