JP2006051929A - 電気自動車の駆動系振動を低減するアクティブ・モーター・ダンピングの方法 - Google Patents
電気自動車の駆動系振動を低減するアクティブ・モーター・ダンピングの方法 Download PDFInfo
- Publication number
- JP2006051929A JP2006051929A JP2005223261A JP2005223261A JP2006051929A JP 2006051929 A JP2006051929 A JP 2006051929A JP 2005223261 A JP2005223261 A JP 2005223261A JP 2005223261 A JP2005223261 A JP 2005223261A JP 2006051929 A JP2006051929 A JP 2006051929A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- speed
- wheel
- drive wheels
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000013016 damping Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims description 42
- 230000010355 oscillation Effects 0.000 title abstract 3
- 230000001133 acceleration Effects 0.000 claims abstract description 67
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000001914 filtration Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 description 13
- 238000004364 calculation method Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 238000004891 communication Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002803 fossil fuel Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000007429 general method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/44—Series-parallel type
- B60K6/445—Differential gearing distribution type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
-
- 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
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/20—Reducing vibrations in the driveline
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
-
- 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
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
- B60W2050/0009—Proportional differential [PD] controller
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
- B60W2050/001—Proportional integral [PI] controller
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Sustainable Development (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Energy (AREA)
- Software Systems (AREA)
- Medical Informatics (AREA)
- Evolutionary Computation (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Artificial Intelligence (AREA)
- Health & Medical Sciences (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
【解決手段】推進モーター制御器が、ABS作動中の駆動系振動を減衰するのに有効なモーターへのトルク出力信号を生成する。モーター速度、駆動輪速度の平均、それら二つの速度の差、モーター角加速度、平均車輪角加速度、及び、それら二つの角加速度における差、の少なくとも一つに基き、トルク出力信号を生成するのに、比例、比例微分又は微分制御器を用いることが出来る。モーター速度信号と平均駆動輪速度信号を、各速度信号の高周波成分を除去するために、フィルター処理することが出来る。加えて、トルク出力信号の大きさは、正(若しくは上方)及び負(若しくは下方)のアクティブ・モーター・ダンピング限界内に制限することが出来る。
【選択図】図2
Description
平均車輪速はそして、フィルター処理された平均車輪速FWS(n)を規定するために、先に計算されたAWS(n)へローパス・フィルターを適用することにより、フィルター処理される(ステップ186)。
26 電気機械、推進モーター
60 アンチロック・ブレーキ・システム
Claims (18)
- アンチロック・ブレーキ・システムを持つ自動車における駆動系振動を減衰する方法であって、
上記自動車の少なくとも二つの駆動輪に電気機械によって駆動トルクを供給する工程と、
上記アンチロック・ブレーキ・システムの作動中の駆動系の振動を減衰するように、上記電気機械のトルク出力を制御する工程と、
を有する方法。 - 上記アンチロック・ブレーキ・システムが上記少なくとも二つの駆動輪の少なくとも一つにおいてアクティブであるとき、アンチロック・ブレーキ・システムが作動する、請求項1に記載の方法。
- 上記電気機械にトルク出力を発生させるために、それへ電流を印加する工程、を更に有する、請求項1又は2のいずれかに記載の方法。
- 電気機械であるモーターの回転速度を検出する工程と、
少なくとも二つの駆動輪における上記モーターの回転速度を計算する工程と、
上記少なくとも二つの駆動輪の回転速度を検出する工程と、
上記少なくとも二つの駆動輪の平均回転速度を計算する工程と、
を更に有する、請求項1〜3のいずれか1つに記載の方法。 - 車輪におけるモーターの回転速度を計算する上記工程が、
