公开(公告)号：WO2014048284A1

公开(公告)日：2014-04-03

申请号：PCT/CN2013/083977

申请日：2013-09-23

Applicant: SHENZHEN BYD AUTO R&D COMPANY LIMITED ,  BYD COMPANY LIMITED

Inventor： LUO, Hui ,  DU, Zhiyong ,  ZHOU, Xuguang ,  ZHANG, Xinxin ,  CHEN, Xing ,  XIAO, Kai ,  CHENG, Lipin

IPC: H02P6/18

CPC classification number: H02P6/12 ,  H02P6/182 ,  H02P6/34

Abstract: A method for checking an out-of-step of a synchronous motor includes: detecting electric degrees of the synchronous motor, in which the electric degrees comprise at least a first electric degree and a second electric degree detected at a preset interval, and the second electric degree is detected after the first electric degree; comparing the first electric degree with the second electric degree to obtain a comparing result; and determining that the synchronous motor is out of step when the comparing result satisfies a preset requirement. It is determined that the synchronous motor is out of step when the electric degree keeps unchanged or decreases progressively, or an increment of the electric degree is very small.

Abstract translation: 用于检查同步电动机的失步的方法包括：检测同步电动机的电度，其中电度至少包括以预设间隔检测的第一电度和第二电度，第二 在第一电度之后检测电度; 将第一电度与第二电度进行比较以获得比较结果; 并且当比较结果满足预设要求时，确定同步电动机不合格。 当电度保持不变或逐渐减小时，同步电动机不合格，或者电度的增量非常小。

公开(公告)号：WO2014206369A1

公开(公告)日：2014-12-31

申请号：PCT/CN2014/081249

申请日：2014-06-30

Applicant: SHENZHEN BYD AUTO R&D COMPANY LIMITED ,  BYD COMPANY LIMITED

Inventor： TANG, Xiaohua ,  YANG, Guangming ,  ZHANG, Xinxin ,  DU, Zhiyong ,  HU, Min ,  YU, Yilong ,  LIU, Jian ,  TANG, Zheqing ,  TANG, Fu

IPC: H02J7/02 ,  H02J3/32

CPC classification number: B60L11/185 ,  B60L1/006 ,  B60L11/1803 ,  B60L11/1811 ,  B60L11/1812 ,  B60L11/1816 ,  B60L11/1818 ,  B60L11/1838 ,  B60L15/007 ,  B60L15/02 ,  B60L2210/30 ,  B60L2210/40 ,  H02J3/32 ,  H02J5/00 ,  H02J7/02 ,  H02J7/022 ,  H02M7/487 ,  H04L12/10 ,  Y02E60/721 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/7241 ,  Y02T10/7258 ,  Y02T90/121 ,  Y02T90/127 ,  Y02T90/128 ,  Y02T90/14 ,  Y02T90/163 ,  Y04S10/126

Abstract: A power system for an electric vehicle, an electric vehicle and a motor controller for an electric vehicle are provided. The power system includes: a power battery (10); a charge-discharge socket (20); a three-level bidirectional DC-AC module (30); a motor control switch (40); a charge-discharge control module (50) having a first terminal connected with an AC terminal of the three-level bidirectional DC-AC module (30) and a second terminal connected with the charge-discharge socket (20); and a control module (60) connected with a third terminal of the charge-discharge control module (50) and a third terminal of the motor control switch (40), and configured to control the charge-discharge control module (50) and the motor control switch (40) according to a current working mode of the power system.

Abstract translation: 提供一种用于电动车辆的电力系统，电动车辆和电动车辆的电动机控制器。 电力系统包括：动力电池（10）; 充电 - 放电插座（20）; 三电平双向DC-AC模块（30）; 电机控制开关（40）; 充电 - 放电控制模块（50），其具有与三电平双向DC-AC模块（30）的AC端子连接的第一端子和与充放电插座（20）连接的第二端子; 以及与所述充放电控制模块（50）的第三端子和所述电动机控制开关（40）的第三端子连接的控制模块（60），并且被配置为控制所述充放电控制模块（50）和所述充放电控制模块 电机控制开关（40）根据电力系统的当前工作模式。

