JP2005065411A - Flywheel type electric power storage device for mounting on vehicle, and system for controlling body of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a new technical means which can control the posture of a vehicle body while preventing the inertia of a rotor from having an adverse effect on the action of a vehicle. <P>SOLUTION: A flywheel type power storage device for mounting on a vehicle is provided with a flywheel part 21 which has a flywheel 21c rotated by a power-generatable motor and a gimbal 22 which is equipped with two rotation supports 22c and 22d severally supporting this flywheel part 21 rotatably around each shaft of an X axis and a Y axis orthogonal to each other. Furthermore, rotation angle sensors (rotation angle detection means)S1 and S2, which sense each rotation angle of the flywheel part 21 by the above two rotation supports 22c and 22d, are installed, and an action sensing part 31 provided in a control unit 3 detects the body action of the vehicle from the sensing results of these sensors S1 and S2. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an in-vehicle flywheel power storage device mounted on a vehicle such as an automobile and a vehicle body attitude control system using the same.

In vehicles such as electric cars and hybrid cars, an electric power storage device including a flywheel whose rotational speed is controlled by an electric motor capable of generating electric power is used.
In the above-described in-vehicle flywheel power storage device, when charging, the motor stores electrical energy converted into rotational kinetic energy of the wheel by increasing the rotational speed of the flywheel, and when discharging, the motor Power can be supplied to the outside of the apparatus by causing the motor to function as a generator (see, for example, Patent Document 1 below).

JP-A-10-285834 (pages 4-8, FIG. 2)

However, in the conventional apparatus as described above, a flywheel (rotating body) having a very large moment of inertia is rotated at a high speed. For example, when a sudden handle operation is performed on a vehicle, a very large inertia caused by the moment of inertia is generated. The force may act on the vehicle body side from the device side, making the behavior of the vehicle body unstable. Thus, in the conventional apparatus, the rotation of the rotating body may adversely affect the vehicle body behavior.
Accordingly, an object of the present invention is to provide a new technical means capable of controlling the posture of the vehicle body while preventing the inertial force of the rotating body from adversely affecting the vehicle body behavior of the vehicle.

A vehicle-mounted flywheel power storage device according to the present invention includes a flywheel unit that includes a main shaft and a flywheel that is integrally attached to the main shaft and that is rotationally driven by an electric motor capable of generating power, and is mounted on a vehicle. Flywheel power storage device,
A gimbal structure including two rotation support portions for rotatably supporting the flywheel portion around two axes orthogonal to each other;
Rotation angle detection means for detecting each rotation angle of the flywheel portion at the two rotation support portions.

  In the vehicle-mounted flywheel power storage device configured as described above, the gimbal structure supports the flywheel part (rotating body), and the inertial force generated according to the moment of inertia of the flywheel part is generated in the vehicle body. Can be prevented from acting on. Further, the flywheel part is supported by two gimbal structure rotation support parts so as to be rotatable around mutually orthogonal axes, and the rotation angle detection means detects the rotation angle of the flywheel part at each rotation support part. Therefore, a gyroscope using the flywheel portion as a top can be configured in the apparatus.

In the on-vehicle flywheel power storage device, the gimbal structure includes a first support frame coupled to the flywheel part via one rotation support part of the two rotation support parts, A second support frame connected to the support frame via the other rotation support, and the flywheel is floated with respect to the vehicle body of the vehicle. A wheel portion may be attached.
In this case, the flywheel portion is installed on the vehicle body in a state of being floated by the first and second support frames, and the gimbal structure blocks transmission of inertial force from the flywheel portion to the vehicle body side. It is possible to reliably prevent the behavior from becoming unstable.

In the in-vehicle flywheel power storage device, it is preferable that the main shaft is rotatably supported by a magnetic bearing.
In this case, since the magnetic bearing rotatably supports the main shaft and the flywheel, an in-vehicle flywheel power storage device with a smaller energy loss than other bearings using rolling elements can be configured.

The vehicle body posture control system of the present invention is a vehicle body posture control system provided with a control means for controlling the posture of the vehicle body.
The vehicle-mounted flywheel power storage device according to any one of claims 1 to 3 is installed in a predetermined portion of the vehicle body, and the control unit uses the detection result of the rotation angle detection unit to detect the vehicle body. A behavior is detected, and the posture of the vehicle body is controlled based on the detected vehicle body behavior.