上記検出されたモーター速度を、上記モーターと上記少なくとも二つの駆動輪との間の変速比により除算する工程、を更に有する、請求項4に記載の方法。 - 上記少なくとも二つの駆動輪の平均回転速度を計算する上記工程が、
上記少なくとも二つの駆動輪のそれぞれの検出速度の和を、速度を検出した駆動輪の数により除算する工程、を更に有する、請求項4又は5のいずれかに記載の方法。 - 上記モーターへの出力トルク信号を生成するために、上記車輪におけるモーター回転速度及び上記少なくとも二つの駆動輪の平均回転速度を、比例制御器、比例微分制御器、及び微分制御器の少なくとも一つに入力する工程、を更に有する、請求項4〜6のいずれか1つに記載の方法。
- 上記電気機械の慣性により、上記駆動系振動が起こされる、請求項1〜7のいずれか1つに記載の方法。
- 上記電気機械が推進モーターである、請求項1〜8のいずれか1つに記載の方法。
- アンチロック・ブレーキ・システムを持つ自動車における駆動系振動を減衰する方法であって、
上記自動車の少なくとも二つの車輪に推進モーターによって駆動トルクを供給する工程と、
アンチロック・ブレーキ・システムの作動中に駆動系振動を減衰するために、比例制御器、比例微分制御器及び微分制御器の少なくとも一つを用いて上記推進モーターのトルク出力を制御する工程と、
を有する方法。 - モーター出力トルクを制御するのに上記比例制御器を用いる工程を更に有し、
上記モーター出力トルクが速度誤差に基づいて制御され、この速度誤差が、アンチロック・ブレーキ作動中の少なくとも二つの駆動輪の平均車輪速と、上記少なくとも二つの駆動輪におけるモーター回転速度との差である、請求項10に記載の方法。 - 上記推進モーターへのモーター出力トルク信号を生成するために上記比例微分制御器を用いる工程を更に有し、
上記比例微分制御器が、アンチロック・ブレーキ作動中の少なくとも二つの駆動輪の平均車輪速と該少なくとも二つの駆動輪におけるモーター回転速度との差に基づいて比例項を演算するとともに、上記少なくとも二つの駆動輪における上記モーター速度の微分値、該少なくとも二つの駆動輪の上記平均車輪速の微分値、及び、上記平均車輪角加速度と上記モーター角加速度との差、のうちの少なくとも1つに基づいて微分項を演算する、請求項10に記載の方法。 - アンチロック・ブレーキ作動中に上記推進モーターへの出力トルク信号を決定するために、上記微分制御器を用いる工程、を更に有し、
上記モーター出力トルク信号が、モーター角加速度、平均車輪加速度、及び、上記角加速度と平均車輪加速度の差のうちの少なくとも1つに基づいて、決定される請求項10に記載の方法。 - アンチロック・ブレーキ・システムを持つ自動車における駆動系振動を減衰する方法であって、
上記自動車の少なくとも二つの車輪に推進モーターによって駆動トルクを供給する工程と、
上記少なくとも二つの駆動輪における上記推進モーターの回転速度を計算する工程と、
上記少なくとも二つの駆動輪の平均回転速度を計算する工程と、
上記推進モーターのトルク出力を制御するために、アンチロック・ブレーキ・システム作動中に、上記車輪におけるモーター回転速度、及び上記少なくとも二つの駆動輪の平均回転速度を、比例制御器、比例微分制御器及び微分制御器の少なくとも一つに入力する工程、を有する方法。 - 上記推進モーターのトルク出力を制限するために、ポジティブ・アクティブ・モーター・ダンピング限界及びネガティブ・アクティブ・モーター・ダンピング限界を上記推進モーターへのトルク出力信号へ適用する工程、を更に有する、請求項14に記載の方法。
- 上記平均回転速度が、上記少なくとも二つの駆動輪で検出された車輪速信号の関数である、請求項14の方法。
- 上記少なくとも二つの駆動輪の上記計算された平均回転速度信号の高周波成分を除去するために、該平均回転速度の信号をフィルター処理する工程、を更に有する、請求項16に記載の方法。
- 上記推進モーターの上記計算された回転速度信号の高周波成分を除去するために、該回転速度信号をフィルター処理する工程、を更に有する、請求項16又は17のいずれかに記載の方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/903,326 | 2004-07-30 | ||
US10/903,326 US7024290B2 (en) | 2004-07-30 | 2004-07-30 | Active motor damping to mitigate electric vehicle driveline oscillations |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006051929A true JP2006051929A (ja) | 2006-02-23 |
JP4901151B2 JP4901151B2 (ja) | 2012-03-21 |
Family
ID=34912834
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005223261A Expired - Fee Related JP4901151B2 (ja) | 2004-07-30 | 2005-08-01 | 電気自動車の駆動系振動を低減するアクティブ・モーター・ダンピングの方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7024290B2 (ja) |
JP (1) | JP4901151B2 (ja) |
DE (1) | DE102005033354B4 (ja) |
GB (1) | GB2416863B (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009196533A (ja) * | 2008-02-22 | 2009-09-03 | Aisin Aw Co Ltd | 回転電機制御システム及び当該回転電機制御システムを備えた車両駆動システム |
JP2009201288A (ja) * | 2008-02-22 | 2009-09-03 | Aisin Aw Co Ltd | 回転電機制御システム及び当該回転電機制御システムを備えた車両駆動システム |
KR101337903B1 (ko) * | 2011-05-06 | 2013-12-09 | 기아자동차주식회사 | Abs 작동시 진동 저감을 위한 모터 제어 방법 |
JP2014012490A (ja) * | 2012-07-05 | 2014-01-23 | Hitachi Automotive Systems Ltd | ブレーキ制御装置 |
JP2014166845A (ja) * | 2014-03-12 | 2014-09-11 | Daimler Ag | 電気自動車の車輪スリップ制御装置 |
JP2015077044A (ja) * | 2013-10-11 | 2015-04-20 | 日産自動車株式会社 | 電動車両の変速制御装置 |
Families Citing this family (60)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7368886B2 (en) * | 2004-05-14 | 2008-05-06 | General Motors Corporation | Method of testing motor torque integrity in a hybrid electric vehicle |
