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WO2011001609A1 - Appareil de commande et procédé de commande pour alternateur - Google Patents

Appareil de commande et procédé de commande pour alternateur Download PDF

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Publication number
WO2011001609A1
WO2011001609A1 PCT/JP2010/003879 JP2010003879W WO2011001609A1 WO 2011001609 A1 WO2011001609 A1 WO 2011001609A1 JP 2010003879 W JP2010003879 W JP 2010003879W WO 2011001609 A1 WO2011001609 A1 WO 2011001609A1
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WO
WIPO (PCT)
Prior art keywords
alternator
storage battery
control device
power generation
voltage
Prior art date
Application number
PCT/JP2010/003879
Other languages
English (en)
Japanese (ja)
Inventor
井上健士
守 根元
大津英一
佐藤真也
紀村博史
Original Assignee
日立オートモティブシステムズ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日立オートモティブシステムズ株式会社 filed Critical 日立オートモティブシステムズ株式会社
Publication of WO2011001609A1 publication Critical patent/WO2011001609A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • H02J7/005—Detection of state of health [SOH]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the present invention relates to an alternator control device and control method.
  • the present invention solves the problems caused by the large current of the alternator that occurs when the deceleration of the moving body is large.
  • One aspect of the present invention is a control device for an alternator mounted on a mobile unit, a charging timing determination unit that determines the timing of start and end of charging from the alternator to the storage battery of the mobile unit, and a parameter of the storage battery.
  • a storage battery parameter estimating unit for estimating, a charging state estimating unit for predicting a charging state of the storage battery, a power generation voltage increase rate determining unit for determining a power generation voltage increase rate of the alternator, and a power generation voltage control unit for controlling the power generation voltage of the alternator
  • an upper limit is set for the power generation voltage increase rate based on the storage battery parameters estimated in advance.
  • the other is a method for controlling the alternator mounted on the mobile body, which determines the timing of the start and end of charging from the alternator to the storage battery of the mobile body, estimates the storage battery parameters, and determines the state of charge of the storage battery. Predict, determine the rate of increase of the generator voltage of the alternator, and when charging the storage battery, when increasing the power generation voltage of the alternator, set an upper limit on the rate of increase of the generated voltage based on the parameters of the storage battery estimated in advance And controlling the power generation voltage of the alternator.
  • FIG. 1 shows a system configuration according to an embodiment of the present invention.
  • 1 shows an overall processing flow according to an embodiment of the present invention.
  • the storage battery approximate circuit which makes one Embodiment of this invention is shown.
  • An overview and a solution of f (x) forming an embodiment of the present invention are shown.
  • the power generation voltage time series plan setting method which constitutes one embodiment of the present invention is shown.
  • the power generation voltage and charging current time series example 1 which constitutes one embodiment of the present invention is shown.
  • the power generation voltage time series calculation which makes one Embodiment of this invention is shown.
  • the power generation voltage time series calculation in the case of lowering the maximum voltage that constitutes an embodiment of the present invention is shown.
  • the example 2 of the power generation voltage time series which forms one embodiment of the present invention is shown.
  • a table example of c, r, and R is shown.
  • the present embodiment relates to a technique of a charging method using an alternator (generator) of a storage battery in a moving body.
  • a storage battery can be approximated by a circuit in which a capacitor component is connected in series to a constant voltage source, a charging current corresponding to the rate of change of the generated voltage flows.
  • the alternator is a torque load corresponding to the current. For this reason, when the generated voltage is increased according to the deceleration, the torque of the alternator according to the deceleration of the moving body is generated, and the deceleration regeneration without any sense of incongruity is realized for the driver.
  • the embodiment described below has been made in view of such circumstances, and provides a method of setting the voltage of an alternator that keeps the charging current to the storage battery within a specified value at any speed change.
  • the regeneration efficiency is improved. Moreover, since a large current does not flow, heat generation of the storage battery is suppressed, and deterioration of the storage battery is suppressed. Furthermore, by temporarily raising the power generation voltage within a range in which the heat generation of the storage battery is suppressed, effects such as an increase in regenerative charge of the storage battery and an improvement in regeneration efficiency can be obtained.
  • This alternator power generation voltage control method starts the alternator when the mobile unit is either decelerated or the storage battery charge level is low, so that a large current does not flow to the storage battery at the time of startup.
  • an upper limit is set for the rate of increase in power generation voltage.
  • FIG. 1 shows the configuration of an alternator voltage control method according to an embodiment of the present invention.
  • This method is realized by software that runs in a controller in a moving object (car, train).
