JP2007124741A - Driving force controller of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely and effectively suppress rotational vibration of drive wheels by discriminating the main factor of rotational vibration of drive wheels and appropriately controlling vibration, depending on the main factor of rotational vibration. <P>SOLUTION: Periodic variation component Vwdi of vehicle speed Vwi and periodic variation component Vddi of rotational speed Vdi are calculated (S40), and the main factor of rotational vibration of wheels is determined, based on these periodic variation components (S50, 60). When the main factor is an external force acting on the wheel from the road surface, vibration control rotational driving force Fwanti is calculated, based on the periodic variation component Vddi of the rotational speed Vdi (S120). When the main factor is the torsion of drive shafts 12FL-12RR, vibration control rotational driving force Fwanti is calculated, based on the periodic variation component Vwdi and the periodic variation component Vddi of the rotational speed Vdi (S110). Rotational vibration of wheels is suppressed by the vibration control rotational driving force Fwanti (S150, 200-230). <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a driving force control device for a vehicle, and more particularly to a driving force control device that reduces rotational vibration of driving wheels.

  As one of driving force control devices for vehicles such as automobiles, an electric motor capable of directly outputting torque to a driving shaft connected to driving wheels as described in, for example, the following Patent Document 1 filed by the applicant of the present application. And a driving force control device that calculates a torque upper limit value so that the torque upper limit value decreases as the angular acceleration of the drive shaft increases, and limits the torque output to the drive shaft at the torque upper limit value. Conventionally known.

According to such a driving force control device, in a vehicle that performs drive slip suppression control by controlling the output torque of the electric motor when the drive slip of the vehicle becomes excessive, it is caused by torsion of the drive shaft caused by the slip suppression control. The rotational vibration of the driving shaft can be suppressed, and the rotational vibration of the drive wheel can be suppressed.
JP 2004-96825 A

  In general, when rotational vibration occurs in a wheel, the wheel speed fluctuates periodically. Therefore, by detecting the wheel speed and obtaining the periodic fluctuation of the wheel speed, the wheel rotational vibration can be determined. By calculating the vibration suppression control amount based on the periodic variation and controlling the rotational driving force of the drive source based on the vibration suppression control amount, it is possible to suppress the rotational vibration of the drive wheels.

  However, the rotational vibration of the drive wheel is generated not only due to the twist of the drive shaft, but also due to the external force that the drive wheel receives from the road surface, and is performed to suppress the rotational vibration due to the cause of the rotational vibration of the drive wheel. The power control is different.

  In the conventional driving force control device described above, the rotational vibration of the driving wheel should be generated in order to suppress the rotational vibration due to the external force that the driving wheel receives from the road surface or the cause of the rotational vibration of the driving wheel. The difference in control is not taken into consideration, and improvement is required to reliably and effectively suppress the rotational vibration of the drive wheels.

  The present invention has been made in view of the above-described problems in the conventional driving force control apparatus configured to suppress the rotational vibration of the drive shaft caused by the twist of the drive shaft and suppress the rotational vibration of the drive wheel. Therefore, the main problem of the present invention is to determine the main factor of the rotational vibration of the drive wheel and perform appropriate vibration suppression according to the main factor of the rotational vibration, thereby reliably and reliably preventing the rotational vibration of the drive wheel. It is to suppress effectively.

  According to the present invention, the main problem described above is the structure of claim 1, that is, the driving source, the driving force transmitting member that transmits the rotational driving force of the driving source to the driving wheel, and the rotational vibration of the driving wheel. In a vehicle driving force control device, comprising: a rotational vibration determining means for determining; and a control means for controlling the rotational driving force of the drive source in accordance with the driving operation of the driver while suppressing the rotational vibration of the driving wheel. , A means for detecting the rotational speed of the drive source, and a means for detecting the rotational speed of the drive wheel, wherein the rotational vibration determining means is a periodic fluctuation component of the rotational speed of the drive source and the drive wheel. The control means determines whether a main factor of rotational vibration of the driving wheel is a twist of the driving force transmitting member or an external force acting on the driving wheel from a road surface based on a periodic fluctuation component of the rotational speed, The main determined by the rotational vibration determining means It is achieved by the vehicle driving force control apparatus characterized by controlling the rotational driving force of the driving source so as to suppress the rotational vibration of the drive wheel by cause.

  Further, according to the present invention, in order to effectively achieve the main problem described above, in the configuration of claim 1, the rotational vibration determining means includes the amplitude of the periodic fluctuation component of the rotational speed of the drive source and By comparing the amplitude of the cyclic fluctuation component of the rotational speed of the driving wheel, the main factor of the rotational vibration of the driving wheel is any of the twist of the driving force transmitting member and the external force acting on the driving wheel from the road surface. It is comprised so that may be determined (structure of Claim 2).

  According to the present invention, in order to effectively achieve the main problem described above, in the configuration of claim 2, the rotational vibration determining means has an amplitude of a periodically varying component of the rotational speed of the drive source. It is configured to determine that a main factor of rotational vibration of the driving wheel is torsion of the driving force transmitting member when the amplitude is larger than the amplitude of the periodic fluctuation component of the rotational speed of the driving wheel. 3 configuration).

  According to the present invention, in order to effectively achieve the above main problem, in the configuration of claim 2, the rotational vibration determining means has an amplitude of a periodic fluctuation component of the rotational speed of the drive wheel. It is configured to determine that the main factor of the rotational vibration of the drive wheel is an external force acting on the drive wheel from the road surface when the amplitude is larger than the amplitude of the periodic fluctuation component of the rotational speed of the drive source ( Configuration of claim 4).