公开(公告)号：WO2014048283A1

公开(公告)日：2014-04-03

申请号：PCT/CN2013/083975

申请日：2013-09-23

Applicant: SHENZHEN BYD AUTO R&D COMPANY LIMITED ,  BYD COMPANY LIMITED

Inventor： LUO, Hui ,  DU, Zhiyong ,  ZHOU, Xuguang ,  ZHANG, Xinxin ,  CHEN, Xing ,  YANG, Taotao ,  CHENG, Lipin

IPC: H02P6/00

CPC classification number: H02P6/12 ,  H02P6/34 ,  H02P29/0241

Abstract: A method for checking an out-of-step of a synchronous motor includes detecting three-phase currents of the synchronous motor; determining whether a relationship between the three-phase currents satisfies a preset requirement; and if no, determining that the synchronous motor is out of step. It is determined that the synchronous motor is out of step when amplitudes of each current of the three-phase currents are not equal or when the phase difference between the three-phase currents is not 120°.

Abstract translation: 用于检查同步电动机的失步的方法包括检测同步电动机的三相电流; 确定三相电流之间的关系是否满足预设要求; 并且如果否，确定同步电动机不合格。 确定当三相电流的每个电流的幅度不相等时或当三相电流之间的相位差不是120°时，同步电动机失步。

公开(公告)号：EP2802057A1

公开(公告)日：2014-11-12

申请号：EP12863133.0

申请日：2012-12-31

Applicant: Shenzhen BYD Auto R&D Company Limited ,  BYD Company Limited

Inventor： LI, Yingtao ,  ZHANG, Xinxin ,  TANG, Fu

IPC: H02J7/00

CPC classification number: B60L11/1851 ,  B60L1/003 ,  B60L1/006 ,  B60L3/003 ,  B60L3/0046 ,  B60L3/0069 ,  B60L11/18 ,  B60L11/1803 ,  B60L11/1805 ,  B60L11/1809 ,  B60L11/1811 ,  B60L11/1812 ,  B60L11/1814 ,  B60L11/1816 ,  B60L11/1818 ,  B60L11/1838 ,  B60L11/1842 ,  B60L11/185 ,  B60L11/1861 ,  B60L11/1872 ,  B60L2210/12 ,  B60L2210/14 ,  B60L2210/30 ,  B60L2210/40 ,  B60L2210/42 ,  B60L2230/12 ,  B60L2240/527 ,  B60L2240/529 ,  B60L2240/545 ,  B60L2240/547 ,  B60L2240/549 ,  B60L2250/12 ,  B60L2260/22 ,  B60L2260/26 ,  B60L2270/147 ,  B60L2270/20 ,  H02J3/32 ,  H02J5/00 ,  H02J7/0036 ,  H02J7/0054 ,  H02J7/0055 ,  H02J7/0063 ,  H02J7/0065 ,  H02J7/0068 ,  H02J7/007 ,  H02J7/02 ,  H02J7/022 ,  H02J7/345 ,  H02J2007/0067 ,  H04B3/542 ,  Y02E60/721 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7072 ,  Y02T10/7088 ,  Y02T10/7225 ,  Y02T10/7233 ,  Y02T10/7241 ,  Y02T10/92 ,  Y02T90/121 ,  Y02T90/127 ,  Y02T90/128 ,  Y02T90/14 ,  Y02T90/16 ,  Y02T90/163 ,  Y02T90/168 ,  Y02T90/169 ,  Y04S10/126 ,  Y04S30/12 ,  Y04S30/14

Abstract: A power system switching between charging/discharging and driving functions comprises: a power battery (10); a charging/discharging socket (20); a bi-directional DC/DC module (30); a driving control switch (40); a bi-directional DC/AC module (50); a motor control switch (60); a charging/discharging control module (70); and a controller module (80). The controller module is connected to the driving control switch, the motor control switch, and the charging/discharging control module. The controller module establishes a closed circuit between the power battery and a motor (M) when the current working mode of the power system is a drive mode, and establishes a closed circuit between the charging/discharging socket and the power battery when the current working mode of the power system is a charging/discharging mode. The power system is capable of performing large-power AC charging on an electric automobile with AC power grids for civil or industrial use, so that a user can charge the electric automobile efficiently and conveniently at any place anytime. Moreover, the power system is applicable to batteries of a wide working voltage range, the occupied space thereof is saved and the cost is low.