  • This controller is a function in the engine controller when directly connected to the storage battery or when the engine controller is present in the moving body.
  • the storage battery 10, alternator (generator) 11, ammeter 12, voltmeter 13, thermometer 14, internal resistance / capacity estimation unit 15, charge amount estimation unit 16, charge timing determination unit 17, generation voltage increase rate It comprises a limiting unit 18 and a generated voltage control unit 19.
  • the internal resistance / capacity estimating unit 15, the charge amount estimating unit 16, the charging timing determining unit 17, the generated voltage increase rate limiting unit 18, and the generated voltage control unit 19 are software in the controller. Details of each part and each device will be described later.
  • the storage battery 10 is a lead storage battery, a lithium battery, or a nickel metal hydride battery.
  • the alternator is a generator connected to an axle of a moving body or an engine, and the generated voltage is controlled by a field current or a DC-DC converter.
  • As an alternator realizing method there is a method of setting a generated voltage by controlling a field current as disclosed in Japanese Patent Application Laid-Open No. 60-102826. As an ammeter, you may use the device and method which calculate an electric current based on magnetic flux, after measuring magnetic flux with a non-contact-type device.
  • step 21 the start of charging the storage battery is determined and determined (charging timing determination unit 17).
  • the charging start condition is that the mobile body starts decelerating or the charge amount of the storage battery is equal to or less than the threshold value, and the process of step 22 is performed.
  • the charge amount is estimated by the charge amount estimation unit 16.
  • a method for estimating the charge amount a method is used in which the initial charge amount is estimated by measuring the terminal voltage of the storage battery before the moving body is started, and thereafter, the charge amount is estimated momentarily from the integrated value of the storage battery current.
  • a method of predicting the charging amount from time to time based on a predetermined charging current at the time of charging and a discharging current at the time of discharging may be used.
  • the storage battery is a lead storage battery
  • a method for predicting the charge amount by using a sulfuric acid hydrometer attached to the storage battery may be used.
  • the charge termination condition is when deceleration ends or when the storage battery charge amount is equal to or greater than a threshold value. Otherwise, the process ends without charging. Even if this program ends, the program is restarted periodically (for example, every second).
  • step 22 the generated voltage increase rate limit is calculated.
  • the power generation voltage increase rate limiting unit 18 in FIG. 1 calculates the limit of the power generation voltage increase rate based on the separately estimated time constant of the storage battery. Details of this processing will be described later.
  • step 23 a power generation voltage time series plan is calculated based on the charging end timing and the power generation voltage increase rate. This is performed by the generated voltage control unit 19 of FIG. Details of this processing will be described later.
  • step 24 the alternator is controlled according to the generation voltage time-series plan from the start to the end of charging. This is performed by the generated voltage control unit 19 of FIG. Although this program is stopped after completion, the program is restarted periodically (for example, every 1 second) even if this program ends.
  • the power generation voltage increase rate is calculated based on the internal resistances r and R and the capacity C during charging estimated by the internal resistance / capacity estimation unit 15 in FIG.
  • FIG. 3 shows an approximate equivalent circuit of the storage battery.
  • the storage battery includes a voltage source 31 as a base, a charging resistor R32, a charging resistor r33, and a polarization capacitor c34.
  • the calculation method of r, R, and C will be described later. From the circuit of FIG. 3, when the storage battery terminal voltage (generated voltage) is V and the current I is charged to the storage battery, Equation 1 is established.
  • Equation 2 Voltage of the voltage source 31 serving as a base
  • the charging current is expressed by Equation 1 and Equation 2 as Equation 3.
  • the ramp response of the charging current response for increasing the current at a constant rate of increase from 0 [A]
  • the generated voltage is set to a constant voltage
  • the charging current thereafter decreases from Equation 1.
  • the current when the lamp response is terminated at t0 that is, the maximum value Imax of the charging current is expressed by Equation 4 based on Equation 3.
  • the maximum value Imax of the charging current expressed by Equation 4 may be set to Ia.
  • Equation 5 f (x) is held in a table or numerically solved (for example, a known bisection method is used).
  • Equation 4 shows an overview of f (x) obtained numerically and the relationship between x and Equation 5.
  • a solution x42 of 1.6 is obtained from the value of f (x) of 41 in the figure.
  • a fixed value of x 1 may be used.
  • ⁇ obtained above may be used, but since it is calculated only by the battery, a method of setting the power generation voltage increase rate ⁇ in consideration of another factor will be described below.
  • the alternator torque increase by alternator power generation is set to a torque reduction rate ⁇ or less that affects the alternator by deceleration.
  • the torque reduction rate ⁇ is calculated as “ ⁇ / moving body tire diameter ⁇ moving body gear ratio” ( ⁇ is the deceleration of the moving body).