  The control means in the vehicle body posture control system configured as described above uses the gyroscope function of the power storage device to detect the vehicle behavior and controls the vehicle body posture. It is possible to actively control the vehicle body posture while integrating a vehicle battery system, a steering system, and other systems built in the vehicle using an electric power storage function.

In the vehicle body posture control system of the vehicle, it is preferable that the control unit detects the pitching and rolling angles generated in the vehicle body as behaviors of the vehicle body using the detection result of the rotation angle detection unit.
In this case, since the control means detects the pitching and rolling angles of the vehicle body, the control means controls the vehicle body posture so as to correct the detected vehicle body behavior, thereby improving the stability and safety of the traveling vehicle. Can be improved.

  According to the present invention, the inertial force from the rotating body (flywheel unit) can be prevented from acting on the vehicle body, and a gyroscope using the rotating body as a top can be configured inside the apparatus. An in-vehicle flywheel power storage device that can control the attitude of the vehicle body while preventing the inertial force of the rotating body from adversely affecting the vehicle body behavior of the vehicle, and a vehicle body attitude control system using the same can do.

Hereinafter, preferred embodiments of an in-vehicle flywheel power storage device and a vehicle body attitude control system of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram illustrating a configuration example of a main part of a flywheel power storage device according to an embodiment of the present invention and a vehicle body posture control system in which the flywheel power storage device is mounted. In the figure, a vehicle body posture control system 1 according to the present embodiment includes a flywheel power storage device 2 mounted on a vehicle and a control unit (ECU) 3 as a control means. The control unit 3 is a power storage device 2. And other systems built in the vehicle can be actively coupled and controlled. That is, detection signals are appropriately input to the control unit 3 from the detection signals of the rotation angle sensors S1 and S2 as the rotation angle detection means provided in the power storage device 2, the vehicle speed sensor and other sensors provided in the vehicle. The unit 3 can drive each system individually while integrating the engine system 4, the steering system 5, the suspension system 6 and the notification system 7 using these sensor outputs.

  The power storage device 2 is installed in a predetermined part of the vehicle, for example, in an engine room. For example, the flywheel part 21 including a flywheel 21c that rotates in a direction indicated by an arrow in FIG. And a gimbal structure 22 that is rotatably supported around two axes orthogonal to each other (shown as X and Y axes in the figure). As will be described in detail later, the power storage device 2 is provided with a gyroscope function capable of detecting the vehicle body behavior of the vehicle in addition to its original power storage function. The gyroscope function can be used to properly control the posture of the vehicle body in response to the driving operation of the driver.

  Specifically, the flywheel portion 21 is integrally attached to a housing 21a, a main shaft 21b rotatably supported by a magnetic bearing 21d in the housing 21a, and an upper end portion and a lower end portion of the main shaft 21b. Two ring-shaped flywheels 21c (see also FIG. 2). The flywheel portion 21 has a motor rotor 23a fixed to the central portion of the main shaft 21b and a motor stator 23b attached to the housing 21a so as to face the motor rotor 23a. An electric motor 23 capable of generating electricity is provided. Further, a radial magnetic bearing 23dr included in the magnetic bearing 21d is provided on the upper and lower sides of the motor stator 23b, and supports a rotating body including the main shaft 21b and a pair of upper and lower flywheels 21c in the radial direction. ing. In addition, the rotating body is supported in the axial direction by an axial magnetic bearing (not shown) included in the magnetic bearing 21d, and when the magnetic bearing 21d has an abnormality, the rotating body rotates at a high speed. The body is supported by a touch-down bearing (not shown) so as not to contact the inner surface of the housing 21a.

The electric motor 23 is connected to a switching device (not shown) for switching the motor 23 as an electric motor or a generator. When the control unit 3 operates the switching device, the unit 3 stores power. The power storage function of the device 2 is controlled to manage the vehicle battery system. That is, in the power storage device 2, the motor 23 rotates the main shaft 21 b and the flywheel 21 c according to an instruction from the unit 3 at the time of charging, so that the device 2 supplies power (electric energy) supplied to the motor 23. ) Can be converted into rotational kinetic energy of the flywheel 21c and stored.
Further, at the time of discharging, the rotational kinetic energy is taken out as electric energy (regenerative power) by the motor 23, and the power storage device 2 supplies the regenerative power to each part of the vehicle.