Abstract translation: 充电/放电和驱动功能之间的电力系统切换包括：电源电池（10）; 的充电/放电插座（20）; 双向DC / DC模块（30）; 驱动控制开关（40）; 双向DC / AC模块（50）; 电机控制开关（60）; 的充电/放电控制模块（70）; 与一控制器模块（80）。 所述控制器模块被连接到驱动控制开关，电机控制开关，和充电/放电控制模块。 控制器模块建立电源电池和电动机（M）当电力系统的当前工作模式是驱动模式之间的闭合电路，并且建立充电/放电插座与动力电池当当前工作之间的闭合电路 电力系统的模式是一个充电/放电模式。 该动力系统能够执行大功率交流充电到电动汽车交流电网民用或工业用途一样，用户可以将电动汽车高效，方便地在任何地点任何时间收取。 更过的动力系统是适用于工作电压范围宽的电池，占用的空间其保存，成本低。

公开(公告)号：EP2800226B1

公开(公告)日：2018-08-15

申请号：EP12861681.0

申请日：2012-12-31

Applicant: Shenzhen BYD Auto R&D Company Limited ,  BYD Company Limited

Inventor： YANG, Guangming ,  ZHANG, Xinxin ,  DU, Zhiyong ,  ZHOU, Xuguang ,  LUO, Hongbin

IPC: H02J7/00 ,  H02M7/00 ,  B60L3/00 ,  B60L11/18 ,  B60L1/00 ,  H02J3/32 ,  H02J5/00 ,  H02J7/02 ,  H02J7/34 ,  H04B3/54

CPC classification number: B60L11/1838 ,  B60L1/006 ,  B60L3/003 ,  B60L3/0046 ,  B60L3/0069 ,  B60L11/1812 ,  B60L11/1814 ,  B60L11/1818 ,  B60L11/1842 ,  B60L11/1851 ,  B60L11/1861 ,  B60L11/1872 ,  B60L2210/12 ,  B60L2210/14 ,  B60L2210/30 ,  B60L2210/40 ,  B60L2210/42 ,  B60L2230/12 ,  B60L2240/527 ,  B60L2240/529 ,  B60L2240/545 ,  B60L2240/547 ,  B60L2240/549 ,  B60L2250/12 ,  B60L2260/22 ,  B60L2260/26 ,  B60L2270/147 ,  B60L2270/20 ,  H02J3/32 ,  H02J5/00 ,  H02J7/0036 ,  H02J7/0054 ,  H02J7/0055 ,  H02J7/0063 ,  H02J7/0065 ,  H02J7/0068 ,  H02J7/02 ,  H02J7/022 ,  H02J7/345 ,  H02J2007/0067 ,  H04B3/542 ,  Y02E60/721 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7088 ,  Y02T10/7225 ,  Y02T10/7233 ,  Y02T10/7241 ,  Y02T90/121 ,  Y02T90/127 ,  Y02T90/128 ,  Y02T90/14 ,  Y02T90/16 ,  Y02T90/163 ,  Y02T90/169 ,  Y04S10/126 ,  Y04S30/14

Abstract: Disclosed are a carrier communication method based on electric automobile charging/discharging, comprising the following steps: S1: after being powered up and started, an electric automobile detecting whether a carrier signal from a peripheral device is received through an interface wire harness and whether the carrier signal is correct; S2: when detecting the carrier signal and detecting that the carrier signal is correct, the electric automobile receiving the carrier signal through the interface wire harness; and S3: the electric automobile performing coupling and filtering on the received carrier signal to convert the carrier signal into a standard carrier signal, and demodulating the standard carrier signal into a digital signal to obtain information of the peripheral device. The method, on the basis of not increasing the number of wire harness, may implement data transmission and sharing between an automobile and ECU modules of a peripheral device, and carrier communication with other signal lines as communication media at the same time, so as to avoid construction and investment of a new communication network, and reduce manufacturing cost and maintenance difficulty. Further disclosed are a carrier communication system and a carrier apparatus based on electric automobile charging/discharging.