US20060293766A1 (en) * | 2005-06-24 | 2006-12-28 | Michael Schneider | Compensation method for time delays in oscillatory control |
US7577510B2 (en) * | 2005-07-29 | 2009-08-18 | Ford Global Technologies, Llc | Method for suppressing driveline shudder in a vehicle with a traction control system |
US7439695B2 (en) * | 2005-08-19 | 2008-10-21 | Komatsu America Corp. | Mechanical braking system for use on a vehicle having an electric propulsion system and automatic retard speed regulation |
DE102005062871A1 (de) * | 2005-12-29 | 2007-07-05 | Robert Bosch Gmbh | Verfahren zur Überwachung negativer Momente bei Hybridfahrzeugen |
US8010263B2 (en) * | 2006-03-22 | 2011-08-30 | GM Global Technology Operations LLC | Method and apparatus for multivariate active driveline damping |
EP2591964B1 (en) * | 2006-05-09 | 2018-09-05 | GE Hybrid Technologies, LLC | Process and apparatus for reducing nitrogen oxide emissions in genset systems |
EP2620341B1 (en) * | 2006-06-26 | 2017-11-29 | GE Hybrid Technologies, LLC | Method, apparatus, signals, and media, for selecting operating conditions of a genset |
US7826939B2 (en) * | 2006-09-01 | 2010-11-02 | Azure Dynamics, Inc. | Method, apparatus, signals, and medium for managing power in a hybrid vehicle |
CA2668977A1 (en) * | 2006-11-20 | 2008-05-29 | Josef Yanay | Continuously variable transmission-based planetary gear |
WO2008082419A1 (en) * | 2007-01-05 | 2008-07-10 | Komatsu America Corp. | Mechanical braking system |
JP4516577B2 (ja) * | 2007-02-09 | 2010-08-04 | 日立オートモティブシステムズ株式会社 | 車両駆動装置 |
JP4961278B2 (ja) * | 2007-06-22 | 2012-06-27 | 三菱自動車工業株式会社 | 電気自動車の制御装置 |
US8027771B2 (en) * | 2007-09-13 | 2011-09-27 | GM Global Technology Operations LLC | Method and apparatus to monitor an output speed sensor during operation of an electro-mechanical transmission |
US8140238B2 (en) * | 2007-10-26 | 2012-03-20 | Ford Global Technologies, Llc | Detection and control of power induced hop during traction control in a vehicle |
US7853389B2 (en) | 2007-10-29 | 2010-12-14 | Ford Global Technologies, Llc | Traction control for performance and demonstration spin |
US8244445B2 (en) | 2007-10-30 | 2012-08-14 | Ford Global Technologies, Llc | Stuck vehicle with time and pedal related traction control |
DE102008041897A1 (de) * | 2008-09-09 | 2010-03-11 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Antriebs eines Kraftfahrzeugs sowie Antriebsvorrichtung und elektronisches Steuergerät |
US8140230B2 (en) * | 2008-10-08 | 2012-03-20 | GM Global Technology Operations LLC | Apparatus and method for regulating active driveline damping in hybrid vehicle powertrain |
JP5438756B2 (ja) * | 2009-03-30 | 2014-03-12 | 本田技研工業株式会社 | 能動型防振支持装置 |
US8095288B2 (en) * | 2009-04-17 | 2012-01-10 | Ford Global Technologies, Llc | Reducing oscillations in a motor vehicle driveline |
US10399456B2 (en) * | 2009-05-15 | 2019-09-03 | Ford Global Technologies, Llc | Automotive vehicle and method of controlling an electric machine therein |
JP4913205B2 (ja) * | 2009-12-18 | 2012-04-11 | 日立オートモティブシステムズ株式会社 | 電動車両の制動制御装置 |
