WO2002049871A1 - Unite de commande pour automobile electrique - Google Patents
Unite de commande pour automobile electrique Download PDFInfo
- Publication number
- WO2002049871A1 WO2002049871A1 PCT/JP2001/009420 JP0109420W WO0249871A1 WO 2002049871 A1 WO2002049871 A1 WO 2002049871A1 JP 0109420 W JP0109420 W JP 0109420W WO 0249871 A1 WO0249871 A1 WO 0249871A1
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- WO
- WIPO (PCT)
- Prior art keywords
- control unit
- control
- control device
- node
- electric vehicle
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0084—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to control modules
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0092—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption with use of redundant elements for safety purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/04—Cutting off the power supply under fault conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/36—Temperature of vehicle components or parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/52—Drive Train control parameters related to converters
- B60L2240/525—Temperature of converter or components thereof
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- 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
- Y02T10/62—Hybrid vehicles
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- 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
- Y02T10/64—Electric machine technologies in electromobility
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- 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
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- 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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- 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
- Y02T10/72—Electric energy management in electromobility
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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Definitions
- the present invention relates to a control device for an electric vehicle having a vehicle electronic control system provided with a full-safe means.
- an electric vehicle is a vehicle that can run using only the driving force of a motor 101, and a secondary battery (battery) is used as a power source to supply the motor 101.
- a vehicle using a battery is referred to as an electric vehicle A in a narrow sense
- a vehicle using an engine generator is referred to as a series hybrid vehicle B
- a vehicle using a fuel cell is referred to as a fuel cell vehicle C.
- 102 is a wheel
- 103 is a controller
- 104 is a secondary battery
- 201 is an engine
- 202 is a generator
- 301 is a hydrogen supply source
- 302 is fuel. Battery.
- an electric vehicle is a vehicle that can run using only the driving force of a rotary electric motor, and uses a secondary battery, a fuel cell, and an internal combustion engine as power sources to supply the electric motor. , Generators, solar cells, etc., and vehicles using a combination of these.
- an electric vehicle using only a secondary battery is considered, but a vehicle using a fuel cell, an internal combustion engine generator, or a solar battery as a power source is also included.
- the position sensor of the operating member that can be operated by the driver or the rotation speed sensor
- sensors are provided redundantly.
- the signals of the redundantly configured measuring devices are supplied to two processors that control the driving output of the vehicle based on substantially the same computer program.
- the output signals of both processors then act on the same variable which affects the output of the vehicle's drive unit.
- making this type of system completely redundant adds significant complexity, thereby increasing costs and increasing the frequency of failures.
- control units are connected to each other by an electronic connection system and through which they exchange information and information with one another.
- the speed control of an electric vehicle uses a method in which an electric signal is transmitted from an accelerator pedal to a control device that controls a current flowing through a motor.However, when a plurality of motors are used for driving, and When controlling the acceleration, deceleration, and turning angle of a vehicle, another central control unit that controls the entire vehicle is required.
- the central control device and the control device attached to each electric motor have been connected by signal lines, respectively, and control has been performed. Disclosure of the invention
- the present invention enables signal transmission even between control devices attached to respective electric motors, and can transmit and receive control information by bypassing when an inconvenience occurs in any of the transmission lines.
- An object of the present invention is to provide a control device for an electric vehicle. In order to achieve the above object, the present invention
- an electric vehicle in which a single vehicle has a plurality of drive wheels, and one drive motor is attached to each of the drive wheels, an external motor is provided for each of the drive motors.
- a speed control device for accelerating and decelerating by an electric signal from the vehicle is installed, and a driver or vehicle
- a main control device having a function of transmitting a control signal for acceleration / deceleration based on a command from the above-mentioned sensor and receiving an operation state of the drive motor and the speed control device as a control signal.
- the sensor signal input to the main control device includes a brake command value from a brake control unit and a sensor signal indicating the oil pressure of the master cylinder. It is characterized by being performed.
- a node that detects a communication failure in the vehicle's electronic control system transmits a search message to search for a transmission path, and a node capable of forming the transmission path returns a response message to form a detour. It is characterized in that it has a transmission means for the transmission line.
- the node comprises: own node ID storage means for storing an identifier of the own node; and an identifier of an adjacent node connected to the transmission line. And a processing means for performing a route setting process based on a message sent to the node.
