JP2005204425A - Electric rolling stock controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an electric rolling stock controller which can avoid the increase of the idling/sliding velocity caused by the continuation of minute idling/sliding and the occurrence of such phenomena that the effective utilization of adhesive strength can not be achieved resulting from it, and can materialize the effective utilization of the adhesive strength. <P>SOLUTION: When detecting idling/sliding during the one pulse mode of an inverter, it directs torque smaller than a torque command till then when driving wheels are still in the middle of readhesion at the point of time when it has finished to direct, for a predetermined period, the minimum value of the torque command for readhesion being calculated from the estimate of torque corresponding to the tangential force between wheels and rails, so as to readhere them to each other. Then, it directs torque where a torque command predetermined value calculated at the point of detection of the idling/sliding is modified into a little smaller value. Moreover, if they do not turn to adhesion when it directs the minimum value of the above torque command for the predetermined period, it directs torque smaller than that in the above case so as to readhere them to each other, and then it modifies the torque command predetermined value into a smaller value prior to directions so that they may readhere to each other without fail. <P>COPYRIGHT: (C)2005,JPO&amp;NCIPI

Description

  The present invention relates to an electric vehicle control device that realizes re-adhesion control that effectively uses adhesive force while maintaining good riding comfort of an electric vehicle.

An electric vehicle performs acceleration / deceleration by means of a tangential force (also referred to as adhesive force) between wheels and rails. This tangential force generally has a characteristic as shown by a broken line in FIG. . The tangential force divided by the axle load (vertical load applied to the rail per axle) is called the tangential force coefficient, and the maximum value of the tangential force coefficient is called the adhesion coefficient.
As shown in the figure, when torque that does not exceed the maximum value of the tangential force is generated by the main motor, idling / sliding does not occur, and the electric vehicle has a small sliding speed on the left side of the maximum value of the tangential force. Will travel. If a torque larger than the maximum value is generated, the sliding speed increases and the tangential force decreases, so the slipping speed increases and the slipping / sliding state increases.However, when the wheels and rails are dry, the torque generated by the main motor is Since the vehicle performance is set so as not to exceed the maximum value of the tangential force, idling and sliding do not occur.

  However, as shown by the solid line, when the rail surface is wet due to rain or the like, the adhesion coefficient decreases, and the maximum value of the tangential force becomes smaller than the generated torque of the main motor corresponding to the set performance of the vehicle. In this case, the slip speed increases and the vehicle is idled or slid. If left as it is, the tangential force decreases correspondingly, and the acceleration / deceleration force required for vehicle acceleration / deceleration decreases further. Therefore, it is necessary to detect slipping / sliding and reduce the torque generated by the main motor to re-adhere. When re-adhesion is performed by controlling the torque in this way, it is possible to control the electric motor so that the torque generated by the main motor is as close to the maximum value of the tangential force as possible while maintaining a low sliding speed. Necessary for improving deceleration performance.

As a method for realizing such re-adhesion control, the rotational speed of the main motor is estimated from the voltage / current applied to the main motor, and the estimated speed information and the calculated value of the main motor generated torque are used as input information. The main motor torque corresponding to the tangential force between the wheels and rails is estimated for each control cycle using the minimum dimension disturbance observer, and the generated torque of the main motor is controlled using the estimated torque at the time of idling / sliding detection Has been proposed (see Non-Patent Document 1).
With this control method, it is possible to maintain the generated torque of the main motor as close to the maximum value of the tangential force as possible while maintaining good riding comfort.