US9088224B2 (en) | 2010-07-21 | 2015-07-21 | Lihua Chen | Variable voltage converter with stabilized output voltage |
US20120059538A1 (en) * | 2010-09-07 | 2012-03-08 | GM Global Technology Operations LLC | Closed-loop speed and torque damping control for hybrid and electric vehicles |
US9139096B2 (en) * | 2010-09-13 | 2015-09-22 | GM Global Technology Operations LLC | One-sided detection and disabling of integrator wind up for speed control in a vehicle |
US8525467B2 (en) * | 2011-04-18 | 2013-09-03 | Ford Global Technologies, Llc | Phase delayed active motor damping to mitigate electric vehicle driveline oscillations |
FR2978385B1 (fr) * | 2011-07-25 | 2013-07-12 | Renault Sas | Procede de pilotage d'un moyen de recuperation de l'energie generee au freinage d'un vehicule automobile |
DE102011114303A1 (de) * | 2011-09-23 | 2012-11-08 | Audi Ag | Verfahren zum Verringern einer mechanischen Belastung mindestens einer Komponente des Antriebsstrangs eines Kraftfahrzeugs sowie entsprechendes Kraftfahrzeug |
JP2013075591A (ja) * | 2011-09-30 | 2013-04-25 | Fuji Heavy Ind Ltd | ハイブリッド車両の制御装置 |
EP2832608B1 (en) * | 2012-03-26 | 2019-10-09 | Toyota Jidosha Kabushiki Kaisha | Hybrid vehicle drive control device |
US8712616B2 (en) | 2012-04-26 | 2014-04-29 | Ford Global Technologies, Llc | Regenerative braking control to mitigate powertrain oscillation |
US9457787B2 (en) * | 2012-05-07 | 2016-10-04 | Ford Global Technologies, Llc | Method and system to manage driveline oscillations with motor torque adjustment |
KR101936432B1 (ko) * | 2012-06-05 | 2019-01-08 | 현대자동차주식회사 | 토크컨버터 미 적용차량의 진동저감을 위한 휴리스틱로직 단순화 방법 |
CN103587431B (zh) * | 2012-08-15 | 2016-09-07 | 北汽福田汽车股份有限公司 | 电动汽车的扭矩滤波控制方法 |
US9033839B2 (en) | 2012-11-12 | 2015-05-19 | Magna E-Car Systems Of America, Inc. | Direct drive transmission decoupler |
US9278681B2 (en) * | 2013-03-15 | 2016-03-08 | Ford Global Technologies, Llc | Hybrid electric vehicle driveline active damping and transient smoothness control |
US9067600B2 (en) * | 2013-07-26 | 2015-06-30 | Ford Global Technologies, Llc | Engine speed control apparatus and method for a hybrid vehicle |
CN103692926B (zh) * | 2014-01-06 | 2016-01-06 | 武汉理工大学 | 一种基于数据冗余双控制器的纯电动车制动能量回馈系统 |
JP2015136994A (ja) * | 2014-01-22 | 2015-07-30 | 株式会社小松製作所 | 作業車両及び作業車両の制御方法 |
US9446757B2 (en) | 2014-03-05 | 2016-09-20 | Ford Global Technologies, Llc | Active motor damping control of a hybrid electric vehicle powertrain |
US9254760B2 (en) * | 2014-03-27 | 2016-02-09 | Ford Global Technologies, Llc | Controlling torque of a vehicle traction motor |
US9651101B2 (en) * | 2014-08-08 | 2017-05-16 | GM Global Technology Operations LLC | Method of controlling a selectable one way lutch of a transmission |
US9469199B1 (en) * | 2015-05-28 | 2016-10-18 | Atieva, Inc. | Dual data rate traction control system for a four wheel drive electric vehicle |
US9463697B1 (en) * | 2015-05-28 | 2016-10-11 | Atieva, Inc. | Dual data rate traction control system for a two wheel drive electric vehicle |
JP6531946B2 (ja) * | 2015-10-09 | 2019-06-19 | 日立オートモティブシステムズ株式会社 | 電動車両の制御装置、電動車両の制御システム及び電動車両の制御方法 |
US10343684B2 (en) * | 2016-03-30 | 2019-07-09 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for smooth stopping of a vehicle |