  Further, according to the present invention, in order to effectively achieve the above-mentioned main problems, in the configuration according to any one of claims 1 to 4, the control means is a periodic fluctuation component of the rotational speed of the drive source or the drive. Based on the cyclic fluctuation component of the rotational speed of the wheel, a vibration suppression control amount of the rotational driving force of the drive source for reducing the rotational vibration of the driving wheel is calculated, and the rotational vibration determining means rotates the driving wheel. When it is determined that the main cause of vibration is torsion of the driving force transmission member, the vibration suppression control is performed based on a periodic variation component of the rotational speed of the driving wheel and a periodic variation component of the rotational speed of the drive source. It is comprised so that quantity may be calculated (structure of Claim 5).

  According to the present invention, in order to effectively achieve the above-mentioned main problems, in the configuration according to any one of claims 1 to 5, the control means is a periodic fluctuation component of the rotational speed of the drive source or the drive. Based on the cyclic fluctuation component of the rotational speed of the wheel, a vibration suppression control amount of the rotational driving force of the drive source for reducing the rotational vibration of the driving wheel is calculated, and the rotational vibration determining means rotates the driving wheel. When it is determined that the main factor of vibration is an external force acting on the drive wheel, the degree of contribution of a periodically varying component of the rotational speed of the drive wheel to the vibration suppression control amount is reduced (claim). 6 configuration).

  According to the present invention, in order to effectively achieve the main problems described above, in the configuration according to any one of claims 1 to 5, the control means performs a target rotation of the drive source based on a driver's driving operation. The driving force is calculated, the rotational driving force of the driving source is controlled based on the target rotational driving force of the driving source, and the main factor of the rotational vibration of the driving wheel acts on the driving wheel by the rotational vibration determining means. When it is determined that the force is an external force, a correction amount based on a deviation between a periodic variation component of the rotational speed of the drive source and a periodic variation component of the rotational speed of the drive wheel is calculated, and the target rotational drive of the drive source is calculated. It is comprised so that force may be correct | amended with the said corrected amount (structure of Claim 7).

  In general, when rotational vibration occurs in the drive wheels, the rotational speed of the drive source and the rotational speed of the drive wheels fluctuate periodically. As shown in FIG. 7, the main factor of the rotational vibration of the drive wheels is the driving force. Since the relationship between the rotational speed of the driving wheel and the rotational speed of driving reduction differs depending on whether the transmission member is twisted (A) or the main factor of rotational vibration of the driving wheel is an external force acting on the driving wheel (B) By comparing the periodic fluctuation component of the rotational speed of the driving source and the periodic fluctuation component of the rotational speed of the driving wheel, the main factor of the rotational vibration of the driving wheel acts on the driving wheel from the twist of the driving force transmission member and the road surface. It can be determined which of the external forces.

  According to the first aspect of the present invention, by comparing the periodic fluctuation component of the rotational speed of the driving source and the periodic fluctuation component of the rotational speed of the driving wheel, the main factor of the rotational vibration of the driving wheel is the driving force transmitting member. It is determined whether the torsion of the driving wheel or the external force acting on the driving wheel from the road surface. Therefore, when rotational vibration of the driving wheel occurs, the main factor acts on the driving wheel from the twisting of the driving force transmitting member and the road surface. The external driving force can be reliably determined, and the rotational driving force of the driving source is controlled so as to suppress the rotational vibration of the driving wheel due to the determined main factor. The rotational driving force of the drive source is appropriately controlled according to the cause, and thereby the rotational vibration of the driving wheel can be reliably and effectively suppressed regardless of the main factor of the rotational vibration of the driving wheel.

  According to the second aspect of the present invention, by comparing the amplitude of the periodically varying component of the rotational speed of the driving source and the amplitude of the periodically varying component of the rotating speed of the driving wheel, the main factor of the rotational vibration of the driving wheel is compared. Therefore, it is determined which is the torsion of the driving force transmission member and the external force acting on the driving wheel from the road surface. Therefore, the main factor of the rotational vibration of the driving wheel acts on the driving wheel from the twisting of the driving force transmission member and the road surface. It is possible to reliably and accurately determine the external force.

  According to the third aspect of the present invention, when the amplitude of the periodic fluctuation component of the rotational speed of the drive source is larger than the amplitude of the periodic fluctuation component of the rotational speed of the drive wheel, Since it is determined that the main factor is torsion of the driving force transmission member, when rotational vibration of the driving wheel is generated due to torsion of the driving force transmission member, it can be reliably determined. .

  According to the fourth aspect of the present invention, when the amplitude of the periodic fluctuation component of the rotational speed of the driving wheel is larger than the amplitude of the periodic fluctuation component of the rotational speed of the driving source, the rotational vibration of the driving wheel is reduced. Since it is determined that the main factor is the external force acting on the driving wheel from the road surface, it is ensured that the rotational vibration of the driving wheel is generated due to the external force acting on the driving wheel from the road surface. Can be determined.

  According to the fifth aspect of the present invention, the rotational driving of the driving source for reducing the rotational vibration of the driving wheel based on the periodic fluctuation component of the rotational speed of the driving source or the periodic fluctuation component of the rotational speed of the driving wheel. When the damping control amount of the force is calculated and it is determined that the main factor of the rotational vibration of the driving wheel is torsion of the driving force transmission member, the periodic fluctuation component of the rotational speed of the driving wheel and the rotational speed of the driving source Since the vibration suppression control amount is calculated based on the periodic variation component, the vibration suppression control amount is calculated based on one of the periodic variation component of the rotational speed of the drive wheel and the periodic variation component of the rotation speed of the drive source. As compared with the case, the rotational vibration of the drive wheel can be surely and effectively reduced.