  • the current of the alternator is proportional to the torque of the alternator. Therefore, the rate of increase of the alternator current is determined by multiplying ⁇ by a constant of constant ⁇ between the current of the alternator and torque ( ⁇ is a function of the rotational speed of the alternator). From this current increase rate, the power generation voltage increase rate ⁇ can be calculated. This calculation will be described below.
  • the generated voltage time series is determined as Equation 7 by solving the differential equation of Equation 1.
  • R ⁇ E / cr (constant value) that is the lower limit value of Equation 8 may be set to ⁇ instead of Equation 8.
  • ⁇ 0.5 [V / s] is used.
  • the smallest value may be selected from the ⁇ calculated by the equation 6, the ⁇ calculated by the equation 8 according to the deceleration, and the ⁇ determined by the light brightening.
  • the alternator torque increase rate has an upper limit value ⁇ . If the alternator torque fluctuation larger than the engine torque increase rate upper limit ⁇ occurs, the engine may be stopped. Therefore, the alternator torque increase due to alternator power generation is set to the increase rate ( ⁇ ) or less.
  • the calculation of ⁇ in this case can be similarly calculated as Equation 8.
  • the smallest value may be selected from the ⁇ calculated in Equation 6, the ⁇ calculated in Equation 8 based on the above-mentioned upper limit of the engine torque increase rate, and the ⁇ determined by the light brightening.
  • the power generation voltage may be changed to be equal to or less than this value.
  • the generated voltage is controlled with the target value of the charging current as the current upper limit Ia.
  • the alternator charging voltage may be obtained numerically by the differential equation of Formula 1, or the generated voltage may be updated by a value proportional to ⁇ Ia-current charging current ⁇ (Ia is set in advance) Maximum charging current (details are described later).
  • the amount of change in power generation voltage (dV / dt) in this case is represented by Equation 9.
  • Equation 1 may be solved by the Euler method.
  • Equation 10 the value of the power generation voltage reduction rate -A is set in accordance with Equation 10 using ⁇ (derived from Equation 1).
  • A 0.5 [V / s]
  • the generation voltage time-series plan determination method in the generation voltage limiting unit 19 will be described with reference to FIG.
  • the generation voltage time series plan first, at step 51, the upper limit Ia of the charging current is determined.
  • an upper limit Emax of the generated voltage is determined. How to determine Emax will be described later. Here, Emax may be lowered in the middle depending on the heat generation state of the storage battery and the heat generation state of the alternator. Details will be described later.
  • step 53 the open voltage of the storage battery (the voltage of the storage battery at 0 charging current) is determined. This measures the storage battery voltage at the time of current 0 [A] before charging with the voltmeter 13 of FIG.
  • a time T until the end of charging is obtained.
  • step 55 the generation voltage time series is calculated from the generation voltage increase rate ⁇ and the generation voltage decrease rate -A.
  • the start time is started and the time for stopping the increase in the generated voltage is determined from the generated voltage increase rate ⁇ .
  • the generation voltage decrease start time is calculated from the end time.
  • FIG. 6 shows a generated voltage waveform 63 (solid line) and a charging current waveform 64 (broken line) from the time of charging start 61 to the time of charging end 62.
  • the power generation voltage increase rate is ⁇ .
  • the power generation voltage decrease rate is set to ⁇ A in 66 from the start of the generation voltage decrease to the end of the charge so that the current becomes zero at the end of the charge.
  • the generation voltage decrease start time is T- (Emax-E) / A.
  • the generated voltage may be adjusted while monitoring the charging current. This flow will be described with reference to the flowchart of FIG.
  • step 701 the power generation voltage of the alternator is set to E (storage battery voltage at 0 charging current).
  • step 702 the timer time t is set to zero.
  • step 703 it is determined whether the current alternator power generation voltage V becomes the maximum voltage Emax or the charging current I becomes the current upper limit Ia. If the generated voltage V ⁇ the maximum voltage Emax or the charging current I ⁇ the current upper limit Ia, the generated voltage is held constant (step 706). If this condition is not satisfied, the generated voltage is increased by ⁇ ⁇ ⁇ t ( ⁇ t is a time step, for example, 10 ms) (step 704), the time is advanced by ⁇ t (705), and the determination of step 703 is made. Do.
  • step 708 it is determined in step 708 whether the generation voltage decrease start time is reached. If it is the generation voltage decrease start time, the process proceeds to step 709. If it is not the generation voltage decrease start time, the time is advanced by ⁇ t in step 707.
  • step 709 the generated voltage is reduced by a decrease rate -A. Thereafter, in step 710, it is determined whether or not the charging current is zero. If the charging current is not 0, the time is advanced by ⁇ t in step 711. If the charging current is 0, the process is terminated.
  • the rate of increase in the generated voltage is assumed to be ⁇ , but the amount of change in generated voltage that is min ⁇ , constant ⁇ (Ia ⁇ charge current) ⁇ of the above-described formula 9 may be used.
  • step 81 the current storage battery temperature is measured.
  • step 82 the temperature of the alternator is measured.
  • step 83 the battery battery temperature increase rate is calculated from the time difference of the battery temperature.