US10118073B2 (en) | 2016-04-04 | 2018-11-06 | Worldpro Group, LLC | Interactive apparatus and methods for muscle strengthening |
US10994721B2 (en) | 2016-09-13 | 2021-05-04 | Ford Global Technologies, Llc | Engine and motor control during wheel torque reversal in a hybrid vehicle |
DE102017202750A1 (de) * | 2017-02-21 | 2018-08-23 | Volkswagen Aktiengesellschaft | Steuersystem und Verfahren zum Dämpfen von Schwingungen eines Antriebsstrangs eines Kraftfahrzeugs sowie Kraftfahrzeug mit einem solchen Steuersystem |
DE102017110627B4 (de) | 2017-05-16 | 2022-09-29 | Volkswagen Aktiengesellschaft | Antriebssystem, Kraftfahrzeug und Verfahren zum Betreiben eines Antriebssystems |
CN107539305B (zh) * | 2017-08-25 | 2019-06-14 | 吉林大学 | 一种行星式混联混合动力系统的动态扭矩协调控制方法 |
EP3492772B1 (en) | 2017-11-29 | 2022-02-09 | Dr. Ing. h.c. F. Porsche AG | Method for vibration attenuation in an automotive drivetrain, corresponding data processing apparatus, computer program, and data carrier signal |
GB2570937B (en) | 2018-02-13 | 2020-07-01 | Ford Global Tech Llc | A motor vehicle having active shuffle reduction |
GB2571331B (en) * | 2018-02-26 | 2021-06-23 | Jaguar Land Rover Ltd | BEV torque split control |
FR3109349B1 (fr) * | 2020-04-15 | 2022-10-07 | Renault Sas | Dispositif et un procédé de freinage d'un véhicule automobile doté d'une machine électrique |
JP7322853B2 (ja) * | 2020-10-21 | 2023-08-08 | トヨタ自動車株式会社 | 車両の制御装置 |
DE102020216211A1 (de) * | 2020-12-17 | 2022-06-23 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Bremsen eines Fahrzeugs und Bremssteuersystem für ein Fahrzeug |
CN113060013B (zh) * | 2021-04-14 | 2022-05-03 | 中通客车股份有限公司 | 电动汽车驱动电机扭矩控制系统、控制方法及电动汽车 |
JP2023046935A (ja) * | 2021-09-24 | 2023-04-05 | トヨタ自動車株式会社 | 電動車両 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6474005A (en) * | 1987-09-12 | 1989-03-20 | Toyota Motor Corp | Oscillation-proof controlling method for electric automobile |
JPH07163011A (ja) * | 1993-12-09 | 1995-06-23 | Hitachi Ltd | 自動車の制御装置 |
JPH09121403A (ja) * | 1995-10-24 | 1997-05-06 | Nissan Motor Co Ltd | 電動車両用制動装置 |
JP2001016703A (ja) * | 1999-06-23 | 2001-01-19 | Mitsubishi Electric Corp | 電気自動車およびハイブリッド電気自動車の制御装置 |
JP2001105908A (ja) * | 1999-10-08 | 2001-04-17 | Toyota Motor Corp | ハイブリッド車両の制御装置 |
JP2002152916A (ja) * | 2000-11-14 | 2002-05-24 | Toyota Central Res & Dev Lab Inc | 電気自動車の制御装置および制御方法 |
JP2003219508A (ja) * | 2002-01-21 | 2003-07-31 | Hitachi Ltd | 車両の制御装置 |
JP2004104991A (ja) * | 2002-09-06 | 2004-04-02 | Ford Motor Co | 回生制動を持つ車両の独立制動及び操縦性の制御方法及びシステム |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4766967A (en) | 1985-12-27 | 1988-08-30 | Eaton Corporation | Oscillation control system for electric motor drive |
GB9502898D0 (en) | 1994-05-06 | 1995-04-05 | Bosch Gmbh Robert | Antilock brake system |
US5864770A (en) | 1996-03-14 | 1999-01-26 | Ziph; Benjamin | Speed and power control of an engine by modulation of the load torque |
DE19705947A1 (de) * | 1997-02-17 | 1998-08-20 | Itt Mfg Enterprises Inc | Verfahren zum Erkennen und Dämpfen von Antriebsstrangschwingungen |
JP3292113B2 (ja) * | 1997-09-25 | 2002-06-17 | トヨタ自動車株式会社 | 動力出力装置およびこの装置における原動機の停止方法 |