  According to the sixth aspect of the present invention, the rotational driving of the driving source for reducing the rotational vibration of the driving wheel based on the periodic fluctuation component of the rotational speed of the driving source or the periodic fluctuation component of the rotational speed of the driving wheel. When the damping control amount of force is calculated and it is determined that the main factor of rotational vibration of the driving wheel is an external force acting on the driving wheel, the contribution of the cyclic fluctuation component of the rotational speed of the driving wheel to the damping control amount Since the degree of rotation is reduced, the rotational vibration of the driving wheel is prevented from deteriorating due to the fact that the periodic fluctuation component of the rotational speed of the driving wheel is reflected in the vibration suppression control amount. It can be reliably and effectively reduced.

  According to the seventh aspect of the present invention, the control means calculates the target rotational driving force of the driving source based on the driving operation of the driver, and calculates the rotational driving force of the driving source based on the target rotational driving force of the driving source. When the rotational vibration determining means determines that the main factor of the rotational vibration of the driving wheel is an external force acting on the driving wheel, the periodic fluctuation component of the rotational speed of the driving source and the periodic speed of the rotational speed of the driving wheel are determined. Since the correction amount based on the deviation from the fluctuation component is calculated and the rotational driving force of the drive source is corrected with the correction amount, the possibility that the external force acting on the driving wheel acts on the vehicle as a disturbance is reduced. Rotational vibration can be reliably and effectively reduced.

[Preferred embodiment of problem solving means]
According to one preferred aspect of the present invention, in the configuration of claim 1, the control means calculates the target rotational driving force of the driving source based on the driving operation of the driver, and the period of the rotational speed of the driving source. The target rotational driving force after calculating the vibration damping control amount to suppress the rotational vibration of the driving wheel based on the dynamic fluctuation component or the cyclic fluctuation component of the rotational speed of the driving wheel, and correcting with the vibration damping control amount The rotational driving force of the driving source is controlled based on the above (preferred aspect 1).

  According to another preferred aspect of the present invention, in the configuration of the above-mentioned claim 2 or the preferred aspect 1, the rotational vibration determining means includes the amplitude of the periodically varying component of the rotational speed of the drive source and the rotation of the drive wheel. It is configured to determine whether the main factor of the rotational vibration of the driving wheel is the torsion of the driving force transmitting member or the external force acting on the driving wheel from the road surface based on the amplitude relationship of the periodic fluctuation component of the speed (Preferred embodiment 2).

  According to another preferred aspect of the present invention, in the configuration of the above-mentioned claim 3 or the preferred aspect 1 or 2, the rotational vibration determining means is configured such that the amplitude of the periodically varying component of the rotational speed of the drive source is an amplitude reference. When the amplitude of the periodic fluctuation component of the rotational speed of the driving source is greater than the value and larger than the amplitude of the cyclic fluctuation component of the rotational speed of the driving wheel, the main factor of the rotational vibration of the driving wheel is the driving force transmission. It is configured to determine that the vibration is caused by torsion of the member (preferred aspect 3).

  According to another preferred aspect of the present invention, in the configuration of the preferred aspect 3 described above, the rotational vibration determining means has the amplitude of the periodically varying component of the rotational speed of the driving source for the driving source and the driving wheel, respectively. Driving when the amplitude of the periodic fluctuation component of the rotational speed of the drive source is greater than the first reference reference value compared to the amplitude of the cyclic fluctuation component of the rotational speed of the drive wheel. It is configured to determine that the main factor of the rotational vibration of the wheel is vibration caused by torsion of the driving force transmission member (preferred aspect 4).

  According to another preferred embodiment of the present invention, in the configuration of the above-mentioned claim 4 or the preferred embodiments 1 to 4, the rotational vibration determining means is configured such that the amplitude of the periodically varying component of the rotational speed of the drive source is an amplitude reference. If the amplitude of the periodic fluctuation component of the rotational speed of the driving wheel is less than the value and larger than the amplitude of the periodic fluctuation component of the rotational speed of the driving source, the main factor of the rotational vibration of the driving wheel is driven from the road surface. It is comprised so that it may determine with it being the vibration resulting from the external force which acts on a ring | wheel (Preferable aspect 5).

  According to another preferred aspect of the present invention, in the configuration of the preferred aspect 5 described above, the rotational vibration determining means has an amplitude of a periodically varying component of the rotational speed of the drive source that is less than the amplitude reference value and the drive wheel. When the amplitude of the periodic fluctuation component of the rotational speed of the motor is larger than the amplitude of the periodic fluctuation component of the rotational speed of the drive source by more than the second comparison reference value, the main factor of the rotational vibration of the driving wheel is driven from the road surface It is configured to determine that the vibration is caused by an external force acting on the wheel (preferred aspect 6).

  According to another preferred aspect of the present invention, in the configuration of claim 5 above, when the rotational vibration determining means determines that the main factor of the rotational vibration of the driving wheel is the torsion of the driving force transmitting member. The control means uses the relationship between the predetermined fluctuation of the rotational driving force of the driving source and the periodic fluctuation component of the rotational speed of the driving source and the periodic fluctuation component of the rotational speed of the driving wheel to obtain the rotational speed of the driving source. The vibration damping control amount is configured to be calculated based on the periodic fluctuation component and the periodic fluctuation component of the rotational speed of the drive wheel (preferred aspect 7).

