# US 5,345,155 A · Control system for electric vehicle

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 5,345,155 A
- Document ID: US5345155A
- Status: Granted
- Kind: A
- Application number: 07/857,335
- Filed: 1992-03-25
- Granted: 1994-09-06
- Earliest claimed: 1991-03-25
- Assignees: Hitachi, Ltd.; Hitachi Automotive Engineering Co., Ltd.
- Inventors: Ryoso Masaki; Yuusuke Takamoto; Sanshiro Obara; Hirohisa Yamamura; Hiroyuki Yamada
- Web page: https://patentgrep.com/patent/US5345155A

## CPC

- B60L 15/2036: {Electric differentials, e.g. for supporting steering vehicles}
- B60L 50/51: characterised by AC-motors
- Y02T 10/64: Electric machine technologies in electromobility
- Y02T 10/70: Energy storage systems for electromobility, e.g. batteries
- Y02T 10/72: Electric energy management in electromobility
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

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.

## Claims

### Claim 1

A control system for an electric vehicle, comprising:
at least two electric motors for independently driving left and right wheels of the vehicle;
power supply means for supplying power to said motors;
means for detecting command entered by a driver of the vehicle and driving operational amount provided for said vehicle;
means for detecting output torques of said two motors;
means for calculating a motor speed difference command signal for making said two output torques consistent with each other;
means for calculating a vehicle speed command signal for said vehicle on the basis of detected command and said driving operational amount;
means for calculating motor speed command signals for respective of said motors on the basis of calculated motor speed difference command signal and said vehicle speed command signal;
means for detecting actual speeds of said two motors; and
control means for voltage controlling supply power from said power supply means to said motors so that the detected actual speeds of said motors become consistent with said motor speed commands for respective motors.

### Claim 2 (depends on 1)

An electric vehicle control system as set forth in claim 1, which further comprises means for reducing said motor speed command for making the output torques of said motors consistent to each other.

### Claim 3 (depends on 1)

An electric vehicle control system as set forth in claim 1, wherein said control means calculates motor torque commands on the basis of said motor speed command, a difference of motor speeds obtained from said motor speed detecting means, and voltage commands being derived by said control means on the basis of said motor torque command, and said voltage command being determined so that the motor torques of left and right motors of said two motors become consistent with each other.

### Claim 4 (depends on 1)

An electric vehicle control system as set forth in claim 1, wherein said motors are alternating motors and said control means derives torque current commands from a difference between said motor speed commands and said actual motor speed provided by said motor speed detecting means, and a magnetic flux current command obtained from said actual motor speed, and whereby derives output voltage commands from vector sum of said torque current command and said magnetic flux current command.

### Claim 5

A control system for an electric vehicle, comprising:
at least two electric motors for independently driving left and right wheels of the vehicle;
power supply means for supplying power to said motors;
means for detecting command entered by a driver of the vehicle and driving operational amount provided for said vehicle;
means for detecting a vehicle speed of the vehicle;
means for detecting a steering angular position;
means for calculating torque difference command signals of said left and right motors on the basis of the detected vehicle speed and said steering angular position;
means for detecting output torques of said two motors and calculating a difference therebetween;
means for calculating a motor speed difference command signal for making the difference of said two output torques consistent with said torque difference command signals;
means for calculating a vehicle speed command signal for said vehicle on the basis of detected command and said driving operational amount;
means for calculating motor speed command signals for respective of said motors on the basis of calculated motor speed difference command signal and said vehicle speed command signal;
means for detecting actual speeds of said two motors; and
control means for voltage controlling supply power from said power supply means to said motors so that the detected actual speeds of said motors become consistent with said motor speed commands for respective motors.

### Claim 6 (depends on 5)

An electric vehicle control system as set forth in claim 5, wherein said torque difference command signal calculating means derives said torque difference command signal on the basis of a difference of motor speeds of said left and right motors of said two motors.

### Claim 7 (depends on 5)

An electric vehicle control system as set forth in claim 5, which further comprises torque difference calculation means for increasing said torque difference command signal according to increasing of the steering angular offset from a neutral position.