However, when the pulse mode of the inverter is changed to the 1-pulse mode, the torque response speed is slightly slower than in the multi-pulse mode, so that the delay in estimating the torque is greater than in the multi-pulse mode. Therefore, when calculating the minimum value of the torque command value necessary to re-adhere the driving wheel based on the estimated torque at the time of idling / sliding detection, the estimated torque is slightly larger than in the multi-pulse mode, The calculated torque command value is also larger. As a result, when the minimum value of the torque command value is commanded for a predetermined period in order to re-adhere the driving wheel, what can be re-adhered reliably in the multi-pulse mode is completely re-adhesive in the 1-pulse mode. There is a case where it is not possible to make it idle and is still in the idling / sliding state. Then, when the torque commanded after re-adhesion calculated at the time of slipping / sliding detection is commanded when a predetermined time elapses, the torque command value also becomes slightly large due to a response delay, so the slipping speed gradually increases from the minute slipping state. As a result, the calculation axis acceleration does not readily reach the idling detection level, and when idling is detected, an event may occur in which the idling speed becomes larger than in the multi-pulse mode. This event does not always occur in the 1-pulse mode, but is a phenomenon that is sometimes seen. In order to effectively use the adhesive force, it is desired to suppress the occurrence of such an event as much as possible.
Satoshi Kadowaki, Kiyoshi Oishi, Ichiro Miyashita, Shinobu Yasukawa: "A method of re-adhesion control of electric vehicle (2M1C) by disturbance observer and speed sensorless vector control", IEEJ Transactions D, November 2001, pp1192-1198

  The problem to be solved is that when the inverter is in the 1-pulse mode, the torque response speed of the main motor is slightly reduced. Since the minimum value of the torque command value required for re-adhesion of the driving wheel calculated in (5) is slightly larger, even if this minimum value is commanded for a predetermined time, it can be completely re-adhered in the multi-pulse mode. In 1-pulse mode, it cannot be completely re-adhered, and when the torque corresponding to the estimated torque is commanded at the time of re-adhesion, the torque corresponding to this estimated torque becomes slightly larger, so that the minute idling occurs. When the idling is detected continuously, the idling speed becomes larger than in the multi-pulse mode, and as a result, an event may occur in which the tangential force between the wheels and rails decreases. The

  The present invention was devised in view of the above points, and its purpose is to re-adhere the driving wheel when idling / sliding is detected when the inverter is in the 1-pulse mode in order to solve this problem. When the minimum value of the calculated torque command value is commanded for a predetermined period, it is detected that it has not yet completely re-adhered or has not started to re-adhere at all since the start of commanding the minimum value Executes re-adhesion promotion control to ensure re-adhesion by commanding a torque that is smaller than the minimum value that has been commanded until a predetermined time has elapsed, and when the re-adhesion is detected, slipping and sliding The torque corresponding to the estimated torque commanded at the time of re-adhesion calculated at the time of detection is commanded so that the torque is finely adjusted so that the torque is slightly reduced. To provide an electric vehicle controller with Enable available readhesion control method of the adhesive strength while to be able to wear.

Means to achieve that goal are:
1) In claim 1,
Estimated torque on the main motor shaft corresponding to the tangential force between the wheels and rails when detecting idling / sliding using a method such as an observer, and detected idling / sliding based on the estimated torque. In this case, the minimum value Tau_c_min of the torque command value necessary for re-adhering the idling / sliding moving wheel is calculated, the minimum value Tau_c_min of the torque command value is commanded for a predetermined period T1, and the predetermined period After T1, the torque command value is quickly increased toward a torque Tau_c_mu_c that is slightly smaller than the estimated torque. Torque control so that the torque command value is gradually increased after the elapse of a certain period of time T2 when no slipping / sliding is detected during the period T2. An electric vehicle control device for controlling an inverter-controlled vehicle having a re-adhesion control function,
If idling is detected when the minimum value Tau_c_min of the torque command value is commanded for the predetermined period T1 when idling / sliding is detected when the main motor drive inverter is in the 1-pulse mode, If the acceleration of the driving wheel is negative, or if sliding is detected, if the acceleration of the driving wheel is positive, the minimum torque command value Tau_c_min that has been commanded until then When the predetermined period T1 has elapsed, the torque is commanded after the predetermined time T1, and when idling is detected, until the acceleration of the driving wheel becomes zero or a positive value, or when sliding is detected. Continues to command a torque k1 times the minimum value Tau_c_min of the torque command value until the speed of the driving wheel reaches zero or a negative value, and if idling is detected, the acceleration of the driving wheel is zero or a positive value In From the point in time when the sliding is detected, or from the point when the acceleration of the driving wheel becomes zero or a negative value, the torque command value is quickly increased toward the torque obtained by multiplying the torque command value by k2 of the Tau_c_mu_c. The electric vehicle control device is characterized in that it continues to command the torque multiplied by k2 of the Tau_c_mu_c for a certain period of time T2 from when the torque command value reaches the torque multiplied by k2 of the Tau_c_mu_c. .