  • step 84 the alternator temperature increase rate is calculated from the time difference of the alternator temperature.
  • step 85 when the temperature rise estimate “temperature rise rate ⁇ (T ⁇ current time)” of the alternator or the storage battery becomes higher than a preset temperature (for example, 45 ° C. or engine room temperature) by the end of charging,
  • step 86 Emax is lowered by ⁇ Emax.
  • the generated voltage is decreased by ⁇ Emax in step 86, the generated voltage is decreased at the generated voltage decrease rate -A. The voltage at this time corresponds to the operation of lowering the generated voltage 91 in FIG.
  • alternator temperature determination in steps 82 and 84 and step 85 is omitted.
  • step 87 is a condition that the charging current becomes zero at time T when the timing for decreasing the generated voltage has been reached, that is, when the generated voltage starts to decrease at the generated voltage decrease rate -A from the current time. It is.
  • step 87 After the termination condition of step 87 is satisfied, the generated voltage is decreased at step 88 with the generated voltage decrease rate -A until the charging current becomes 0 (93 in FIG. 9).
  • the generated voltage is determined from the withstand voltage of the electronic device connected to the alternator (for example, 15V).
  • any one of a method of obtaining from a charging current at the previous charging, a generated voltage waveform, and a method of determining by referring to a table based on the current charge amount and temperature is used. If the configuration does not have an ammeter, a method is used in which the charge amount is estimated by the generated voltage and temperature, and the temperature and charge amount are determined by referring to a table. Each will be described below.
  • c, r, and R are obtained from the time series data of the charging current and the generated voltage.
  • V (s) obtained by Fourier-transforming ⁇ terminal voltage of storage battery ⁇ terminal voltage at storage battery charging current 0 ⁇ is calculated, and then I (s) obtained by Fourier-transforming the charging current is calculated.
  • S indicates s of the Laplace operator.
  • 1 / z (s) s is subjected to inverse Fourier transform to obtain a charging current waveform when the generated voltage is assumed to be a step response of 1V.
  • the Fourier transform numerical release of the fast Fourier transform may be used (references “Masahiko Sagawa, Hitoshi Takaya: Fast Fourier transform and its application, Shosodo”).
  • Equation 1 Since the initial value of the charging current is calculated as 1 / R, R is obtained from the initial charging current of the generated voltage step response. Similarly, since the steady value of the charging current of the generated voltage step response is calculated as 1 / (R + r) by solving Equation 1, the value of r can be obtained. Next, the current is an exponential function exp ( ⁇ t / k), and the constant k is expressed as Equation 11 from Equation 1 below. Further, k can be obtained by taking the logarithm of “charging current of power generation voltage step response ⁇ (Emax ⁇ E) / (R + r)”.
  • the values of R, r, and C are calculated at the charging timing and used for the next charging. In the case immediately after replacing the storage battery, an estimated value based on the table described below is used.
  • the c, r, and R tables that are tabulated for each storage battery charge amount, deterioration degree, and temperature are referred to based on the charge amount, deterioration degree, and temperature.
  • An example of this table is shown in FIG.
  • the charge amount is estimated by the charge amount estimation unit 14 of FIG.
  • a thermometer 14 is used for the temperature.
  • the SOC 101 in FIG. 10 indicates a ratio [%] obtained by dividing the charge amount [Ah] by the catalog capacity [Ah] of the storage battery, and indicates a value estimated by the charge amount estimated amount 16 in FIG. SOH102 in FIG.
  • FIG. 10 shows a deterioration degree and shows the ratio [%] which divided the capacity
  • a temperature SOC table prepared for each SOH is prepared.
  • the SOC is 40%
  • the SOH is 100%
  • a table corresponding to the SOH 100% is selected, and the values of c, r, and R described in the column 103 in FIG. Use.
  • the SOC 50% column does not exist as an example, but estimation is performed by interpolation from values of SOC 40% and 60%.
  • the SOH estimation method is obtained from the value of the discharge resistance obtained from the correlation between the storage battery current and the storage battery voltage during discharge.
  • the discharge resistance can be estimated by the amount of decrease in the storage battery voltage when starting the engine by cranking (in the case of a moving body with an engine, when the engine is started by the storage battery). good.
  • the amount of decrease in storage battery voltage ⁇ constant (the constant is a preset value).
  • the charging start timing may be started when the battery is not fully charged and the temperature of the storage battery is low. This is because when the temperature of the storage battery is low, the value of the charging resistance is generally large and the charging efficiency is lowered. At this time, control of the generated voltage is started, and the temperature of the storage battery is raised. The termination condition is that the battery is fully charged or the temperature of the storage battery reaches the ambient temperature of the storage battery.
  • this alternator power generation voltage control method performs control so that the charging current of the storage battery becomes zero when charging / discharging is not performed.
  • Ia in Equation 11 is set to 0 and the generated voltage is changed.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Control Of Eletrric Generators (AREA)
  • Control Of Charge By Means Of Generators (AREA)