- the node is provided in a battery control unit, a steering control unit, a brake control unit, and a charge control unit.
- the vehicle control unit and a motor control unit provided for each wheel set may be controlled by a control signal input via a node provided for each.
- the power converter is controlled.
- the detour circuit may include a control signal detour trunk transmission line that forms a closed loop, the detour trunk transmission line, and each of the modules. And a detour transmission path between the receiver and the evening control unit.
- FIG. 1 is a diagram showing a basic configuration of an electric powered vehicle.
- FIG. 2 is a system configuration diagram of an electric vehicle showing an embodiment of the present invention.
- FIG. 3 is a block diagram of an electronic control system of an electric vehicle showing an embodiment of the present invention.
- Figure 4 is Oh ⁇ E in Furochiya one preparative showing a vehicle speed detecting step of an embodiment of the present invention) 0
- FIG. 5 is a flowchart showing a target rate (slip angle) adaptation control step according to the embodiment of the present invention.
- FIG. 6 is a flowchart showing TRC / ABS control steps showing an embodiment of the present invention.
- FIG. 7 is a flowchart illustrating an operation procedure of the vehicle control unit according to the embodiment of the present invention.
- BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an embodiment of the present invention will be described with reference to the drawings.A representative example will be described.
- Each of the two wheels has a wheel system supported by a tandem wheel type suspension, and has six or more drive wheels.
- An embodiment of the present invention will be described in which a fail-safe mechanism is applied to a control device mounted on an electric vehicle having an in-wheel drive drive wheel and controlling each motor so as to improve running stability during a slip.
- a feature of the present invention resides in fail-safe means in a control system including an electronic control unit, and the other control systems and devices can be applied as appropriate.
- FIG. 2 is a system configuration diagram of an electric vehicle showing an embodiment of the present invention.
- the front and rear wheels need not be a wheel system supported by a tandem wheel suspension, and only the front or rear wheel system is a wheel system supported by an evening wheel suspension. You may.
- the electric vehicle in this embodiment is an in-wheel motor type eight-wheel drive electric vehicle. That is, it is an electric vehicle with independent drive wheels, each of which has a wheel system supported by a tandem wheel suspension and an in-wheel drive in which motors are incorporated into all wheels.
- Each motor can be driven by various power supplies such as AC, DC, and pulse.
- power supplies such as AC, DC, and pulse.
- the corresponding converter for example, when the power supply is AC, the converter is an inverter, and when DC, the converter is Yes, when the pulse is a chopper.
- the vehicle control unit 1 includes a microcomputer, inputs detection information from various sensors, performs necessary processing, and outputs control measures to the motor control units 2, 3, 4, and 5.
- the control commands from the vehicle control unit 1 are transmitted through the transmission lines R1, R2, R3, R4, R5, R10, Rll, R12, R13, the detour transmission lines CR2, CR3, CR4, CR 5, CR10, CR11, CR11, CR12, CR13, and motor control units 2, 3, 4, and 5, battery control unit A, charging via control signal bypass trunk line CR Control section B, Output to rake control unit C and steering control unit 22.
- the vehicle control unit 1 controls the output torque of each motor 30, 31, 32, 33, 34, 35, 36, 37, the rotation speed control, the speed control, and the status of each vehicle component. It consists of an electronic control unit (ECU) that performs monitoring and control, notification of vehicle status to vehicle occupants, battery power supply control, battery charge control, brake control, steering control, and other functions. It has a microprogram for processing.
- the vehicle control unit 1 includes a rotational position sensor (SM) 50, 51, 52, 53, 54, 55, 56, 57, and a battery voltage value for detecting the current value.
- SM rotational position sensor
- Power sensor 9 Brake sensor 14 to detect the operation of the brake
- Steering angle sensor 15 to detect the steering angle of the steering wheel
- Shift position (SP) switch 16 to detect the shift position of the shift lever
- the opening of the accelerator Accelerator sensor 17 to detect battery temperatureTemperature sensor 18 to detect converter temperature, etc.
- Detection output of abnormality detection sensor 19 to detect converter voltage and current values falling below thresholds, etc. Is done.
- the rotational position sensors 50, 51, 52, 53, 54, 55, 56 and 57 provided for each wheel are used to determine the wheel speed of each wheel VR FF, VRFR,
- a signal indicating VLFF, VLFR, VRRF, VRRR, VLRF and VLRR (for example, a pulse signal for each minute angular position displacement) is generated and supplied to the vehicle control unit 1.