  According to another preferred aspect of the present invention, in the configuration of claim 6, when the rotational vibration determining means determines that the main factor of the rotational vibration of the driving wheel is an external force acting on the driving wheel. The control means is configured to increase the contribution of the periodically varying component of the rotational speed of the drive source to the vibration suppression control amount and to reduce the contribution of the periodically varying component of the rotational speed of the drive wheel to the vibration suppression control amount. (Preferred embodiment 8)

  According to another preferred aspect of the present invention, in the configuration of claim 6, when the rotational vibration determining means determines that the main factor of the rotational vibration of the driving wheel is an external force acting on the driving wheel. The control means is configured to calculate a vibration suppression control amount based on a periodic fluctuation component of the rotational speed of the drive source (preferred aspect 9).

  According to another preferred aspect of the present invention, in the configuration of claim 6, when the rotational vibration determining means determines that the main factor of the rotational vibration of the driving wheel is an external force acting on the driving wheel. The control means is configured to calculate a damping control amount based on a periodic fluctuation component of the rotational speed of the drive wheel after the filter processing that reduces the contribution degree of the periodic fluctuation component caused by the external force acting on the drive wheel. (Preferred embodiment 10).

  The present invention will now be described in detail with reference to a few preferred embodiments with reference to the accompanying drawings.

  FIG. 1 is a schematic diagram showing a first embodiment of a vehicle driving force control apparatus according to the present invention applied to a four-wheel drive electric vehicle.

  In FIG. 1, 10FL and 10FR respectively indicate left and right front wheels that are steering wheels, and 10RL and 10RR respectively indicate left and right rear wheels that are non-steering wheels. The left and right front wheels 10FL and 10FR are connected to the rotating shafts of electric motors 14FL and 14FR, which are driving sources, by driving shafts 12FL and 12FR, respectively, and the rotational driving forces of the electric motors 14FL and 14FR are respectively driven by the driving shafts 12FL and 12FR. It is transmitted to 10FL and 10FR.

  Similarly, the left and right rear wheels 10RL and 10RR are connected to the rotation shafts of the electric motors 14RL and 14RR as drive sources by the drive shafts 12RL and 12RR, respectively, and the rotational driving forces of the electric motors 14RL and 14RR are the drive shafts 12RL and 12RR, respectively. Is transmitted to the left and right rear wheels 10RL and 10RR. The motors 14FL to 14RR may function as a generator during braking to generate a regenerative braking force.

  The accelerator pedal 16 that is operated by the driver is provided with an accelerator opening sensor 18, and the rotational driving force of the electric motors 14 FL to 14 RR is an accelerator opening as an amount of depression of the accelerator pedal 16 detected by the accelerator opening sensor 18. It is controlled by the driving force control electronic control unit 20 based on the degree φ. When the motors 14FL to 14RR function as a generator during braking, the regenerative braking force of the motors 14FL to 14RR is also controlled by the driving force control electronic control unit 20.

  The friction braking force of the left and right front wheels 10FL, 10FR and the left and right rear wheels 10RL, 10RR is controlled by controlling the braking pressures of the corresponding wheel cylinders 26FL, 26FR, 26RL, 26RR by the hydraulic circuit 24 of the friction braking device 22. The Although not shown in the drawing, the hydraulic circuit 24 includes a reservoir, an oil pump, various valve devices, and the like, and the braking pressure of each wheel cylinder is normally driven by depression of the brake pedal 28 by the driver. Is controlled by the braking force control electronic control device 32 in accordance with the pressure of the vehicle, and is controlled as necessary regardless of the amount of depression of the brake pedal 28 by the driver.

  Although not shown in detail in FIG. 1, the driving force control electronic control device 20 and the braking force control electronic control device 32 each include a microcomputer and a drive circuit, and in particular, the driving force control electronic control device 20. Includes an inverter and a battery. The microcomputer has, for example, a CPU, a ROM, a RAM, and an input / output port device, which are connected to each other via a bidirectional common bus. Good.

  As shown in FIG. 2 for the left front wheel, the rotational speeds Vwi (i = fl, fr, rl, rr) of the corresponding wheels are detected for the left and right front wheels 10FL, 10FR and the left and right rear wheels 10RL, 10RR, respectively. Wheel speed sensors 34FL to 34RR are provided, and resolvers 36FL to 36RR for detecting the rotational speed Vdi (i = fl, fr, rl, rr) are provided for the motors 14FL to 14RR.

  In addition to the signal indicating the accelerator opening φ from the accelerator opening sensor 18, the driving force control electronic control device 20 rotates the signals from the resolvers 36 FL to 36 RR through the signals indicating the wheel rotation speed Vwi from the wheel speed sensors 34 FL to 34 RR. A signal indicating the speed Vdi is input. The braking force control electronic control unit 32 has a signal indicating the master cylinder pressure Pm from the pressure sensor 38, and a corresponding wheel braking pressure (wheel cylinder pressure) Pbi (i = fl, fr, rl,) from the pressure sensors 40FL to 40RR. rr) is input. The driving force control electronic control device 20 and the braking force control electronic control device 32 exchange signals with each other as necessary.

  The driving force control electronic control unit 20 calculates the target driving force Fvt of the vehicle based on the accelerator opening φ that is the acceleration / deceleration operation amount of the driver, and uses the target driving force Fvt as known in the art. The target rotational driving force Fwti (i = fl, fr, rl, rr) of the motors 14FL to 14RR is calculated by allocating to each wheel at the normal time, and the target for the motors 14FL to 14RR is normally calculated based on the target rotational driving force Fwti. The drive current Iwti (i = fl, fr, rl, rr) is calculated, and the rotational drive force of the motors 14FL to 14RR is controlled based on the target drive current Iwti.