2) In claim 2,
Estimated torque on the main motor shaft corresponding to the tangential force between the wheels and rails when detecting idling / sliding using a method such as an observer, and detected idling / sliding based on the estimated torque. In this case, the minimum value Tau_c_min of the torque command value necessary for re-adhering the idling / sliding moving wheel is calculated, the minimum value Tau_c_min of the torque command value is commanded for a predetermined period T1, and the predetermined period After T1, the torque command value is quickly increased toward a torque Tau_c_mu_c that is slightly smaller than the estimated torque. Torque control so that the torque command value is gradually increased after the elapse of a certain period of time T2 when no slipping / sliding is detected during the period T2. An electric vehicle control device for controlling an inverter-controlled vehicle having a re-adhesion control function,
When the idling / sliding is detected when the main motor drive inverter is in the 1-pulse mode, the idling is detected when the minimum value Tau_c_min of the torque command value is commanded for the predetermined period T1. In the case where the acceleration of the driving wheel is a positive value without being negative once during the period T1, or when the sliding is detected, the acceleration of the driving wheel is positive once during the period T1. If the torque value is a negative value without becoming the value of the torque command, a torque that is n1 times the minimum value Tau_c_min of the torque command value that has been commanded until then is commanded after the predetermined period T1 has elapsed, and idling is performed. In the case of detection, the acceleration of the driving wheel once becomes a negative value until it becomes zero or a positive value. In the case of sliding, the acceleration of the driving wheel once becomes a positive value. The Continue to command a torque that is n1 times the minimum value Tau_c_min of the torque command value until zero or minus value later, and when idling is detected, the acceleration of the driving wheel becomes zero or a positive value In addition, when sliding is detected, the torque command value is quickly increased from the time when the acceleration of the driving wheel becomes zero or a negative value toward the torque obtained by multiplying the torque command value by n2 of the Tau_c_mu_c. The electric vehicle control device is characterized in that it continues to command a torque that is n2 times the Tau_c_mu_c for a certain period of time T2 from when the torque command value reaches a torque that is n2 times the Tau_c_mu_c.

  In the electric vehicle control device of the present invention, when the inverter is in the 1-pulse mode, the minimum value of the command torque for re-adhering the driving wheel is calculated based on the estimated torque corresponding to the tangential force at the time of idling / sliding detection. When the minimum value of this torque is commanded for a predetermined period, it is detected that the driving wheel is not completely re-adhered. The torque command value that is scheduled to be commanded at the time of re-adhesion calculated based on the estimated torque corresponding to the tangential force at the time of slipping / sliding detection is slightly smaller after the time when it is determined that the material has been re-adhered. By commanding a torque slightly smaller than the adhesion limit torque that has been finely adjusted, the increase in the idling / sliding speed caused by the continuation of minute idling / sliding and the adhesion resulting from this Occurrence of an event where force cannot be effectively used can be avoided, and effective use of adhesive force can be realized in the entire speed range.

  In order to realize re-adhesion control without increasing the idling / sliding speed even in the 1-pulse mode, where the torque response of the inverter is slightly slower, a torque command is used to re-adhere the driving wheel when detecting idling / sliding. Judgment is made whether or not the value has been re-adhered when the value has been lowered for a specified period. The torque command value that was scheduled to be commanded at the time was finely adjusted to be slightly smaller, and the torque corresponding to the adhesion limit torque was commanded after re-adhesion.