- the accelerator sensor 17 provides a signal indicating the amount of depression of an accelerator pedal (not shown), the brake sensor 14 provides a signal representing the amount of depression of the brake pedal 20, and the shift position switch 16 uses a shift lever (see FIG. (Not shown), and a signal indicating the shift position within the range (and in the case of the engine brake range, etc.), ie, the shift position, is output.
- the steering angle sensor 15 outputs a signal indicating the result of the steering angle detection of the handle, for example, a signal indicating the steering angle 5t.
- the power sensor 9 of the battery 6 measures and outputs the voltage value and the current value of the battery 6.
- the temperature sensor 18 measures and outputs the temperature of a device such as an inverter.
- the abnormality detection sensor 19 outputs an abnormality signal when the voltage value / current value of the inverter falls below the threshold value.
- the outputs of these sensors are input to the vehicle control unit 1, they are converted into data in a format that can be processed by the vehicle control unit 1.
- the vehicle control unit 1 uses the converted data to determine a torque command, a rotation speed command, a speed command, and the like, and executes control method switching and the like.
- an embodiment of the torque control will be described as an example.
- Each of the motor control units 2, 3, 4, and 5 is provided with a microcomputer, receives control commands from the vehicle control unit 1 via a transmission line, performs necessary processing, and performs inverters 10 and 10 ', 1 It is configured to output the control finger to 1, 1 ⁇ , 1 2, 1 2 ', 1 3, 1 3'.
- the motor controller 2 responds to the torque command TRF
- the motor controller 3 responds to the torque command TLF
- the motor controller 4 responds to the torque command TRR
- the motor controller 5 responds to the torque command TLR.
- Control the corresponding invertors 10, 10 ′, 11, 11 ′, 12, 12 ′, 13, 13 ′ to obtain motors 30, 31, 32, 33, 34, 35, 36, 37 are torque controlled.
- the torque commands given to the control units 2, 3, 4 and 5 are all output from the vehicle control unit 1. Inva for each mode 30, 30, 31, 32, 33, 34, 35, 36, 37, 10, 10 ', 11, 11, 1', 12, 11, 2 ', The control of 1 3 and 1 3 ′ is performed based on the detected value of each phase current of the motor obtained from the current sensor not shown, or based on the estimated value of each phase current of the motor obtained from the roast angle position etc. .
- the wheel system supported by the tandem wheel type suspension is: front right front wheel RFF 40, front right rear wheel RFR 41, front left front wheel LFF 42, front left rear wheel LFR 43, front right rear wheel RRF 44, right Motors 30, 31, 32, 33, 34, 35, 36, and 37 are incorporated in the rear rear wheel RRR45, the left rear front wheel LRF46, and the left rear rear wheel LRR47, respectively.
- the battery 6 is a driving power supply source for each motor, and its output is supplied to the motors 30 and 31 via the inverters 10 and 10 'and to the motors 32 and 3 via the inverters 11 and 1. 3, the motors 34 and 35 are supplied via the inverters 12 and 12 ', and the motors 36 and 37 are supplied via the inverters 13 and 13'.
- the INVA 10 and 10 ' control the output of the battery 6 to the motors 30 and 31 under the control of the motor control unit 2 controlled by the vehicle control unit 1 to perform torque control, speed control, etc. Power for Power is converted (in this figure, converted to three-phase AC). Inverters 1 1, 1 1 ′, 1 2, 1 2 ′ and 1 3, 1 3 ′ operate similarly.
- a tandem braking system that brakes the front, rear, left, and right wheels with both hydraulic and regenerative braking is used in accordance with the design policy for ensuring safety.
- a detection signal corresponding to the braking force (oil pressure of the master cylinder 21) FB detected using the brake sensor 14 is input to the vehicle control unit 1 via the transmission line R12 via the node N12.
- the vehicle control unit 1 generates torque commands TRF, TLF, TRR, and TLR for regeneration based on the detection signal.
- Regenerative fingering is a command according to the control command, such as torque fingering and speed fingering.
- the braking force distribution in the vehicle shown in FIG. 2 is a distribution in which both hydraulic pressure regeneration increases with an increase in the braking force FB.