  Referring to FIG. 3 as well, the gimbal structure 22 includes, for example, an annular first and second support frame bodies 22a and 22b, and a flywheel portion 21 and a first support frame body 22a. A pair of first rotation support portions 22c provided, a pair of second rotation support portions 22d provided between the first and second support frame bodies 22a, 22b, and one end side are attached to the vehicle body, The other end side includes a pair of left and right springs d connected to the second support frame 22b. The gimbal structure 22 supports the flywheel portion 21 so as to be rotatable about the X axis and the Y axis in a state where the flywheel portion 21 is levitated with respect to the vehicle body of the vehicle. Thereby, the gimbal structure 22 allows the flywheel portion 21 to rotate around the X axis and the Y axis in response to the behavior of the vehicle body, and according to the moment of inertia of the flywheel portion 21. It is possible to prevent the generated inertial force from acting on the vehicle body side. Further, since the gimbal structure 22 is attached to the vehicle body with the spring d serving as a damper means interposed, the vibration and impact are prevented from being mutually transmitted between the vehicle body and the gimbal structure 22. The gimbal structure 22 is installed on the vehicle body.

Specifically, each of the pair of rotation support portions 22c has, for example, one end portion integrally attached to the housing 21a of the flywheel portion 21 and a rotation member 22c1 that rotates integrally with the flywheel portion 21; A rolling bearing 22c2 is provided on the support frame 22a and supports the other end of the rotating member 22c1. Each of the rotation support portions 22c is arranged in parallel to the X-axis direction so that the rotation member 22c1 sandwiches the flywheel portion 21, and the flywheel portion 21 rotates around the X axis with respect to the first support frame 22a. It is allowed to rotate.
Similarly, each of the pair of rotation support portions 22d has, for example, one end portion integrally attached to the first support frame body 22a, and a rotation member 22d1 that rotates integrally with the support frame body 22a and the flywheel portion 21; A rolling bearing (not shown) is provided on the second support frame 22b and supports the other end of the rotating member 22d1. Each of the rotation support portions 22d is arranged in parallel to the Y-axis direction so that the rotation member 22d1 sandwiches the first support frame body 22c and the flywheel portion 21, and the second support frame body 22b has a second The one support frame 22c and the flywheel portion 21 are allowed to rotate about the Y axis.

Further, in the power storage device 2, the flywheel portion 21 is supported by the gimbal structure 22, so that the wheel portion 21 responds to a driving operation by a driver or an external force (traveling resistance or the like) from the traveling road surface of the vehicle. It works as a gyroscope that can detect pitching and rolling generated in the vehicle body. Specifically, in the gimbal structure 22, the pair of rotation support portions 22 c are arranged in the direction parallel to the vehicle width direction passing through the center of gravity of the vehicle as the X-axis direction inside the engine compartment, and the flywheel portion 21. When the motor responds (rotates) to the pitching associated with the driving operation, the pair of rotation support portions 22c supports the flywheel portion 21 freely. As shown in FIG. 1, for example, the rotation angle sensor S1 installed in the vicinity of one rotation support portion 22c detects the rotation angle of the flywheel portion 21 around the X axis and controls the detection signal. By outputting to the unit 3, the pitching angle is detected. Further, the pair of rotation support portions 22d are arranged in a direction parallel to the vehicle body front-rear direction passing through the center of gravity of the vehicle as the Y-axis direction in the engine interior, and the flywheel portion 21 is rolled in accordance with the driving operation or the like. The pair of rotation support portions 22c freely supports the flywheel portion 21 when it responds (rotates). As shown in FIG. 1, for example, the rotation angle sensor S2 installed in the vicinity of one rotation support portion 22d detects the rotation angle of the flywheel portion 21 around the Y axis, and controls the detection signal. By outputting to the unit 3, the rolling angle is detected.
Each of the rotation angle sensors S1, S2 is configured using a sensor capable of detecting a rotation angle, such as an inductance type or an eddy current type, and the rotation members 22c1, 22d1 of the corresponding rotation support portions 22c, 22d. Is detected, and the detection signal corresponding to the detected angle is output. In FIGS. 2 and 3, the sensors S1 and S2 are not shown for simplification of the drawings.