FIG. 1 is a block diagram showing an embodiment according to the first aspect of the present invention, FIG. 2 is a block diagram showing an embodiment according to the second aspect of the present invention, and FIG. FIG. 4 shows an example of the re-adhesion control state when the command torque at the time of slipping detection is finely adjusted according to the embodiment of Item 1, and FIG. FIG. 5 is a diagram showing a general characteristic with respect to the tangential force coefficient or the sliding speed of the tangential force when the command torque is finely adjusted.
In FIG. 1, the estimated value ωmest of the main motor rotation speed estimated for each control period of the main motor current in the known speed estimator 3 using the voltage E and current IM detected by a main motor voltage / current detector (not shown). The calculated value Trqm of the main motor generated torque calculated by the main motor generated torque calculator (not shown) using the voltage E and current IM detected by the main motor voltage / current detector is input to the known minimum dimension disturbance observer 1. The Then, in the known minimum dimension disturbance observer 1, using the estimated value ωmest of the main motor rotation speed calculated for each control cycle of the main motor current, the calculated value Trqm of the main motor generated torque, the control cycle of the main motor current Every time, the estimated torque τest on the main motor shaft corresponding to the tangential force between the wheels and the rails is calculated and output to the main motor torque command value generator 2. The estimated value ωmest of the main motor rotation speed is input to the axial acceleration calculator 4, which calculates the calculated axial acceleration ωmdest and outputs it to the idle detector 5.

  The idling detector 5 determines whether or not the calculation axis acceleration ωmdest is equal to or higher than the idling detection level. If it is equal to or more than the idling detection level, the idling detection signal Slip is turned on to generate the main motor torque command value generator. Output to 2. The main motor torque command value generator 2 also receives an estimated value ωmest of the main motor rotation speed. In the main motor torque command value generator 2, when the idling detection signal Slip is off, that is, when idling has not occurred, the torque corresponding to the set performance of the vehicle based on the estimated value ωmest of the main motor speed at that time Is output as a torque command value Trqc to a main motor torque controller (not shown). And when the idling detection signal Slip is turned on, that is, when idling is detected, the driving wheel is idling based on the estimated torque τest on the main motor shaft corresponding to the tangential force between the wheels and the rails The torque command lower limit value Tau_c_min for returning to the re-adhesion state and the torque Tau_c_mu_c commanded at the time of re-adhesion are calculated. The torque Tau_c_mu_c that is commanded at the time of re-adhesion is selected to a value that is slightly smaller than the estimated torque τest at the time of slipping detection and does not immediately enter the state of detecting slipping when this Tau_c_mu_c is commanded. The Then, after calculating Tau_c_min and Tau_c_mu_c, as shown in FIG. 3, the torque command value is rapidly reduced toward the lower limit value Tau_c_min of the torque command, and after reaching Tau_c_min, this Tau_c_min is set to the torque command for the period T1. Stored as a value (until time tm1). Then, at time tm1, when the Tau_c_min is commanded for the period T1, the calculation axis acceleration once becomes a negative value, and the idle wheel has been idling. Therefore, it is determined whether the calculation axis acceleration is zero or a positive value or a negative value. In the period when the torque command of Tau_c_min is performed, if the calculation axis acceleration is zero or a positive value at the time tm1 when the calculation axis acceleration once becomes a negative value and the T1 period ends, the time tm1 Thereafter, as shown by the broken line, the torque is increased toward the torque command value Tau_c_mu_c that is commanded when the re-adhesion is calculated when the idling is detected, and after reaching Tau_c_mu_c, this value is held for the period T2, Thereafter, control is performed to gradually increase the torque. If the calculated axis acceleration is still negative at time tm1, the torque command value is reduced to Tau_c_min × k1 torque (here k1 <1) and the calculated axis acceleration is zero. Alternatively, control is performed so as to promote re-adhesion until a positive value is obtained. Here, k1 is set to a value as close to 1 as possible within a range in which re-adhesion can be reliably performed, so as to avoid occurrence of impulses due to further torque narrowing.