- the hydraulic system and the regenerative system are separated from the brake sensor 14 and thereafter and are backed up by the transmission line, even if one of the hydraulic pressure and the regenerative operation malfunctions, the vehicle can be evacuated by the other. Wear.
- the hydraulic system is not provided with a hydraulic pump for TRC / ABS control, but only with a proportioning valve for optimizing the front-rear distribution of the hydraulic braking force. Is simplified.
- One of the reasons why there is no need to provide a hydraulic system for TRCZABS in the hydraulic system is to control the output torque of the motors 12 FR, 12 FL, 12 RR, and 12 RL as described later. This is a characteristic configuration of the present embodiment in which the running stability control is performed by utilizing the control.
- the fail-safe mechanism which is a feature of the present invention, includes a control signal bypass main line transmission line CR that forms a closed loop, and the motor control units 2, 3, 4, 5, and a battery control unit A from the bypass main line transmission line CR. , Charging control unit B, brake control unit (: detour transmission line CR2, CR3, CR4, CR5, CR10, CR11, CR11, CR12, CR13, connected to the steering control unit 22) And each motor control section 2, 3, 4, 5, battery control section A, charge control Control unit B, brake control unit (:, steering control unit 22, vehicle control unit 1 that performs overall control, each motor control unit, battery control unit A, charge control unit B, brake control unit (:, steering It comprises a control unit 22 and a transmission line connecting the vehicle control unit 1.
- FIG. 7 is a flowchart showing an operation procedure of the vehicle control unit according to the embodiment of the present invention.
- the vehicle control unit 1 first detects the vehicle speed VS (step S1).
- a force that can employ various procedures for detecting the vehicle body speed V S For example, it is preferable to employ a procedure as shown in FIG.
- the procedure for detecting the vehicle speed VS is shown in the flowchart of FIG.
- the vehicle control unit 1 first reads the detection value V of the wheel speed sensor SM as a set for each two wheels having a tandem structure (step S30), and calculates the wheel angular acceleration dcoZdt. Yes (Step 31).
- the following equation is used to calculate the wheel angular acceleration.
- R is a wheel radius
- V and ⁇ are a wheel speed and a wheel angular speed applied to a wheel whose wheel angular acceleration is to be obtained.
- the vehicle control unit 1 compares whether the absolute value of the wheel angular acceleration dcoZdt thus obtained exceeds a predetermined threshold value or not for the above one set. If the absolute value of the wheel angular acceleration dw / dt exceeds the threshold value for both wheels (all wheels) of one set, it is judged as slip (SL), and one wheel of the set exceeds the threshold value. If the other wheel does not exceed the threshold, it is judged as non-slip (SX) and the wheel speed V that does not exceed the threshold is held as the wheel speed of the set. If the absolute value of the wheel angular acceleration do) dt does not exceed the threshold value, it is determined to be non-slip (SX) and the wheel speed of the large value is held as the wheel speed of the set (step S32).
- step S33 If it is determined that the set of wheels is not slip (SX), the wheel speed V of the wheel is added to the variable VS (step S33). Conversely, if it is determined that the set of wheels is slipping, the absolute value of the angular acceleration dwZdt is set to the predetermined threshold. If the value is higher than the value, the wheel can be regarded as having a slip or the tendency, and the number of wheels (slip wheels) that can be regarded as having the slip or the tendency is counted. Is incremented by 1 (step S34).
- step S33 or S34 the vehicle control unit 1 stores the position of the set of wheels and the wheel speed V in a built-in memory or the like (step S35).
- the vehicle control unit 1 executes the procedure of steps S31 to S35 for all drive wheels including all tandem-structured wheels (step S36).
- the vehicle control unit 1 determines whether the number of slip wheels NS is equal to four, that is, all the drive wheels slip. It is determined whether or not it is (step S37). Normally, all the drive wheels do not slip or show the tendency at the same time. Therefore, the vehicle control unit 1 calculates the value integrated in VS by repeating step S33 to 4-NS, that is, the non-slip wheels. The vehicle speed VS is calculated by dividing by the number (step S38).
- step S35 the information stored in the past execution of step S35 is used to search for the last drive wheel that started to slip ( Step S39).
- the vehicle control unit 1 uses, as the vehicle speed VS, the value of the wheel speed V that the drive wheel found as a result of this search, that is, the last wheel that started slipping, had immediately before it started to slip (Ste S40).