  The control unit 3 includes a behavior detection unit 31 and a calculation unit 32 configured by a CPU and the like, a non-volatile memory and the like, and predetermined programs used by the behavior detection unit 31 and the calculation unit 32, respectively. A storage unit 33 stored in advance is provided. The behavior detection unit 31 obtains each rotation angle of the flywheel unit 21 based on the output signals from the rotation angle sensors S1 and S2, and performs differential operation on each output signal to obtain the angular velocity of the corresponding rotation angle. Is calculated. Then, the behavior detection unit 31 detects the pitching angle and angular velocity generated in the vehicle body by performing a predetermined calculation on the rotation angle and angular velocity of the flywheel unit 21 around the X axis obtained from the rotation angle sensor S1. Further, the behavior detection unit 31 detects a rolling angle and an angular velocity generated in the vehicle body by performing a predetermined calculation on the rotation angle and the angular velocity of the flywheel unit 21 around the Y axis obtained from the rotation angle sensor S2. In addition, in the conversion (calculation) processing into the pitching and rolling angles in the behavior detection unit 31, the distance between the center of gravity of the vehicle body and the installation location of the power storage device 2 in the X-axis and Y-axis directions is considered. It is performed by the predetermined calculation, and it is prevented that the accuracy of the gyroscope function is lowered due to the installation location of the power storage device 2.

The calculation unit 32 generates an instruction signal for other systems in the vehicle body such as the engine system 4 based on the detection result of the vehicle body behavior in the behavior detection unit 31 and the detection result from other detection means such as the vehicle speed sensor. Generate and output. Specifically, the engine system 4 includes an internal combustion type, an electric type, or a hybrid engine body that uses both of them, an accelerator pedal that drives the engine body in response to a driver's operation, and a depression amount to the pedal. A depressing amount detecting unit to be detected is included, and the calculating unit 32 generates an instruction signal to the engine main body based on the detection result from the depressing amount detecting unit and controls the driving of the main body. Further, at this time, the calculation unit 32 appropriately reflects the detection result from the behavior detection unit 31 in the instruction signal to the engine body. For example, the detection unit 31 is severely rolling in the vehicle body. Is detected, the calculation unit 32 changes the generated instruction signal to limit the engine speed and the like according to the rolling angle, and drives the engine body.
The steering system 5 is an electric power steering system that uses, for example, the rotational force of an electric motor as a steering assist force. The system 5 includes a steering member (handle) and a driver's operation for the steering member. There are provided a steering angle detector for detecting a steering angle due to the above, an electric motor, and a steering wheel connected to a steering member. Then, the calculation unit 32 creates an instruction signal to the electric motor based on the detection result from the steering angle detection unit, thereby applying an assist force corresponding to the operation to the steering member from the motor, thereby reducing the driver's steering burden. Reduce. For example, when the behavior detection unit 31 detects that intense rolling has occurred in the vehicle body, the calculation unit 32 changes the instruction signal to the engine body as described above according to the rolling angle or the like. Increases or decreases the current supplied to the motor.

The suspension system 6 includes an electronically controlled shock absorber that is provided for each vehicle wheel and whose damping force is adjusted by an actuator, and the calculation unit 32 detects, for example, the pitching detected by the behavior detection unit 31. An instruction signal is generated so as to eliminate the pitching based on the size of the motor and the damping force at the shock absorber is adjusted for each wheel. Further, the calculation unit 32 grasps the vehicle body behavior obtained from the detection result of the behavior detection unit 31 and, for example, based on the detection result of the detection unit that detects the operation amount of the brake pedal included in the brake system of the vehicle, the shock absorber The anti-dive control etc. which change the damping force in this and prevent a vehicle body from sinking at the time of braking are implemented suitably.
Further, the calculation unit 32 includes notification means installed on a vehicle such as a lamp or a speaker provided on a driving panel of the vehicle body according to the detection result of the behavior detection unit 31 or the detection result of other sensors. For example, when the vehicle accidentally runs into danger, the driver is immediately notified and warned.