After the calculation axis acceleration becomes zero or a positive value, the torque is increased toward Tau_c_mu_c × k2 torque (here k2 <1), and after reaching this value, this value of torque is applied during period T2. Maintain and then gradually increase the torque. Let k2 be as close to 1 as possible. In other words, the re-adhesion promotion control as described above is performed because the pulse mode becomes one pulse mode and the torque response is a little slower than the previous multi-pulse mode. Since the Tau_c_min is slightly larger due to the slightly larger value, the re-adhesion is delayed, so the torque Tau_c_mu_c that is commanded at the time of the re-adhesion is also slightly larger. This is because it is necessary to prevent a minute idling state immediately after Tau_c_mu_c is commanded.
In this way, when re-adhesion promotion control is performed, by finely adjusting Tau_c_mu_c, when Tau_c_mu_c is commanded, it is possible to avoid a minute idling state immediately and generate torque close to the adhesion limit. This makes it possible to reliably use the adhesive force even in the 1-pulse mode.

FIG. 2 is a block diagram showing an embodiment according to claim 2 of the present invention. The difference from FIG. 1 is the method of fine adjustment of the torque command value in the main motor torque command value generator 2, and the other points are the same as those in FIG.
In FIG. 2, an estimated value ωmest of the main motor rotation speed estimated for each control cycle of the main motor current in the known speed estimator 3 using the voltage E and current IM detected by a main motor voltage / current detector (not shown). The calculated value Trqm of the main motor generated torque calculated by the main motor generated torque calculator (not shown) using the voltage E and current IM detected by the main motor voltage / current detector is input to the known minimum dimension disturbance observer 1. The Then, in the known minimum dimension disturbance observer 1, using the estimated value ωmest of the main motor rotation speed calculated for each control cycle of the main motor current, the calculated value Trqm of the main motor generated torque, the control cycle of the main motor current Every time, the estimated torque τest on the main motor shaft corresponding to the tangential force between the wheels and the rails is calculated and output to the main motor torque command value generator 2. The estimated value ωmest of the main motor rotation speed is input to the axial acceleration calculator 4, which calculates the calculated axial acceleration ωmdest and outputs it to the idle detector 5.

The idling detector 5 determines whether or not the calculation axis acceleration ωmdest is equal to or higher than the idling detection level. If it is equal to or more than the idling detection level, the idling detection signal Slip is turned on to generate the main motor torque command value generator. Output to 2. The main motor torque command value generator 2 also receives an estimated value ωmest of the main motor rotation speed. In the main motor torque command value generator 2, when the idling detection signal Slip is off, that is, when idling has not occurred, the torque corresponding to the set performance of the vehicle based on the estimated value ωmest of the main motor speed at that time Is output as a torque command value Trqc to a main motor torque controller (not shown). And when the idling detection signal Slip is turned on, that is, when idling is detected, the driving wheel is idling based on the estimated torque τest on the main motor shaft corresponding to the tangential force between the wheels and the rails The torque command lower limit value Tau_c_min for returning to the re-adhesion state and the torque Tau_c_mu_c commanded at the time of re-adhesion are calculated. The torque Tau_c_mu_c that is commanded at the time of re-adhesion is selected to a value that is slightly smaller than the estimated torque τest at the time of slipping detection and that does not immediately enter the state of detecting slipping when this Tau_c_mu_c is commanded. The Then, after calculating Tau_c_min and Tau_c_mu_c, as shown in FIG. 4, the torque command value is rapidly reduced toward the lower limit value Tau_c_min of the torque command, and after reaching Tau_c_min, this Tau_c_min is used for the period T1. Stored as a value (until time tm1). If Tau_c_min is commanded, the calculation axis acceleration of the driving wheel once becomes negative, and if the calculation axis acceleration is zero or a positive value at time tm1, the idle rotation as shown by the broken line after time tm1. The torque is increased toward the torque command value Tau_c_mu_c that is commanded when re-adhesion calculated at the time of detection, and after reaching Tau_c_mu_c, this value is held for the period T2, and then the torque is gradually increased. Do.
If the calculation axis acceleration remains positive but never becomes negative from the start of commanding Tau_c_min until the time tm1, the torque Tau_c_min × n1 (here The torque command value is reduced to n1 <1), and the value is commanded until the time tm2 when the calculation axis acceleration once becomes a negative value and then becomes zero or a positive value, thereby promoting re-adhesion. Here, n1 must be set as close to 1 as possible within the range where it can be reliably adhered again, so that it is possible to avoid the occurrence of impulses due to further torque reduction. In this case, Tau_c_min is commanded. Even so, the calculation axis acceleration never becomes negative and the idling speed does not decrease, and in order to re-adhere, it means that the torque must be reduced more than in the case of Example 1. The value is smaller than k1 in the first embodiment. That is, it is necessary to satisfy n1 <k1 <1.
After this time tm2, the torque is increased toward Tau_c_mu_c × n2 (here n2 <1), and after reaching this value, this value is maintained for the period T2, and then gradually increased. To go. Let n2 be as close to 1 as possible. However, in this case, even if Tau_c_min is commanded, the calculation axis acceleration never becomes negative and the idling speed does not decrease. Therefore, the estimated torque τest at the idling detection is larger than that in the first embodiment. This means that the torque must be reduced more than in the case of the first embodiment in order to avoid the idling state immediately when Tau_c_mu_c × n2 is commanded. ing. Therefore, n2 needs to be set so that n2 <k2 <1.
In this way, even if Tau_c_min is commanded after slipping is detected, even if it is found that the calculation axis acceleration is never negative and the slipping speed does not decrease, select appropriate n1 and n2 values. Thus, as in Example 1, it is possible to reliably re-adhere and to effectively use the adhesive force.