公开(公告)号：EP2800226A1

公开(公告)日：2014-11-05

申请号：EP12861681.0

申请日：2012-12-31

Applicant: Shenzhen BYD Auto R&D Company Limited ,  BYD Company Limited

Inventor： YANG, Guangming ,  ZHANG, Xinxin ,  DU, Zhiyong ,  ZHOU, Xuguang ,  LUO, Hongbin

IPC: H02J7/00 ,  H02M7/00

CPC classification number: B60L11/1851 ,  B60L1/003 ,  B60L1/006 ,  B60L3/003 ,  B60L3/0046 ,  B60L3/0069 ,  B60L11/18 ,  B60L11/1803 ,  B60L11/1805 ,  B60L11/1809 ,  B60L11/1811 ,  B60L11/1812 ,  B60L11/1814 ,  B60L11/1816 ,  B60L11/1818 ,  B60L11/1838 ,  B60L11/1842 ,  B60L11/185 ,  B60L11/1861 ,  B60L11/1872 ,  B60L2210/12 ,  B60L2210/14 ,  B60L2210/30 ,  B60L2210/40 ,  B60L2210/42 ,  B60L2230/12 ,  B60L2240/527 ,  B60L2240/529 ,  B60L2240/545 ,  B60L2240/547 ,  B60L2240/549 ,  B60L2250/12 ,  B60L2260/22 ,  B60L2260/26 ,  B60L2270/147 ,  B60L2270/20 ,  H02J3/32 ,  H02J5/00 ,  H02J7/0036 ,  H02J7/0054 ,  H02J7/0055 ,  H02J7/0063 ,  H02J7/0065 ,  H02J7/0068 ,  H02J7/007 ,  H02J7/02 ,  H02J7/022 ,  H02J7/345 ,  H02J2007/0067 ,  H04B3/542 ,  Y02E60/721 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7072 ,  Y02T10/7088 ,  Y02T10/7225 ,  Y02T10/7233 ,  Y02T10/7241 ,  Y02T10/92 ,  Y02T90/121 ,  Y02T90/127 ,  Y02T90/128 ,  Y02T90/14 ,  Y02T90/16 ,  Y02T90/163 ,  Y02T90/168 ,  Y02T90/169 ,  Y04S10/126 ,  Y04S30/12 ,  Y04S30/14

Abstract: Disclosed are an electric vehicle and a power system and a motor controller for an electric vehicle. The power system for an electric vehicle comprises a power battery (10); a charge-discharge socket (20); a two-way DC/DC module (30); a drive control switch (40); a two-way DC/AC module (50); a motor control switch (60); a charge-discharge control module (70); and a controller module (80). The controller module (80) is connected to the drive control switch (40), the motor control switch (60) and the charge-discharge control module (70), and the controller module (80) is used for controlling the drive control switch (40), the motor control switch (60) and the charge-discharge control module (70) in accordance with the current operating mode of the power system. The power system can achieve high-power AC charging to an electric vehicle using a civil or industrial AC power grid so that users can perform a quick charge at a high efficiency anytime and anywhere. In addition, the applicable battery has a wide range of operating voltages, thereby saving space and costs.

Abstract translation: 公开了一种电动车辆，电力系统和用于电动车辆的电动机控制器。 电动车辆的动力系统包括动力电池（10）; 充电 - 放电插座（20）; 双向DC / DC模块（30）; 驱动控制开关（40）; 双向DC / AC模块（50）; 电动机控制开关（60）; 充放电控制模块（70）; 和控制器模块（80）。 控制器模块（80）连接到驱动控制开关（40），电机控制开关（60）和充放电控制模块（70），控制器模块（80）用于控制驱动控制开关 （40），电动机控制开关（60）和充放电控制模块（70）。 电力系统可以使用民用或工业交流电网实现对电动车辆的大功率交流充电，使得用户可以随时随地以高效率执行快速充电。 此外，适用的电池具有宽范围的工作电压，从而节省空间和成本。

公开(公告)号：EP2802057B1

公开(公告)日：2018-08-22

申请号：EP12863133.0

申请日：2012-12-31

Applicant: Shenzhen BYD Auto R&D Company Limited ,  BYD Company Limited

Inventor： LI, Yingtao ,  ZHANG, Xinxin ,  TANG, Fu

IPC: H02J7/00 ,  H02M7/00 ,  B60L3/00 ,  B60L11/18 ,  B60L1/00 ,  H02J7/02 ,  H02J3/32 ,  H02J5/00 ,  H02J7/34 ,  H04B3/54