Here, the operation of the vehicle body posture control system 1 of the present embodiment configured as described above will be specifically described with reference to FIGS. In the following description, the case where the system 1 controls the vehicle body posture according to the vehicle body behavior will be mainly described.
As shown in FIG. 4, the control unit 3 determines whether or not the sensor output of any one of the rotation angle sensors S1 and S2 has been input (step S1), and the unit 3 detects from both the sensors S1 and S2. When no output signal is input, a standby state is entered.
Further, when any sensor output is input to the control unit 3 in step S1, the unit 3 corresponds to the rotation angle and the angular velocity at the flywheel unit 21 based on the input output signals of the sensors S1 and S2. And the unit 3 detects the vehicle behavior (step S2). That is, the behavior detection unit 31 calculates the pitching angle generated in the vehicle body and the angular velocity thereof from the detected rotation angle around the X axis of the flywheel unit 21, and determines the pitching degree. In addition, the behavior detection unit 31 calculates the rolling angle generated in the vehicle body and the angular velocity thereof from the detected rotation angle around the Y axis of the flywheel unit 21, and determines the degree of rolling.

  Subsequently, the control unit 3 generates a necessary instruction signal for the system of each part of the vehicle based on the result of the vehicle body behavior detected in step S2 (that is, the degree of pitching or rolling generated in the vehicle body). By outputting, drive control of the corresponding system is performed (step S3). Specifically, for example, when the behavior detection unit 31 detects rolling generated when the vehicle travels at a high speed on a sharp curve, the calculation unit 32 prevents the vehicle body from rolling over due to the rolling. And an instruction signal for the suspension system 6 is generated and output. As a result, the drive parts included in the steering system 5 and the suspension system 6 (that is, the steering wheel, the shock absorber, etc.) are moved so as to cancel the rolling, and the inclination of the vehicle body due to the rolling is corrected. The posture can be stable.

  In the present embodiment configured as described above, the flywheel portion 21 of the power storage device 2 is supported by the gimbal structure 22 so as to be rotatable about the X axis and the Y axis in response to the behavior of the vehicle body. Therefore, it is possible to prevent the inertial force generated according to the inertia moment of the flywheel portion (rotating body) 21 from acting on the vehicle body side, and thus the inertial force of the rotating body adversely affects the vehicle body behavior of the vehicle. It is possible to prevent the vehicle from moving and to stabilize the vehicle running. Further, as described above, the flywheel portion 21 is attached to the vehicle body with the gimbal structure 22 interposed, and the rotation angle sensors (rotation angle detecting means) S1 and S2 rotate the flywheel portion 21 around the X axis and the Y axis. Since the corner is detected, the power storage device 2 can be functioned as a gyroscope using the flywheel portion as a top. Then, the control unit (control means) 3 obtains the pitching and rolling angles generated in the vehicle body from the detected angles of the rotation angle sensors S1 and S2, and other vehicles such as the steering system 5 according to the obtained angles. By controlling the drive system, the unit 3 can operate the drive system more appropriately in a state in which the behavior of the vehicle body is grasped, and can perform vehicle body posture control excellent in stability and safety. Further, since the power storage device 2 that prevents the adverse effect of the inertial force on the vehicle body behavior as described above is configured, the moment of inertia of the flywheel 21c is within the support limit of the rotation support portions 22c and 22d of the gimbal structure 22. Can be increased. As a result, the amount of power energy that can be stored in the power storage device 2 can be increased, and the detection accuracy (sensitivity) for the pitching and rolling of the gyroscope function in the device 2 can be improved. Can be detected more accurately and the vehicle body posture control can be performed more appropriately.

  In the above description, the configuration having the pair of flywheels 21c fixed to the upper and lower end portions of the main shaft 21b has been described. However, in the present invention, the flywheel portion 21 is rotatable by the two rotation support portions 22c and 22d. If it is provided with the gimbal structure 22 to be supported and the rotation angle sensors (rotation angle detection means) S1 and S2 for detecting the rotation angles of the flywheel portion 21 at the rotation support portions 22c and 22d, the flywheel The configuration of the unit 21, for example, the shape of the flywheel 21c, the number of installations, the sensor type of the rotation angle detection means, the number of installations, etc. is not limited to the above. Furthermore, an angular velocity / angular acceleration sensor that directly detects the angular velocity and angular acceleration of the rotation angle may be provided, and the control unit 3 may perform posture control based on the detection results. Alternatively, the control unit 3 may be linked to a system outside the vehicle, for example, a vehicle travel support system exemplified by ITS, and posture control may be performed using support information from the support system.