- the vehicle speed VS can be determined relatively accurately by calculating the vehicle speed VS only from the wheel speeds of the non-slip wheels in principle.
- the torque command value temporarily determined in the procedure is assumed to be appropriate.
- the relatively reliable vehicle speed information can be used for the temporary determination of the torque command value.
- step S 3 After detecting the vehicle speed VS, first, in order to determine the steering state, it is determined whether the absolute value of the steering angle 5t is equal to or greater than a predetermined threshold value (step S 2). When the rudder angle is larger than the threshold value and there is no slip (step S12), the vehicle control unit 1 controls the target rate adaptation control or the target slip angle adaptation control (for example, the slip angle 0 control). ) (Step S3).
- target rate adjustment control or target slip angle adjustment control is executed.
- Fig. 5 shows an example of the procedure for target rate adjustment control or target slip angle adjustment control.
- the vehicle control unit 1 first determines the accelerator on / off state that can be determined based on the output of the accelerator sensor 17, the shift position given by the shift position switch 16, and the steering angle sensor 15. Based on the given steering angle (5 t and d (5 i / ⁇ t) that can be calculated based on this, a coupling coefficient group (expression based on experience) is selected (step S 50).
- the vehicle control unit 1 further calculates a wheel acceleration dvZdt for each wheel of the tandem suspension structure, and calculates a road surface friction coefficient // (experimental formula) based on the wheel acceleration (step S51).
- the vehicle control unit 1 determines the correction coefficient k for each wheel based on the road surface friction coefficient // and the steering angle 5t and using the coupling coefficient group selected in step S50 (step S52).
- step S53 the vehicle controller 1 temporarily determines a torque command for each wheel from the running torque map based on the wheel speed V, the accelerator opening VA, and the shift position (step S53). S54).
- step S53 a torque command is provisionally determined for each wheel from the regenerative torque map based on the wheel speed V, the braking force FB, and the shift position (step S55).
- the torque torque map is a map in the region where both the rotational speed and the torque are positive.
- -It is a map that shows the rotational speed torque characteristics in the evening
- the regenerative torque map is a map that shows the rotational speed torque characteristics of the motor in the region where the rotational speed is positive and the torque is negative, and is determined by experience.
- the vehicle controller 1 determines the torque command by multiplying the torque command provisionally determined in step S54 or S55 by the correction coefficient determined in step S52 (step S56). ), And outputs the determined torque command to the corresponding motor control unit (step S57).
- the target rate adjustment control or the target slip angle adjustment control is executed depending on the value of the coupling coefficient group to be selected in step S50 and the setting method of the correction coefficient k in step S52.
- the range in which the torque command can be taken when the accelerator is turned on may be a value belonging to the regeneration area even when the accelerator is on, and may be a value belonging to the power range even when the accelerator is off.
- target rate adjustment control and the target slip angle adjustment control refer to the disclosure of Japanese Patent Application Laid-Open No. 10-210604.
- a method of executing the running stability control using a plurality of state quantities indicating the motion state of the vehicle including the rate acting on the vehicle body. May be adopted.
- step S6 executed after detecting the vehicle speed VS, if it is recognized that it is not necessary to execute the target rate adjustment control or the target slip angle adjustment control, that is, if the absolute value of the steering angle is equal to or less than the threshold «
- step S6 executed after detecting the vehicle speed VS, if it is recognized that it is not necessary to execute the target rate adjustment control or the target slip angle adjustment control, that is, if the absolute value of the steering angle is equal to or less than the threshold «
- the vehicle control unit 1 executes a procedure related to the 8WD control in principle (step S6).
- the vehicle control unit 1 When starting the 8WD control step S6, the vehicle control unit 1 first sets the slip wheel corresponding to one set of wheels in the evening dem suspension structure detected in the procedure for detecting the vehicle speed VS. Judgment regarding the number NS ⁇ Execute the classification process. That is, when the detected number of slip wheels NS is equal to 4, that is, when all the driving wheels show slip or tendency (step S7), or when the number of slip wheels NS is equal to 3, ie, slip Alternatively, when there is only one drive wheel (one set) of the tandem suspension structure that does not show the tendency (step S8), the operation of the vehicle control unit 1 is not performed by the 8WD control (step S6). The control shifts to TR CZABS equivalent control (step S9).