  The electronic controller 20 for controlling the driving force controls the vehicle body speed Vb and the acceleration slip amount SAi (i = fl, fr, rl, etc.) of each wheel according to a known method in the art based on the wheel speed Vwi of each wheel. rr), and when the acceleration slip amount SAi becomes larger than the reference value for starting traction control (TRC control) and the traction control start condition is satisfied, the acceleration slip of the wheel is continued until the traction control end condition is satisfied. The target rotational driving force Fwtrcti (i = fl, fr, rl, rr) for the traction control of the wheel is calculated so that the amount falls within a predetermined range, and the motors 14FL to 14RR of the wheel are calculated based on the target rotational driving force Fwtrcti. Is calculated by calculating a target drive current Iwtrcti (i = fl, fr, rl, rr) for the motor and controlling the rotational drive force of the motors 14FL to 14RR of the wheel based on the target drive current Iwtrcti. Control.

  On the other hand, the braking force control electronic control unit 32 is based on the wheel speed Vwi of each wheel, and the vehicle speed Vb and the braking slip amount SBi (i = fl, fr, rl, rr), the braking slip amount SBi becomes larger than the reference value for starting the anti-skid control (ABS control), and when the anti-skid control start condition is satisfied, the corresponding wheel is kept until the anti-skid control end condition is satisfied. Anti-skid control is performed by controlling the braking pressure Pbi of the wheel so that the braking slip amount of the vehicle falls within a predetermined range.

  Further, the driving force control electronic control unit 20 calculates the periodic fluctuation component Vwdi of the wheel speed Vwi and the periodic fluctuation component Vddi (i = fl, fr, rl, rr) of the rotational speed Vdi for each wheel, and the cycle. Based on the amplitudes of the dynamic fluctuation components Vwdi and Vddi, it is determined whether or not the vibration of the wheel is excessive and vibration suppression is necessary. Controls the rotational driving force during control.

  On the other hand, when the driving force control electronic control unit 20 determines that vibration suppression is necessary, the main factor of the rotational vibration of the wheels is that of the drive shafts 12FL to 12RR based on the magnitude relationship between the periodic fluctuation components Vwdi and Vddi. It is determined whether torsion or external force acting on the wheel from the road surface, and vibration damping rotational driving force for controlling the rotational driving force of the motors 14FL to 14RR so as to suppress the rotational vibration of the wheel due to the determined main factor. Fwanti (i = fl, fr, rl, rr) is calculated, and the target damping drive current Ianti (i = fl, fr, rl, rr) for the motors 14FL to 14RR is calculated based on the damping rotational driving force Fwanti, Based on the target drive current Iti corrected by the target vibration suppression drive current Iti, the rotational drive force of the motors 14FL to 14RR is controlled.

  Next, the driving force control achieved by the driving force control electronic control unit 20 in the illustrated embodiment 1 will be described with reference to the flowchart shown in FIG. The control according to the flowchart shown in FIG. 3 is started when the driving force control electronic control device 20 is started, and is repeatedly executed at predetermined time intervals until an ignition switch (not shown) is turned off. Is done. Step 20 and subsequent steps are executed for each wheel in the order of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, for example.

  First, in step 10, a signal indicating the accelerator opening φ detected by the accelerator opening sensor 14 is read, and in step 20, based on the accelerator opening φ and the like, the vehicle is The target driving force Fvt is calculated, and the target rotational driving force Fwti of the motors 14FL to 14RR is calculated based on the target driving force Fvt. In step 30, the motors 14FL to 14RR are operated based on the target rotational driving force Fwti. A target drive current Iwti is calculated.

  In step 40, the periodic fluctuation component Vwdi of the wheel speed Vwi and the periodic fluctuation component Vddi (i = fl, fr, rl, rr) of the rotational speed Vdi are calculated in a manner known in the art. In step 50, the amplitude Addi of the periodic fluctuation component Vddi is calculated, and whether or not the amplitude Addi is greater than or equal to a vibration determination reference value Addo (a positive constant), that is, the corresponding motor 14FL˜ It is determined whether or not the rotational vibration of 14RR is large. If an affirmative determination is made, the process proceeds to step 100. If a negative determination is made, the process proceeds to step 60.

  In step 60, it is determined whether the amplitude Awdi of the periodic fluctuation component Vwdi is larger than the amplitude Addi of the periodic fluctuation component Vddi, that is, the main factor of the rotational vibration of the wheel is an external force acting on the wheel from the road surface. If a positive determination is made, the process proceeds to step 120. If a negative determination is made, the process proceeds to step 70.

  In step 70, it is determined whether or not the traction control is being performed for the wheel. If a negative determination is made, in step 80, the final target drive current Iti of the wheel is determined in step 30. When the calculated target drive current Iwti is set and an affirmative determination is made, in step 90, the final target drive current Iti of the wheel is set to the target drive current Iwtrcti for traction control.

  In step 100, it is determined whether or not the amplitude Addi of the periodic fluctuation component Vddi is larger than the amplitude Awdi of the periodic fluctuation component Vwdi, that is, the main factor of the rotational vibration of the wheels is the torsion of the drive shafts 12FL to 12RR. If the determination is affirmative, the process proceeds to step 110. If the determination is negative, the process proceeds to step 120.

  In step 110, the damping rotation for suppressing the vibration of the periodic fluctuation component based on the periodic fluctuation component Vwdi and the periodic fluctuation component Vddi of the rotational speed Vdi in a manner known in the art. The driving force Fwanti (i = fl, fr, rl, rr) is calculated, and in step 120, the periodicity is calculated in a manner known in the art based on the periodic fluctuation component Vddi of the rotational speed Vdi. A damping rotation driving force Fwanti (i = fl, fr, rl, rr) for suppressing the vibration of the fluctuation component is calculated.