Further, in the above description, the configuration in which the gimbal structure 22 rotatably supports the flywheel portion 21 around the X axis and the Y axis orthogonal to each other has been described. However, around the Z axis orthogonal to the X axis and the Y axis. A configuration in which the flywheel portion is rotatably supported by the gimbal structure and a rotation angle detecting means for detecting the rotation angle of the flywheel portion around the Z axis may be provided. In such a configuration, it becomes possible to detect the yawing angle generated in the vehicle body of the vehicle by the rotation angle detecting means, and the control unit 3 eliminates the yawing detected by driving the steering system 5, for example. be able to.
In the above description, the rotation support portions 22c and 22d of the gimbal structure 22 are described along the vehicle width direction passing through the center of gravity of the vehicle and the direction parallel to the longitudinal direction of the vehicle body. It is not limited. However, when the rotation support portions 22c and 22d are arranged in parallel with the corresponding directions as described above, the processing for calculating the pitching and rolling angles in the behavior detection unit 31 can be simplified. Is preferable.

  In the above description, the structure in which the rotating body including the flywheel 21c is supported using the magnetic bearing 21d has been described. However, the structure in which the rotating body is supported in the housing 21a by a rolling bearing having rolling elements such as balls. But you can. However, the case where the magnetic bearing 21d is used is preferable in that the rotating body can be supported in a state in which bearing loss is not generated as much as possible, and a power storage device with low energy loss can be configured.

1 is a block diagram illustrating a configuration example of a main part of a flywheel power storage device according to an embodiment of the present invention and a vehicle body attitude control system in which the flywheel power storage device is mounted. It is a longitudinal cross-sectional view which shows the structural example of the principal part of the flywheel-type electric power storage apparatus shown in FIG. It is a top view which shows the structural example of the principal part of the flywheel-type electric power storage apparatus shown in FIG. 3 is a flowchart showing main operations of the vehicle body attitude control system shown in FIG. 1.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Car body attitude | position control system 2 Flywheel type electric power storage apparatus 21 Flywheel part 21b Spindle 21c Flywheel 21d Magnetic bearing 22 Gimbal structure 22a 1st support frame 22b 2nd support frame 22c, 22d Rotation support part 3 Control unit (Control means)
23 Electric motor (capable of generating electricity)

Claims (5)

A flywheel-type power storage device mounted on a vehicle, comprising a flywheel portion having a main shaft and a flywheel that is integrally attached to the main shaft and is rotationally driven by an electric motor capable of generating electricity,
A gimbal structure including two rotation support portions for rotatably supporting the flywheel portion around two axes orthogonal to each other;
A vehicle-mounted flywheel power storage device comprising rotation angle detection means for detecting each rotation angle of the flywheel unit at the two rotation support units.   The gimbal structure includes a first support frame body connected to the flywheel part through one rotation support part of the two rotation support parts, and the support frame body connected via the other rotation support part. 2. The second support frame body, wherein the flywheel part is attached in a state in which the support frame body floats the flywheel part with respect to the vehicle body of the vehicle. The vehicle-mounted flywheel-type power storage device described in 1.   The in-vehicle flywheel power storage device according to claim 1 or 2, wherein the main shaft is rotatably supported by a magnetic bearing. A vehicle body posture control system provided in a vehicle and provided with a control means for controlling the posture of the vehicle body,
While installing the in-vehicle flywheel power storage device according to any one of claims 1 to 3 in a predetermined portion of the vehicle body,
The control means detects the behavior of the vehicle body using the detection result of the rotation angle detection means, and controls the attitude of the vehicle body based on the detected vehicle body behavior. system.   5. The vehicle according to claim 4, wherein the control unit detects each pitching and rolling angle generated in the vehicle body as a behavior of the vehicle body using a detection result of the rotation angle detection unit. Body posture control system.

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