In the description of the embodiments of claims 1 and 2, only the case of slipping detection has been described. However, at the time of sliding detection, re-adhesion at the time tm1 when the lower limit value Tau_c_min of the torque command has been commanded for the period T1. The other conditions are the same as those when detecting slipping. That is, the judgment condition at the time tm1 in the first embodiment is that the calculation axis acceleration once becomes a positive value during the period T1 in which the torque Tau_c_min is commanded, and this is zero or a negative value at the time tm1. In this case, it is determined that the adhesive is re-adhered, and the control is shifted to Tau_c_mu_c after this point to increase the torque. Also, if this is still a positive value even at time tm1 after the calculation axis acceleration has become a positive value, a command of Tau_c_min × k1 is commanded and the calculation axis acceleration becomes zero or a negative value When the calculation axis acceleration becomes zero or a negative value, the control shifts to control for increasing the torque toward Tau_c_mu_c × k2.
In the second embodiment, when the determination condition at the time tm1 is a negative value instead of a positive value during the period T1 during which the torque Tau_c_min is commanded, Control to increase torque toward Tau_c_mu_c × n2 after commanding torque of Tau_c_min × n1 and waiting for calculation axis acceleration to become zero or negative value, when calculation axis acceleration becomes zero or negative value The only difference is the transition to.

  Based on the determination of whether or not re-adhesion after torque reduction at the time of idling / sliding detection is used in the present invention, a method of reliably re-adhering by fine adjustment of the torque command value is performed by a disturbance observer. The present invention is not limited to the re-adhesion control at the time of idling sliding detection in the one-pulse mode of the inverter using the tangential force estimation, and can also be applied to a propulsion device for other railway vehicles using the tangential force estimation by a disturbance observer.

It is a block diagram which shows the Example as described in Claim 1 of this invention. It is a block diagram which shows the Example as described in Claim 2 of this invention. It is a figure which shows the re-adhesion control state when the inverter fine-tunes the command torque at the time of idling detection by one Example of Claim 1 in 1 pulse mode. It is a figure which shows the re-adhesion control state when the inverter fine-tunes the command torque at the time of idling detection by one Example of Claim 2 in 1 pulse mode. It is a general characteristic figure with respect to the sliding speed of a tangential force coefficient or a tangential force.