  In step 110, based on a vehicle model in which the periodic fluctuations of the rotational driving force of the motors 14FL to 14RR are input and the periodic fluctuation component Vwdi of the wheel speed Vwi and the periodic fluctuation component Vddi of the rotation speed Vdi are output. Then, an inverse model is set, in which the periodic fluctuation component Vwdi of the wheel speed Vwi and the periodic fluctuation component Vddi of the rotational speed Vdi are input, and the periodic fluctuation component of the rotational driving force of the motors 14FL to 14RR is output. By using the periodic fluctuation component Vwdi and the periodic fluctuation component Vddi of the rotational speed Vdi, the damping rotational driving force Fwanti may be calculated.

  When step 110 or 120 is completed, the routine proceeds to step 150 where the target damping drive current Ianti (i = fl, fr, rl, rr) for the motors 14FL-14RR is determined based on the damping rotational driving force Fwanti. After the calculation, the process proceeds to step 200.

  In step 200, it is determined whether or not the traction control is being performed for the wheel. If a negative determination is made, in step 210, the final target drive current Iti of the wheel is determined in step 30. The sum of the calculated target drive current Iwti and the target vibration suppression drive current Ianti calculated in step 150 is set. It is set to the sum of the target drive current Iwtrcti for traction control and the target damping drive current Ianti calculated in step 150.

  In step 230, the drive current of the motors 14FL to 14RR of the wheel is controlled based on the final target drive current Iti, so that the rotational driving force of the wheel is controlled to a value corresponding to the final target drive current Iti. The

  Thus, according to the illustrated first embodiment, the target drive current Iwti for the motors 14FL to 14RR of each wheel is calculated in steps 20 and 30 based on the driving operation amount of the driver, and the wheel speed Vwi is calculated in step 40. The periodic variation component Vwdi and the periodic variation component Vddi of the rotational speed Vdi are calculated.

  When the rotational vibration of the motor is small and the main factor of the rotational vibration of the wheel is an external force acting on the wheel from the road surface, a negative determination is made at step 50 and an affirmative determination is made at step 60. Thus, in step 120, the vibration damping rotational driving force Fwanti is calculated based on the periodic fluctuation component Vddi of the rotational speed Vdi, and in steps 150 and 200 to 230, the wheel rotation is performed by the vibration damping rotational driving force Fwanti. Vibration is suppressed.

  Further, when the rotational vibration of the motor is large and the main cause of the rotational vibration of the wheel is the torsion of the drive shafts 12FL to 12RR, an affirmative determination is made in steps 50 and 100, whereby the cycle is determined in step 110. The vibration damping rotational driving force Fwanti is calculated based on the periodic fluctuation component Vwdi and the periodic fluctuation component Vddi of the rotational speed Vdi, and the rotational vibration of the wheel is suppressed by the vibration damping rotational driving force Fwanti in steps 150 and 200 to 230. Is done.

  Therefore, according to the first embodiment shown in the figure, the main factor of the rotational vibration of the wheel is the main factor of the rotational vibration of the wheel regardless of whether the main factor of the rotational vibration of the wheel is the external force acting on the wheel from the road surface or the torsion of the drive shafts 12FL-12RR. Accordingly, the vibration damping rotational driving force Fwanti is appropriately calculated, and thereby the rotational vibration of the wheel can be surely and effectively suppressed regardless of the main factor of the rotational vibration.

  In particular, according to the illustrated embodiment 1, when an affirmative determination is made at step 60, that is, when the main factor of the rotational vibration of the wheel is an external force acting on the wheel from the road surface, at step 50. Thus, a negative determination is made and an affirmative determination is made in step 60, whereby the vibration damping rotational driving force Fwanti is calculated based on the periodic fluctuation component Vddi of the rotational speed Vdi in step 120. The vibration damping rotation driving force Fwanti can be calculated by reducing the influence of the unevenness of the wheel, and the vibration damping rotation driving force Fwanti is calculated based on the periodic fluctuation component Vwdi of the wheel speed Vwi, which will be described later in a second embodiment. No special signal processing is required for the periodic fluctuation component Vwdi as in the case of 4 and 4.

  FIG. 4 is a flowchart showing a main part of a driving force control routine in Embodiment 2 of the vehicle driving force control device according to the present invention applied to a four-wheel drive electric vehicle. In FIG. 4, the same step number as the step number shown in FIG. 3 is assigned to the same step as the step shown in FIG. Is the same.

  In the second embodiment, steps 10 to 110, 150, and 200 to 230 are executed in the same manner as in the first embodiment, and when an affirmative determination is made in step 60 or in step 100. If a negative determination is made, the routine proceeds to step 130.

  In step 130, the low-pass filter processing is performed on the periodic fluctuation component Vwdi to remove the external force vibration component that acts on the wheel from the road surface included in the periodic fluctuation component Vwdi of the wheel speed Vwi and is caused by the unevenness of the road surface. As a result, a periodic fluctuation component Vwdfi (i = fl, fr, rl, rr) of the wheel speed Vwi after the low-pass filter processing is calculated, and in step 140, the periodicity of the wheel speed Vwi after the low-pass filter processing is calculated. Based on the fluctuation component Vwdfi, a damping rotation driving force Fwanti (i = fl, fr, rl, rr) for suppressing the vibration of the cyclic fluctuation component is calculated in a manner known in the art. .