US6196345B1 (en) | 1998-05-18 | 2001-03-06 | Bae Systems Controls, Inc. | Drive-line damping control for an electric vehicle |
US6334424B1 (en) | 1999-03-05 | 2002-01-01 | Toyota Jidosha Kabushiki Kaisha | Control device and control method for vehicle |
US6193628B1 (en) | 1999-08-17 | 2001-02-27 | Ford Global Technologies, Inc. | Vehicle shift quality using a supplemental torque source |
DE19943067A1 (de) | 1999-09-09 | 2001-03-15 | Kiepe Elek K Gmbh & Co Kg | Verfahren zur Dämpfung mechanischer Torsionsschwingungen zwischen einem momentengeregelten, drehzahlvariablen Antriebsmotor, insbesondere einem elektrischen Asynchronmotor, und einem mit diesem Antriebsmotor mechanisch gekoppelten, niederfrequent schwingungsfähigen Antriebsstrang eines Fahrzeugs |
JP3830326B2 (ja) * | 2000-03-16 | 2006-10-04 | 株式会社日立製作所 | ブレーキ制御装置 |
DE10017281A1 (de) * | 2000-04-06 | 2001-10-11 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Steuerung einer Antriebseinheit |
US6574535B1 (en) | 2000-05-31 | 2003-06-03 | General Motors Corporation | Apparatus and method for active driveline damping with clunk control |
JP4396002B2 (ja) * | 2000-06-27 | 2010-01-13 | トヨタ自動車株式会社 | 車輌のトラクション制御装置 |
US6490518B1 (en) * | 2001-06-29 | 2002-12-03 | General Motors Corporation | Anti-lock brake control method having adaptive exit criteria |
DE50109762D1 (de) * | 2001-07-28 | 2006-06-14 | Ford Global Tech Llc | Benutzung der elektrischen Lenkunterstützung zum Unterdrücken von Bremsvibrationen |
DE10145891A1 (de) | 2001-09-07 | 2003-06-12 | Daimler Chrysler Ag | Verfahren und Regelung zum Dämpfen der Drehmoment-Schwingungen des Antriebsstrangs eines elektrisch angetriebenen Straßenfahrzeugs |
US6600980B1 (en) * | 2002-09-26 | 2003-07-29 | Ford Global Technologies, Llc | Torque reversal reduction strategy for a hybrid vehicle |
US7380890B2 (en) * | 2004-02-17 | 2008-06-03 | Ford Global Technologies Llc | System for controlling brake pulsing at vehicle natural vibration frequencies |
-
2004
- 2004-07-30 US US10/903,326 patent/US7024290B2/en not_active Expired - Lifetime
-
2005
- 2005-07-14 GB GB0514437A patent/GB2416863B/en not_active Expired - Fee Related
- 2005-07-16 DE DE102005033354.0A patent/DE102005033354B4/de active Active
- 2005-08-01 JP JP2005223261A patent/JP4901151B2/ja not_active Expired - Fee Related
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6474005A (en) * | 1987-09-12 | 1989-03-20 | Toyota Motor Corp | Oscillation-proof controlling method for electric automobile |
JPH07163011A (ja) * | 1993-12-09 | 1995-06-23 | Hitachi Ltd | 自動車の制御装置 |
JPH09121403A (ja) * | 1995-10-24 | 1997-05-06 | Nissan Motor Co Ltd | 電動車両用制動装置 |
JP2001016703A (ja) * | 1999-06-23 | 2001-01-19 | Mitsubishi Electric Corp | 電気自動車およびハイブリッド電気自動車の制御装置 |
JP2001105908A (ja) * | 1999-10-08 | 2001-04-17 | Toyota Motor Corp | ハイブリッド車両の制御装置 |
JP2002152916A (ja) * | 2000-11-14 | 2002-05-24 | Toyota Central Res & Dev Lab Inc | 電気自動車の制御装置および制御方法 |
JP2003219508A (ja) * | 2002-01-21 | 2003-07-31 | Hitachi Ltd | 車両の制御装置 |
JP2004104991A (ja) * | 2002-09-06 | 2004-04-02 | Ford Motor Co | 回生制動を持つ車両の独立制動及び操縦性の制御方法及びシステム |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009196533A (ja) * | 2008-02-22 | 2009-09-03 | Aisin Aw Co Ltd | 回転電機制御システム及び当該回転電機制御システムを備えた車両駆動システム |