Explanation of symbols

1 Minimum Dimension Disturbance Observer 2 Main Motor Torque Command Value Generator 3 Speed Estimator 4 Axis Acceleration Calculator 5 Idling Detector E Voltage
IM current
Trqm Calculated value of main motor generated torque
Trqc Torque command value τest Estimated torque on main motor shaft corresponding to tangential force between wheel and rail ωmest Estimated value of main motor rotation speed ωmdest Calculation axis acceleration
Slip slip detection signal

Claims (2)

Estimated torque on the main motor shaft corresponding to the tangential force between the wheels and rails when detecting idling / sliding using a method such as an observer, and detected idling / sliding based on the estimated torque. In this case, the minimum value Tau_c_min of the torque command value necessary for re-adhering the idling / sliding moving wheel is calculated, the minimum value Tau_c_min of the torque command value is commanded for a predetermined period T1, and the predetermined period After T1, the torque command value is quickly increased toward a torque Tau_c_mu_c that is slightly smaller than the estimated torque. Torque control so that the torque command value is gradually increased after the elapse of a certain period of time T2 when no slipping / sliding is detected during the period T2. In an electric vehicle control device for controlling an inverter-controlled vehicle having a re-adhesion control function,
If idling is detected when the minimum value Tau_c_min of the torque command value is commanded for the predetermined period T1 when idling / sliding is detected when the main motor drive inverter is in the 1-pulse mode, K1 of the minimum torque command value Tau_c_min that has been commanded so far when the acceleration of the driving wheel is a negative value, or when the acceleration of the driving wheel is a positive value when sliding is detected. Double torque is commanded after the predetermined period T1 has elapsed, and when idling is detected, until the acceleration of the driving wheel becomes zero or a positive value, or when sliding is detected Until the acceleration of the driving wheel reaches zero or a negative value, continue to command a torque that is k1 times the minimum value Tau_c_min of the torque command value.If idling is detected, the acceleration of the driving wheel becomes zero or a positive value. From the point in time when the sliding is detected, or when the acceleration of the driving wheel becomes zero or a negative value, the torque command value is rapidly increased toward the torque obtained by multiplying the torque command value by k2 of the Tau_c_mu_c. The electric vehicle control device, wherein the torque is increased and continues to command the torque multiplied by k2 of the Tau_c_mu_c for a certain period of time T2 from when the torque command value reaches the torque multiplied by k2 of the Tau_c_mu_c. Estimated torque on the main motor shaft corresponding to the tangential force between the wheels and rails when detecting idling / sliding using a method such as an observer, and detected idling / sliding based on the estimated torque. In this case, the minimum value Tau_c_min of the torque command value necessary for re-adhering the idling / sliding moving wheel is calculated, the minimum value Tau_c_min of the torque command value is commanded for a predetermined period T1, and the predetermined period After T1, the torque command value is quickly increased toward a torque Tau_c_mu_c that is slightly smaller than the estimated torque. Torque control so that the torque command value is gradually increased after the elapse of a certain period of time T2 when no slipping / sliding is detected during the period T2. In an electric vehicle control device for controlling an inverter-controlled vehicle having a re-adhesion control function,
If idling is detected when the minimum value Tau_c_min of the torque command value is commanded for the predetermined period T1 when idling / sliding is detected when the main motor drive inverter is in the 1-pulse mode, If the acceleration of the driving wheel is a positive value without being negative once during the period T1, or if sliding is detected, the acceleration of the driving wheel is a positive value once during the period T1. In the case of a negative value without becoming, a torque that is n1 times the minimum value Tau_c_min of the torque command value that has been commanded so far is commanded after the predetermined period T1 has elapsed, and slipping is detected. In some cases, until the acceleration of the driving wheel once becomes a negative value, until it becomes zero or a positive value, or when sliding is detected, the acceleration of the driving wheel once becomes a positive value. ZE Until a negative or negative value continues to command a torque that is n1 times the minimum value Tau_c_min of the torque command value, and when idling is detected, from the point when the driving wheel acceleration becomes zero or a positive value In addition, when sliding is detected, the torque command value is quickly increased toward the torque obtained by multiplying the torque command value by n2 times the Tau_c_mu_c from the time when the acceleration of the driving wheel becomes zero or a negative value. An electric vehicle control device characterized by continuing to command a torque multiplied by n2 times of Tau_c_mu_c for a certain period of time T2 from the time when the torque command value reaches a torque multiplied by n2 times of Tau_c_mu_c.

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