  Thus, according to the second embodiment shown in the figure, when the wheel rotational vibration is large and the main factor of the wheel rotational vibration is an external force acting on the wheel from the road surface, a negative determination is made in step 50. In step 60, an affirmative determination is made. In step 130, a low-pass filter process is performed on the periodic fluctuation component Vwdi, thereby removing a vibration component caused by road surface irregularities. The periodic fluctuation component Vwdfi of the wheel speed Vwi is calculated, and in step 140, the vibration damping rotational driving force Fwanti is calculated based on the periodic fluctuation component Vwdfi of the wheel speed Vwi after the low-pass filter processing. In 200 to 230, the rotational vibrations of the wheels are suppressed by the vibration damping rotational driving force Fwanti.

  Further, when the rotational vibration of the motor is large and the main factor of the rotational vibration of the wheel is the torsion of the drive shafts 12FL to 12RR, an affirmative determination is made in steps 50 and 100, whereby steps 110, 150, and 200 are performed. ˜230, the rotational vibration of the wheel is suppressed in the same manner as in the first embodiment.

  Therefore, according to the illustrated second embodiment, the same operational effects as in the first embodiment can be obtained, particularly when the main factor of the rotational vibration of the wheel is an external force acting on the wheel from the road surface. Further, it is possible to reliably and effectively suppress the rotational vibration of the wheel while reducing the influence of the vibration component due to the road surface unevenness.

  FIG. 5 is a flowchart showing a main part of a driving force control routine in the third embodiment of the vehicle driving force control apparatus according to the present invention, which is configured as a modification of the first embodiment.

  In the third embodiment, steps 10 to 120, 150, and 200 to 230 are executed in the same manner as in the first embodiment described above. In step 160 executed after step 120, step 150 is executed. As in the case, the target damping drive current Ianti (i = fl, fr, rl, rr) for the motors 14FL to 14RR is calculated based on the damping rotation driving force Fwanti.

  In step 170, a deviation ΔVdi (= Vddi−Vwdi) (i = fl, fr, rl, rr) between the periodic fluctuation component Vddi of the rotational speed Vdi and the cyclic fluctuation component Vwdi of the wheel speed Vwi is calculated. In step 180, a correction current ΔIti (i = fl, fr, rl, rr) for the target vibration suppression drive current Iti is calculated based on the deviation ΔVdi. In step 190, the target vibration suppression drive current Iti is calculated as Ianti. It is corrected to −ΔIt i, and then the routine proceeds to step 200.

  FIG. 6 is a flowchart showing a main part of the driving force control routine in the fourth embodiment of the vehicle driving force control apparatus according to the present invention, which is configured as a modification of the second embodiment.

  In the fourth embodiment, steps 10 to 110, 130 to 150, and 200 to 230 are executed in the same manner as in the second embodiment, and steps 160 to 190 are performed in the same manner as in the third embodiment. Executed.

  Thus, according to the embodiments 3 and 4 shown in the drawings, when the main factor of the rotational vibration of the wheel is an external force acting on the wheel from the road surface, a negative determination is made at step 50 and at step 60. After an affirmative determination is made and step 120 or steps 130 and 140 are executed, a target damping drive current Ianti for the motors 14FL to 14RR is calculated based on the damping rotation driving force Fwanti in step 160, In step 170, a deviation ΔVdi between the periodic fluctuation component Vddi of the rotational speed Vdi and the cyclic fluctuation component Vwdi of the wheel speed Vwi is calculated, and in step 180, correction for the target vibration damping drive current Ianti is performed based on the deviation ΔVdi. The current ΔIti is calculated, and in step 190, the target vibration suppression drive current Iti is corrected to Ianti−ΔIti.

  Therefore, according to the illustrated third and fourth embodiments, it is possible to obtain the same effects as those of the first and second embodiments described above, and that the influence of the vibration component due to the unevenness of the road surface reaches the vehicle. While suppressing, the rotational vibration of the wheel can be reliably and effectively suppressed.

  According to each embodiment shown in the figure, prior to the determination in steps 60 and 100, in step 50, it is determined whether or not the amplitude Addi of the periodic fluctuation component Vddi is greater than or equal to the vibration determination reference value Addo. It is determined whether or not the rotational vibrations of the motors 14FL to 14RR are large. When a negative determination is made, the determination at step 60 is performed, and when the determination is affirmative, the determination at step 100 is performed. Therefore, as compared with the case where the determination in step 50 is not performed, it is determined whether the main factor of the rotational vibration of the wheel is an external force acting on the wheel from the road surface or the torsion of the drive shafts 12FL to 12RR. Can be done accurately.

  Although the present invention has been described in detail with reference to specific embodiments, the present invention is not limited to the above-described embodiments, and various other embodiments are possible within the scope of the present invention. It will be apparent to those skilled in the art.

  For example, in each of the above-described embodiments, the vehicle is a four-wheel drive electric vehicle, and the wheels 10FL to 10RR are driven by the motors 14FL to 14RR via the drive shafts 12FL to 12RR, respectively. However, the present invention may be applied to a vehicle in which the left and right wheels are driven via a corresponding drive shaft by a single drive source, such as a hybrid vehicle, and the present invention is applicable to a front wheel drive vehicle and a rear wheel drive vehicle. You may apply to a driving wheel.

  In each of the above embodiments, it is determined in step 60 whether or not the amplitude Awdi of the periodic fluctuation component Vwdi is larger than the amplitude Addi of the periodic fluctuation component Vddi. , Α1 may be a positive constant, and correction may be made so as to determine whether or not the amplitude Awdi of the periodic variation component Vwdi is larger than the amplitude Addi + α1 of the periodic variation component Vddi.