Abstract

Selon l'invention, la vitesse d'accroissement d'une tension de charge appliquée à une batterie rechargeable est maîtrisée par imposition d'une limite à celle-ci de façon à empêcher la circulation d'un courant intense dans une batterie rechargeable ou à empêcher une génération de chaleur anormale dans la batterie rechargeable. Un appareil de commande pour alternateur comprend : une unité de détermination d'instants de charge qui détermine les instants de début et de fin de charge ; une unité d'estimation de paramètre de batterie rechargeable qui estime un paramètre pour la batterie rechargeable ; une unité d'estimation d'état de charge qui prédit l'état de charge de la batterie rechargeable ; une unité de détermination de vitesse d'accroissement de tension en génération d'énergie qui détermine une vitesse d'accroissement de tension en génération d'énergie de l'alternateur ; et une unité de régulation de tension en génération d'énergie qui régule la tension en génération d'énergie de l'alternateur. Lorsque la tension en génération d'énergie de l'alternateur croît au début de la charge de la batterie rechargeable d'un objet mobile, une limite supérieure est appliquée à la vitesse d'accroissement de tension en génération d'énergie sur la base du paramètre précédemment estimé pour la batterie rechargeable.
PCT/JP2010/003879 2009-06-30 2010-06-10 Appareil de commande et procédé de commande pour alternateur WO2011001609A1 (fr)

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JP2009154521A JP5271831B2 (ja) 2009-06-30 2009-06-30 オルタネータの制御装置及び制御方法

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2725685A4 (fr) * 2011-06-21 2015-09-02 Toyota Motor Co Ltd Dispositif pour charger un dispositif de stockage et véhicule sur lequel celui-ci est monté

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6922441B2 (ja) 2017-06-02 2021-08-18 スズキ株式会社 発電制御装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10285821A (ja) * 1996-04-23 1998-10-23 Denso Corp 車両用交流発電機の電圧制御装置
EP0907234A2 (fr) * 1997-10-02 1999-04-07 Black & Decker Inc. Système de charge de batteries
JP2008228403A (ja) * 2007-03-09 2008-09-25 Denso Corp 車両用電源装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10285821A (ja) * 1996-04-23 1998-10-23 Denso Corp 車両用交流発電機の電圧制御装置
EP0907234A2 (fr) * 1997-10-02 1999-04-07 Black & Decker Inc. Système de charge de batteries
JP2008228403A (ja) * 2007-03-09 2008-09-25 Denso Corp 車両用電源装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2725685A4 (fr) * 2011-06-21 2015-09-02 Toyota Motor Co Ltd Dispositif pour charger un dispositif de stockage et véhicule sur lequel celui-ci est monté

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JP5271831B2 (ja) 2013-08-21

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