- step S10 even when the number NS of the slip wheels is equal to 2, that is, when there are two drive wheels of the tandem suspension structure that do not show the slip or the tendency (step S10), the detection is performed. If both of the slip wheels are left wheels or both right wheels (step S11), control is shifted to TRCZABS equivalent control (step S9).
- step S2 determines that the target rate matching control or the target slip angle matching control is considered to be necessary.
- the number NS of the slip wheels is non-zero.
- the control also shifts to TRCZABS equivalent control (step S9).
- Fig. 6 shows an example of the procedure of TRC / ABS equivalent control.
- the vehicle control unit 1 When executing the TRCZABS equivalent control, the vehicle control unit 1 first selects a coupling coefficient group, a control constant group, and the like according to the level of the wheel speed V of each wheel, the accelerator on / off, and the like (step S 60).
- the coupling coefficient group referred to here is a set of coefficients used for determining a threshold group used for angular acceleration determination described later
- the control constant group is a set of constants used for determining the feed hack torque. It is a set.
- step S61 when the accelerator is on, the vehicle control unit 38 further determines the accelerator opening VA and the coupling coefficient group selected in step S60. Then, a threshold group is determined (step S64). When the accelerator is off, a threshold value group is determined based on the braking force FB and the coupling coefficient group selected in step S60 (step S65).
- the vehicle control unit 1 classifies the angular acceleration dco / dt of each wheel based on the threshold value group determined in step S64 or S65 (step S66).
- the vehicle control unit 1 determines the feedback torque using a different arithmetic expression or the like according to the result of the classification. For example, when the wheel angular acceleration dwZdt belongs to the first range, the feedback torque determination processing by the first equation is performed (step S67-1), and when the wheel angular acceleration dwZdt belongs to the second range, the feedback torque determination processing is performed by the second equation.
- the feedback torque determination process based on (Step S67-2) is based on (Step S67-2), and the feedback torque determination process based on the third arithmetic expression is (Step S67-3) when it belongs to the third range.
- the feedback torque determination process based on the n-th arithmetic expression is referred to as (Step S67-n), and the feedback torque is calculated by the arithmetic expression corresponding to the range to which the rotational angular acceleration dco / dt belongs for each wheel. To determine.
- the constants in the arithmetic expression relating to steps S67-1 and S67-7, S67-3, S67-n are the control constant groups selected in step S60. It is a value related to.
- the vehicle control unit 1 determines the torque command value by subtracting the feedback torque determined in this manner from the torque command value provisionally determined in step S62 or S63 (step S68), The determined torque command value is output to the corresponding motor control unit (step S69).
- the vehicle control unit 1 When none of the conditions for shifting to the target rate adaptation control or the target slip angle adaptation control or the conditions for transitioning to TRCZABS equivalent control are satisfied, the vehicle control unit 1, that is, the absolute value of the steering angle ⁇ 5 t Does not exceed the threshold, the tandem suspension structure If the number of slip wheels NS (the number of sets) is 2 or less and none of the two wheels on the left side or the two wheels on the right side are slip wheels, the 8WD control (step Execute the procedure according to S6).
- step S14 the vehicle control unit 1 determines all drive wheels of the evening dem suspension structure as distribution wheels.
- the distribution wheels are drive wheels to which torque output is actually distributed.
- step S15 the vehicle control unit 1 sets the specific gravity of the distribution of the torque output to each distribution wheel to a normal value. For example, set the specific gravity of the distribution to 1 for all drive wheels.However, the specific gravity of the distribution may be changed according to the weight of the vehicle, or different between the front and rear wheels according to the structure of the vehicle body. The predetermined specific gravity may be used.
- the distribution specific gravity for each vehicle is set so that the moment in one direction centering on the center of gravity of the vehicle does not newly act on the vehicle body, that is, the left and right sides are balanced. Adjust (Step S17).
- the distribution specific gravity was set to 0 so that the torque command was not given, and the left and right non-slip wheels on the side to which the slip wheels belonged.
- the distribution specific gravity is added with the distribution specific gravity corresponding to the torque output that would otherwise be distributed to the slip wheels if slipping.
