JP2009113773A - 駆動力制御装置 - Google Patents
駆動力制御装置 Download PDFInfo
- Publication number
- JP2009113773A JP2009113773A JP2007292480A JP2007292480A JP2009113773A JP 2009113773 A JP2009113773 A JP 2009113773A JP 2007292480 A JP2007292480 A JP 2007292480A JP 2007292480 A JP2007292480 A JP 2007292480A JP 2009113773 A JP2009113773 A JP 2009113773A
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- Prior art keywords
- driving force
- yaw moment
- right wheels
- vehicle
- wheels
- Prior art date
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Abstract
【解決手段】前後左右の四輪WFL,WFR,WRL,WRRを備えた車両の駆動力制御装置において、主動力源1が出力した動力を前後いずれか一方の左右輪WRL,WRRに分配するとともにそれらの左右輪に対する動力の分配率を係合機構を係合あるいは解放させることにより変更する機械式分配機構4と、前後いずれか他方の左右輪WFL,WFR毎に設けられかつこれらの左右輪の駆動力を個別に制御する少なくとも二つのモータML,MRとを備えている。
【選択図】図1
Description
ΔMoreq=Tf(Ffr−Ffl)/2
である。また、前輪WFL,WFRで受け持つ駆動力Ffは、アクセル開度や後輪WRL,WRRで受け持つ駆動力などから求めることができ、その前輪WFL,WFRで受け持つ駆動力Ffは、
Ff=Ffr+Ffl
であるから、これらの式から各駆動力Ffr,Fflを求めることができる。そして、各モータML,MRのトルクは図示しない減速機を介してそれぞれの車輪WFL,WFRに伝達されるから、左右のモータML,MRのトルクをTqfl,Tqfr、減速機でのトルク増幅率をn、各車輪ML,MRの半径をRfとすると、
Ffl=Tqfl×n/Rf
Ffr=Tqfr×n/Rf
となる。
Mo=Tf(Ffr−Ffl)/2
の関係があるから、これらの駆動力Ffr,Fflの和が前輪の駆動力に等しいこととの関係に基づいて、前記目標ヨーモーメントを達成するための左右のモータML,MRの出力トルクを求めることができる。
Moreq=Treq・Rt/2
である。ここで、Rtはタイヤ半径である。一方、クラッチ油圧prs、クラッチCL,CRを係合させるためのアクチュエータにおけるピストンの面積をA、そのピストンを押し戻すための弾性力をFsp、クラッチディスクの有効半径Rd、クラッチディスクの枚数をN、摩擦係数をμとすると、
trq=(prs・A−Fsp)・Rd・μ・2・N
であり、したがって、
prs={(trs/Rd・μ・2・N)+Fsp}/A
である。
Claims (6)
- 前後左右の四輪を備えた車両の駆動力制御装置において、
主動力源が出力した動力を前後いずれか一方の左右輪に分配するとともにそれらの左右輪に対する動力の分配率を係合機構を係合あるいは解放させることにより変更する機械式分配機構と、
前後いずれか他方の左右輪毎に設けられかつこれらの左右輪の駆動力を個別に制御する少なくとも二つのモータと
を備えていることを特徴とする駆動力制御装置。 - 前記モータは、前後いずれか他方の左右輪のそれぞれに内蔵されてこれらの左右輪を直接駆動するインホイールモータを含むことを特徴とする請求項1に記載の駆動力制御装置。
- 前記車両の目標ヨーモーメントを求める手段と、
前記車両の実際のヨーモーメントが前記目標ヨーモーメントとなるように前記モータにより前後いずれか他方の左右輪の駆動力差を設定する手段と
を更に備えていることを特徴とする請求項1または2に記載の駆動力制御装置。 - 前記係合機構を動作させることによる前記前後いずれか一方の左右輪の駆動力差の変更の遅れによる該駆動力差の不足分を求める手段と、
該手段で求められた前記駆動力差の変更の遅れによる該駆動力差の不足分を補うように前記モータにより前後いずれか他方の左右輪の駆動力差を設定する手段と
を更に備えていることを特徴とする請求項1または2に記載の駆動力制御装置。 - 前記前後いずれか一方の左右輪の駆動力差の変更の遅れによる該駆動力差の不足分を求める手段は、前記車両の目標ヨーモーメントとその目標ヨーモーメントを達成するように前記係合機構を動作させることにより前記機械式分配機構で得られるヨーモーメントとの差に相当するヨーモーメントを求める手段を含むことを特徴とする請求項4に記載の駆動力制御装置。
- 前記車両の目標ヨーモーメントを求める手段と、
該手段で求められた目標ヨーモーメントが、前記機械式分配機構によって設定できる前記前後いずれか一方の左右輪の駆動力差によるヨーモーメントを超えている場合に前記機械式分配機構に替えて前記モータによって前記目標ヨーモーメントを達成するように前記前後いずれか他方の左右輪の駆動力の差を生じさせる手段と
を更に備えていることを特徴とする請求項1または2に記載の駆動力制御装置。
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JP2007292480A JP4315226B2 (ja) | 2007-11-09 | 2007-11-09 | 駆動力制御装置 |
US12/741,953 US9308912B2 (en) | 2007-11-09 | 2008-11-07 | Driving force control system |
PCT/JP2008/070270 WO2009060928A1 (ja) | 2007-11-09 | 2008-11-07 | 駆動力制御装置 |
CN2008801150795A CN101855102B (zh) | 2007-11-09 | 2008-11-07 | 驱动力控制装置 |
EP08847672.6A EP2208629B1 (en) | 2007-11-09 | 2008-11-07 | Driving force controller |
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