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負荷側エンコーダを用いた軸トルク制御による減速機方式インホイールモータの振動抑制

負荷側エンコーダを用いた軸トルク制御による減速機方式インホイールモータの振動抑制

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カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2020/04/01

タイトル(英語): Vibration Suppression of Reduction-Geared In-Wheel-Motor by Joint Torque Control Using Load-Side Encoder

著者名: 和久井 晟冴(東京大学),延命 朋希(東京大学),藤本 博志(東京大学),堀 洋一(東京大学)

著者名(英語): Seigo Wakui (The University of Tokyo), Tomoki Emmei (The University of Tokyo), Hiroshi Fujimoto (The University of Tokyo), Yoichi Hori (The University of Tokyo)

キーワード: インホイールモータ,2慣性系,バックラッシ,軸トルク制御,負荷側エンコーダ  In-wheel-motor,two-inertia system,backlash,joint torque control,load-side encoder

要約(英語): In-wheel-motors (IWMs) are attracting considerable attention as drive-train for electric vehicles owing to their high motion performance, because of the absence of drive shafts compared with on-board motors. A large motor torque with limited mounting space and low-cost IWMs expect a geared drive-train, however, collisions of gear teeth cause vibration and deteriorate control performance and ride comfort. In order to suppress vibration, reduction-geared IWMs (RG-IWMs), which are IWMs with gears, are modeled as two-inertia system with deadzone model for backlash and joint torque control using both motor-side and load-side encoders for the two-inertia system is applied that our research group proposed previously. Simulations and experiments demonstrate that joint torque of RG-IWMs can be precisely controlled, vibration by collisions can be sufficiently suppressed, and the number of gear collision can be reduced during an acceleration situation. We expect that this research solves the critical problem of RG-IWMs, that is, vibration caused by gear collisions, and realizes the practical and commercial use of IWMs.

本誌: 電気学会論文誌D(産業応用部門誌) Vol.140 No.4 (2020) 特集:2019年産業応用部門大会

本誌掲載ページ: 295-302 p

原稿種別: 論文/日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/140/4/140_295/_article/-char/ja/

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