- step S18 if the accelerator is on, the vehicle controller 1 performs control according to the vehicle speed VS, the accelerator opening VA, and the shift position. From the torque map (step S19), if the accelerator is off, the torque command is provisionally determined from the regenerative torque map (step S20) according to the vehicle speed VS, the braking force FB, and the shift position. After executing step S19 or S20, the vehicle controller 1 proceeds to step S19 or S20 according to the distribution specific gravity set or adjusted in advance in step S15 or S17. The torque command value temporarily determined is adjusted (for example, by multiplying by the distribution specific gravity), and thereby the torque command value for each wheel is determined (step S21). The determined torque command values are output to the corresponding motor control units (step S22), and then the process proceeds to step S4.
- the control state switches according to the slip state of each wheel of the tandem suspension structure.
- the torque command that was supposed to be output at is output by the other drive wheels on the same side as this slip wheel.
- NS 2 and both slip wheels are on the left
- the control mode of each motor output by the vehicle control unit 1 ⁇ the control mode for each wheel according to the occurrence state of the slip or the tendency of each wheel, particularly the number and position of the slip wheels. Switching or changing the torque distribution specific gravity realizes suitable 8WD control and TRCZAB S equivalent control for the in-wheel motor type 8-wheel drive electric vehicle, and maintains and improves running stability. be able to.
- the main electronic control unit is connected via the control signal detour trunk transmission line CR, so the control system can be backed up even if a failure occurs in the transmission line, etc. Control can be performed.
- the signal transmission system consists of a vehicle control unit that forms an electronic control unit, motor control units 2, 3, 4, 5, battery control unit A, charge control unit B, brake control unit (:, It is configured based on a node (communication device) provided in the steering control unit 22.
- Each node (communication device) has its own node ID storage means N 1 b, N 2 b, N 3 which stores its own node identifiers Nl, N 2, N 3, N 4, N 5, N 10, Ni l, N 12, N 13.
- a detour route setting method that sets a communication route around a location Has taken.
- each node performs polling between the connected transmission line and an adjacent node via the alternative transmission line, and when there is no response from the other party, the transmission line between the two or the alternative route transmission line.
- the node that has detected the communication failure as a communication failure in the node transmits, as a search message s, its own identifier and the identifier of an adjacent node connected to the transmission line on which the communication failure has been detected,
- the node that has received the search message compares the identifier D of the adjacent node in the search message with an identifier stored in its own node ID storage means or adjacent node ID storage means, and performs the comparison.
- a fault-related communication device is a fault Refers to a communication device or an adjacent communication device connected to a transmission path in which a failure has occurred.
- each node When each node detects that the transmission path between the node N1 of the vehicle control unit 1 and the node Nn of each motor control unit has been secured, each node starts its own motor control unit and Set your own inverter to sleep mode. When a control command is input via the transmission line, the own motor control unit controls the own inverter according to the control command.
- the node N2 performs polling between the adjacent nodes N1 via the connected transmission line and the bypass transmission line, and detects a communication failure when there is no response from the partner.
- the processing means N 2 a of the node N 2 includes, in the control unit of the signal frame, a message type of search message s, an identifier of the source communication device of N 2, and an identifier of the failure-related communication device of N 1. Is transmitted to the node N13 or N3.
- the data N3 stored in the ID storage unit N3b and the data N1, N2, N10 stored in the adjacent node ID storage unit N3c are compared. As a result of this comparison, since the identifier N 1 matches the data N 1 stored in the adjacent node ID storage unit N 3 c, the node N 1
- detour transmission line CR2 ⁇ detour main line transmission line CR ⁇ detour transmission line CR3 ⁇ node N3 ⁇ transmission line R3 ⁇ transmission line R1
- detour transmission line CR2 ⁇ detour main line transmission line CR ⁇ detour transmission line CR3 ⁇ node N3 ⁇ transmission line R3 ⁇ transmission line R1
- Via a route setting signal indicating that a detour route to the node N2 is to be set up.
- the message type is a response message
- the signal indicating that the identifier of the destination node is N2 and the identifier of the source node is N3 is a signal frame control. It is a transmission signal put on the unit.
- the node N 2 receiving the response message r receives the response message r. Then, a signal indicating that the identifier of the source communication device is N3 is extracted, and based on the signal, the partner node to which the detour route is to be set is confirmed. In the same manner as the above, a route setting signal instructing to set a detour route to the node N3 is sent.