JP2009201288A (ja) * | 2008-02-22 | 2009-09-03 | Aisin Aw Co Ltd | 回転電機制御システム及び当該回転電機制御システムを備えた車両駆動システム |
KR101337903B1 (ko) * | 2011-05-06 | 2013-12-09 | 기아자동차주식회사 | Abs 작동시 진동 저감을 위한 모터 제어 방법 |
JP2014012490A (ja) * | 2012-07-05 | 2014-01-23 | Hitachi Automotive Systems Ltd | ブレーキ制御装置 |
JP2015077044A (ja) * | 2013-10-11 | 2015-04-20 | 日産自動車株式会社 | 電動車両の変速制御装置 |
JP2014166845A (ja) * | 2014-03-12 | 2014-09-11 | Daimler Ag | 電気自動車の車輪スリップ制御装置 |
Also Published As
Publication number | Publication date |
---|---|
DE102005033354B4 (de) | 2022-08-25 |
GB2416863A (en) | 2006-02-08 |
US20060025905A1 (en) | 2006-02-02 |
JP4901151B2 (ja) | 2012-03-21 |
US7024290B2 (en) | 2006-04-04 |
GB2416863B (en) | 2008-07-02 |
DE102005033354A1 (de) | 2006-03-23 |
GB0514437D0 (en) | 2005-08-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4901151B2 (ja) | 電気自動車の駆動系振動を低減するアクティブ・モーター・ダンピングの方法 | |
JP4839864B2 (ja) | 車両およびその制御方法並びに制動装置 | |
CN1966302B (zh) | 再生制动控制系统和方法 | |
JP4196962B2 (ja) | 自動車 | |
US20040070270A1 (en) | Vehicle control apparatus | |
US8525467B2 (en) | Phase delayed active motor damping to mitigate electric vehicle driveline oscillations | |
JP2004017963A (ja) | ヨー・スタビリティ制御中の回生制動制御方法、そのためのシステム及び装置 | |
JP2004268901A (ja) | 制動制御装置 | |
JP4377898B2 (ja) | ハイブリッド車両の制御装置 | |
EP3342633A1 (en) | Control device for electric vehicle | |
JP2008265397A (ja) | 車両の制動制御装置 | |
US7803087B2 (en) | System and method for controlling a vehicle | |
JP5348226B2 (ja) | 車両の制動制御装置 | |
US20140277984A1 (en) | Coordinated brake control of wheels on a common differential | |
JP4089608B2 (ja) | 自動車 | |
JP2009298266A (ja) | 車両の制御装置 | |
JP4285483B2 (ja) | 車両およびその制御方法 | |
JP2006197757A (ja) | 車両の回生制動制御装置 | |
JP2005161961A (ja) | 自動車 | |
JP5578089B2 (ja) | ハイブリッド自動車およびその制御方法 | |
JP4182944B2 (ja) | 車両のモータトラクション制御装置 | |
JP4182053B2 (ja) | 駆動装置およびこれを搭載した自動車並びに駆動装置の制御方法 | |
JP2000094979A (ja) | ハイブリッド車両の駆動方法 | |
JP2010137724A (ja) | 制振制御装置および制振制御方法 | |
JP5092423B2 (ja) | 車両およびその制御方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20080730 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20090526 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20090825 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20100209 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20100510 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20100513 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20100608 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20101102 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20110302 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20110309 |
|
A912 | Re-examination (zenchi) completed and case transferred to appeal board |
Free format text: JAPANESE INTERMEDIATE CODE: A912 Effective date: 20110513 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20111227 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 4901151 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20150113 Year of fee payment: 3 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
LAPS | Cancellation because of no payment of annual fees |