CPC classification number: B60L11/1838 ,  B60L1/006 ,  B60L3/003 ,  B60L3/0046 ,  B60L3/0069 ,  B60L11/1812 ,  B60L11/1814 ,  B60L11/1818 ,  B60L11/1842 ,  B60L11/1851 ,  B60L11/1861 ,  B60L11/1872 ,  B60L2210/12 ,  B60L2210/14 ,  B60L2210/30 ,  B60L2210/40 ,  B60L2210/42 ,  B60L2230/12 ,  B60L2240/527 ,  B60L2240/529 ,  B60L2240/545 ,  B60L2240/547 ,  B60L2240/549 ,  B60L2250/12 ,  B60L2260/22 ,  B60L2260/26 ,  B60L2270/147 ,  B60L2270/20 ,  H02J3/32 ,  H02J5/00 ,  H02J7/0036 ,  H02J7/0054 ,  H02J7/0055 ,  H02J7/0063 ,  H02J7/0065 ,  H02J7/0068 ,  H02J7/02 ,  H02J7/022 ,  H02J7/345 ,  H02J2007/0067 ,  H04B3/542 ,  Y02E60/721 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7088 ,  Y02T10/7225 ,  Y02T10/7233 ,  Y02T10/7241 ,  Y02T90/121 ,  Y02T90/127 ,  Y02T90/128 ,  Y02T90/14 ,  Y02T90/16 ,  Y02T90/163 ,  Y02T90/169 ,  Y04S10/126 ,  Y04S30/14

Abstract: Disclosed are a carrier communication method based on electric automobile charging/discharging, comprising the following steps: S1: after being powered up and started, an electric automobile detecting whether a carrier signal from a peripheral device is received through an interface wire harness and whether the carrier signal is correct; S2: when detecting the carrier signal and detecting that the carrier signal is correct, the electric automobile receiving the carrier signal through the interface wire harness; and S3: the electric automobile performing coupling and filtering on the received carrier signal to convert the carrier signal into a standard carrier signal, and demodulating the standard carrier signal into a digital signal to obtain information of the peripheral device. The method, on the basis of not increasing the number of wire harness, may implement data transmission and sharing between an automobile and ECU modules of a peripheral device, and carrier communication with other signal lines as communication media at the same time, so as to avoid construction and investment of a new communication network, and reduce manufacturing cost and maintenance difficulty. Further disclosed are a carrier communication system and a carrier apparatus based on electric automobile charging/discharging.

公开(公告)号：EP2519416B1

公开(公告)日：2018-03-21

申请号：EP10840529.1

申请日：2010-12-22

Applicant: BYD Company Limited ,  Shenzhen BYD Auto R&D Company Limited

Inventor： ZHANG, Xinxin ,  ZHOU, Yinmei ,  LI, Song ,  LUO, Fei

IPC: B60K6/387 ,  B60K6/442 ,  B60W10/02 ,  B60W10/06 ,  B60W10/08 ,  B60W20/00

CPC classification number: B60W20/10 ,  B60K6/387 ,  B60K6/442 ,  B60K6/52 ,  B60L2240/421 ,  B60L2240/441 ,  B60W10/02 ,  B60W10/06 ,  B60W10/08 ,  B60W20/00 ,  B60W2510/0638 ,  B60W2510/081 ,  Y02T10/6234 ,  Y02T10/6265 ,  Y02T10/6286 ,  Y02T10/642 ,  Y10T477/26 ,  Y10T477/325 ,  Y10T477/328 ,  Y10T477/753

Abstract: A hybrid power driving system is provided, comprising an engine; a first motor; a first reducing mechanism, a second clutch, a first wheels group, a second motor, a second wheels group, a second reducing mechanism, an energy storage device, a clutch, an engine controller, and a motor controller. The motor controller may be configured to: start or stop at least one of the first motor or the second motor; and control the clutch controller and the engine controller according to a running mode of the hybrid power driving system. A driving method for the driving system as described hereinabove is also provided.