- the detour transmission line CR 2 ⁇ the detour trunk line transmission line CR ⁇ the detour transmission line CR 13 ⁇ node N 13 ⁇ transmission line R 13 ⁇ transmission line R Form a detour connected to 1.
- a detour route is set based on the above two route setting signals.
- FIGS. For example, in the case where a communication failure of B1 occurs on the signal transmission line R2 between the vehicle control unit 1 and the motor control unit 2 and a communication failure of B2 occurs on the bypass trunk line CR, FIGS. This will be described with reference to the drawings.
- node N2 determines that all transmission paths to vehicle control unit 1 have been lost and that node N2 has not responded to polling within a predetermined time. 2 is detected, the standby mode of the motor control unit 2 is changed to the stop mode, and the members 10 and 10 'are stopped.
- the vehicle control unit 1 detects that there is no response from the node N2 within a predetermined time, disconnects the node N2 from the transmission circuit, backs up via the remaining nodes, and controls the remaining motor control units. I do.
- Each of which has a wheel system supported by a tandem wheel type suspension that adopts electronic control that can improve running stability, and that has an in-wheel drive incorporating electronically controlled motors on all wheels. Even if a failure occurs in a specific electronic control system of a drive wheel independent drive type electric vehicle, the control operation of the vehicle can be continued while maintaining the control function by setting a detour path.
- each drive-wheel independent drive electric vehicle that has a wheel system supported by a tandem wheel suspension and an in-wheel drive that incorporates motors in all wheels adopts control that can improve running stability.
- slips can be reduced, driving stability can be improved, and when there is no non-slip wheel on the left side or no right side of the vehicle body, Since the output torque value is instructed for each motor after adjusting according to the slip state, TRC / ABS equivalent control can be realized without the member for controlling the pressure of the braking fluid.
- TR CZA BS equivalent control operates under appropriate conditions, highly reliable running stability control during a slip can be realized.
- the control device for an electric vehicle according to the present invention can perform accurate control between control devices attached to respective electric motors, and in particular, controls an electric vehicle without exhaust gas contributing to global warming. It is suitable as a device.
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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US10/450,254 US6909950B2 (en) | 2000-12-18 | 2001-10-26 | Controller for electric automobile |
EP01980916A EP1344676A4 (en) | 2000-12-18 | 2001-10-26 | CONTROL UNIT FOR ELECTRIC MOTOR VEHICLE |
US11/127,266 US7072751B2 (en) | 2000-12-18 | 2005-05-12 | Controller for electric automobile |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2000384089A JP3476770B2 (ja) | 2000-12-18 | 2000-12-18 | 電気自動車の制御装置 |
JP2000-384089 | 2000-12-18 |
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US10450254 A-371-Of-International | 2001-10-26 | ||
US11/127,266 Division US7072751B2 (en) | 2000-12-18 | 2005-05-12 | Controller for electric automobile |
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WO2002049871A1 true WO2002049871A1 (fr) | 2002-06-27 |
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PCT/JP2001/009420 WO2002049871A1 (fr) | 2000-12-18 | 2001-10-26 | Unite de commande pour automobile electrique |
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EP (1) | EP1344676A4 (ja) |
JP (1) | JP3476770B2 (ja) |
WO (1) | WO2002049871A1 (ja) |
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JPH01164203A (ja) * | 1987-12-19 | 1989-06-28 | Aisin Aw Co Ltd | 車両のネットワーク通信制御装置 |
US5726541A (en) * | 1992-04-28 | 1998-03-10 | Dynamic Controls Limited | Failure detection and communication system for electrically driven vehicles |
JP2000156903A (ja) * | 1998-11-19 | 2000-06-06 | Fuji Heavy Ind Ltd | ハイブリッド車の制御装置 |
EP1006694A2 (en) * | 1998-12-03 | 2000-06-07 | Secretary of Agency of Industrial Science and Technology | Communications method and communications system |
Also Published As
Publication number | Publication date |
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US7072751B2 (en) | 2006-07-04 |
US20040027076A1 (en) | 2004-02-12 |
EP1344676A1 (en) | 2003-09-17 |
US6909950B2 (en) | 2005-06-21 |
JP3476770B2 (ja) | 2003-12-10 |
EP1344676A4 (en) | 2012-02-22 |
JP2002186120A (ja) | 2002-06-28 |
US20050206332A1 (en) | 2005-09-22 |
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