  Similarly, in each of the embodiments described above, it is determined in step 100 whether or not the amplitude Addi of the periodic fluctuation component Vddi is larger than the amplitude Awdi of the periodic fluctuation component Vwdi. However, it may be modified so that it is determined whether α2 is a positive constant and the amplitude Addi of the periodic fluctuation component Vddi is larger than the amplitude Awdi + α2 of the periodic fluctuation component Vwdi.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram which shows Example 1 of the driving force control apparatus of the vehicle by this invention applied to the four-wheel drive electric vehicle. It is explanatory drawing which shows the detection point of the wheel speed and rotational speed in Example 1 about a left front wheel. 4 is a flowchart illustrating a driving force control routine achieved by the driving force control electronic control device in the first embodiment. It is a flowchart which shows the principal part of the driving force control routine in Example 2 of the driving force control apparatus of the vehicle by this invention applied to the four-wheel drive electric vehicle. It is a flowchart which shows the principal part of the driving force control routine in Example 3 of the driving force control apparatus of the vehicle by this invention comprised as a modification of Example 1. FIG. FIG. 10 is a flowchart showing a main part of a driving force control routine in Embodiment 4 of a vehicle driving force control apparatus according to the present invention configured as a modification of Embodiment 2. FIG. The rotational speed of the driving wheel when the main factor of rotational vibration of the driving wheel is torsion of the driving force transmission member (A) and when the main factor of rotational vibration of the driving wheel is external force acting on the driving wheel (B) It is explanatory drawing which shows the example of the periodic fluctuation component of this, and the periodic fluctuation component of the rotational speed of a drive source.

Explanation of symbols

12FL to 12RR Drive shaft 14FL to 14RR Motor 16 Accelerator pedal 18 Accelerator opening sensor 20 Electronic controller for driving force control 22 Friction braking device 32 Electronic control device for braking force control 34FL to 34RR Wheel speed sensor 36FL to 36RR Resolver 38, 40FL ~ 40RR Pressure sensor

Claims (7)

  A driving source, a driving force transmitting member for transmitting the rotational driving force of the driving source to the driving wheel, a rotational vibration determining means for determining the rotational vibration of the driving wheel, and a driver while suppressing the rotational vibration of the driving wheel; In a vehicle driving force control device having a control means for controlling the rotational driving force of the driving source in accordance with the driving operation, a means for detecting the rotational speed of the driving source, and a rotational speed of the driving wheel. The rotational vibration determining means is configured to determine whether the main factor of rotational vibration of the driving wheel is based on a periodic variation component of the rotational speed of the driving source and a periodic variation component of the rotational speed of the driving wheel. It is determined whether the driving force transmitting member is twisted or an external force acting on the driving wheel from the road surface, and the control means suppresses the rotational vibration of the driving wheel due to the main factor determined by the rotational vibration determining means. So that the drive source Vehicle driving force control apparatus characterized by controlling the rotation drive force.   The rotational vibration determining means compares the amplitude of the periodic fluctuation component of the rotational speed of the driving source with the amplitude of the periodic fluctuation component of the rotational speed of the driving wheel, so that the main factor of the rotational vibration of the driving wheel is the 2. The vehicle driving force control device according to claim 1, wherein it is determined which of the driving force transmitting member is torsional and the external force acting on the driving wheel from the road surface.   The rotational vibration determining means is a main factor of rotational vibration of the driving wheel when the amplitude of the periodic fluctuation component of the rotational speed of the driving source is larger than the amplitude of the periodic fluctuation component of the rotational speed of the driving wheel. The vehicle driving force control apparatus according to claim 2, wherein the driving force transmission member is determined to be twisted.   The rotational vibration determining means is a main factor of rotational vibration of the driving wheel when the amplitude of the periodic fluctuation component of the rotational speed of the driving wheel is larger than the amplitude of the periodic fluctuation component of the rotational speed of the driving source. The vehicle driving force control apparatus according to claim 2, wherein an external force acting on the driving wheel from a road surface is determined.   The control means controls the rotational driving force of the driving source for reducing rotational vibration of the driving wheel based on a periodic fluctuation component of the rotational speed of the driving source or a periodic fluctuation component of the rotational speed of the driving wheel. A vibration control amount is calculated, and when the rotational vibration determining means determines that the main factor of the rotational vibration of the driving wheel is torsion of the driving force transmitting member, the periodic fluctuation component of the rotational speed of the driving wheel and 5. The vehicle driving force control device according to claim 1, wherein the vibration suppression control amount is calculated based on a periodic fluctuation component of a rotational speed of the driving source. 6.   The control means controls the rotational driving force of the driving source for reducing rotational vibration of the driving wheel based on a periodic fluctuation component of the rotational speed of the driving source or a periodic fluctuation component of the rotational speed of the driving wheel. When the vibration control amount is calculated, and the rotational vibration determining means determines that the main factor of the rotational vibration of the drive wheel is an external force acting on the drive wheel, the rotational speed of the drive wheel with respect to the vibration suppression control amount The vehicle driving force control device according to claim 1, wherein the degree of contribution of the periodic fluctuation component is reduced. The control means calculates a target rotational driving force of the driving source based on a driving operation of the driver, controls the rotational driving force of the driving source based on the target rotational driving force of the driving source, and determines the rotational vibration. When it is determined by the means that the main factor of the rotational vibration of the driving wheel is an external force acting on the driving wheel, the periodic fluctuation component of the rotational speed of the driving source and the periodic fluctuation component of the rotational speed of the driving wheel 6. The vehicle driving force control device according to claim 1, wherein a correction amount based on the deviation is calculated and a target rotational driving force of the driving source is corrected with the correction amount. 7.

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