公开(公告)号：EP2519416A1

公开(公告)日：2012-11-07

申请号：EP10840529.1

申请日：2010-12-22

Applicant: BYD Company Limited ,  Shenzhen BYD Auto R&D Company Limited

Inventor： ZHANG, Xinxin ,  ZHOU, Yinmei ,  LI, Song ,  LUO, Fei

IPC: B60K6/387 ,  B60K6/442 ,  B60W10/02 ,  B60W10/06 ,  B60W10/08 ,  B60W20/00

CPC classification number: B60W20/10 ,  B60K6/387 ,  B60K6/442 ,  B60K6/52 ,  B60L2240/421 ,  B60L2240/441 ,  B60W10/02 ,  B60W10/06 ,  B60W10/08 ,  B60W20/00 ,  B60W2510/0638 ,  B60W2510/081 ,  Y02T10/6234 ,  Y02T10/6265 ,  Y02T10/6286 ,  Y02T10/642 ,  Y10T477/26 ,  Y10T477/325 ,  Y10T477/328 ,  Y10T477/753

Abstract: A hybrid power driving system is provided, comprising an engine; a first motor; a first reducing mechanism, a second clutch, a first wheels group, a second motor, a second wheels group, a second reducing mechanism, an energy storage device, a clutch, an engine controller, and a motor controller. The motor controller may be configured to: start or stop at least one of the first motor or the second motor; and control the clutch controller and the engine controller according to a running mode of the hybrid power driving system. A driving method for the driving system as described hereinabove is also provided.

Abstract translation: 提供了一种混合动力驱动系统，包括发动机; 第一台电机 第一减速机构，第二离合器，第一车轮组，第二电动机，第二车轮组，第二减速机构，能量存储装置，离合器，发动机控制器和电动机控制器。 马达控制器可以被配置为：启动或停止第一马达或第二马达中的至少一个; 并根据混合动力驱动系统的运行模式控制离合器控制器和发动机控制器。 还提供了如上所述的用于驱动系统的驱动方法。

公开(公告)号：WO2011079740A1

公开(公告)日：2011-07-07

申请号：PCT/CN2010/080135

申请日：2010-12-22

Applicant: BYD COMPANY LIMITED ,  ZHANG, Xinxin ,  ZHOU, Yinmei ,  LI, Song ,  LUO, Fei

Inventor： ZHANG, Xinxin ,  ZHOU, Yinmei ,  LI, Song ,  LUO, Fei

IPC: B60K6/387 ,  B60K6/442 ,  B60W10/02 ,  B60W10/06 ,  B60W10/08 ,  B60W20/00

CPC classification number: B60W20/10 ,  B60K6/387 ,  B60K6/442 ,  B60K6/52 ,  B60L2240/421 ,  B60L2240/441 ,  B60W10/02 ,  B60W10/06 ,  B60W10/08 ,  B60W20/00 ,  B60W2510/0638 ,  B60W2510/081 ,  Y02T10/6234 ,  Y02T10/6265 ,  Y02T10/6286 ,  Y02T10/642 ,  Y10T477/26 ,  Y10T477/325 ,  Y10T477/328 ,  Y10T477/753

Abstract: A hybrid power driving system is provided, comprising an engine (10), a first motor (30), a first clutch (20), a first reducing mechanism (50), a second clutch (40), a first wheel group (50), a second motor (70), a second wheel group (90), a second reducing mechanism (80), an energy storage device (100), a clutch controller (110), an engine controller (120), and a motor controller (130). The motor controller (130) is configured to start or stop the first motor (20) and/or the second motor (40); and to control the clutch controller (110) and the engine controller (120) according to the corresponding running mode of the hybrid power driving system. A driving method for the driving system as described hereinabove is also provided.

Abstract translation: 提供了一种混合动力驱动系统，包括发动机（10），第一马达（30），第一离合器（20），第一减速机构（50），第二离合器（40），第一轮组 ），第二电动机（70），第二轮组（90），第二减速机构（80），能量存储装置（100），离合器控制器（110），发动机控制器（120） 控制器（130）。 电动机控制器（130）构造成启动或停止第一电动机（20）和/或第二电动机（40）; 并根据混合动力驱动系统的相应行驶模式来控制离合器控制器（110）和发动机控制器（120）。 还提供了如上所述的用于驱动系统的驱动方法。