JP2010028982A5

JP2010028982A5 -

Info

Publication number: JP2010028982A5
Application number: JP2008188049A
Authority: JP
Filing date: 2008-07-22
Publication date: 2011-10-20

Claims

An electric vehicle control method for individually controlling the torque of an electric motor that drives each shaft of a power vehicle,
Command value of the ratio of the tensile force and axle load of each axis, the traveling acceleration, and, using said vehicle-specific constants of the motor vehicle, axle load movement tension of each axis considering the force and the ratio of axle load the command value A torque command calculation step for calculating a torque command for passing,
A detection step for detecting an axis that has slipped;
A change step of updating the torque command by changing the torque command of at least the idle-sliding shaft when detection by the detection step is performed;
Based on the torque command, a drive control step of individually driving and controlling the corresponding electric motor,
An electric vehicle control method.

Using the difference between the torque command calculated in the torque command calculation step and the torque command used in the drive control step, the acceleration of each axis, and the vehicle specific constant of the power vehicle, A fluctuation amount calculating step of calculating a fluctuation amount of the axial movement of each axis that occurs when a torque command for a minute is given,
In the torque command calculation step, the shaft load movement fluctuation amount calculated in the fluctuation amount calculation step is used to correct the shaft weight of each corresponding axis to calculate a torque command for each axis.
The electric vehicle control method according to claim 1.

In the torque command calculation step, a predetermined axial load movement compensation torque calculation based on an axial load movement amount mathematical model that is an individual mathematical model for each axis that represents the momentum of the following 1) to 5) is performed, and each axis is calculated. electric vehicle control method according to claim 1 or 2 is a step of calculating a torque command.
1) Axle transmission component of force transmitted between gears by electric motor torque 2) Transmission component to motor support portion of reaction force of force transmitted between gears by electric motor torque 3) Around bogie frame center of gravity by force of 2) Force applied by rotational moment 4) Axle travel by the rotational moment around the center of gravity of the carriage frame due to the tensile force 5) Axle travel by the rotational moment around the center of gravity of the vehicle by the tensile force of all axes

In the variation amount calculating step, when a torque command corresponding to the difference between the torque commands is given based on an axial load movement mathematical formula model that is an individual mathematical model for each axis representing the momentum of 1) to 5) below electric vehicle control method according to claim 1 or 2 axes is a step of calculating a fluctuation amount of the respective axle load movement occurring.
1) Axle transmission component of force transmitted between gears by electric motor torque 2) Transmission component to motor support portion of reaction force of force transmitted between gears by electric motor torque 3) Around bogie frame center of gravity by force of 2) Force applied by rotational moment 4) Axle travel by the rotational moment around the center of gravity of the carriage frame due to the tensile force 5) Axle travel by the rotational moment around the center of gravity of the vehicle by the tensile force of all axes

The changing step includes
A re-adhesion control step for performing a control to re-adhere by temporarily lowering the torque of the slipped shaft;
A calculation step for calculating a torque change amount of a healthy shaft that is not idling using an acceleration that represents the degree of idling of the idling shaft, an idling velocity or an idling index value that is equivalent to these values;
An induction suppression control step for performing control to suppress the induction of idling by temporarily changing the torque of the healthy shaft by the torque change amount; and
The electric vehicle control method according to any one of claims 1 to 4 , further comprising:

The calculation step includes an axle load in consideration of the idle running index value, and a dynamic axle load movement amount between an idle running axis and a healthy axis determined by each carriage of the power vehicle and an arrangement configuration of each axis in the carriage. The electric vehicle control method according to claim 5 , which is a step of calculating the torque change amount of the healthy shaft using a movement coefficient.

An electric vehicle control device that individually controls the torque of an electric motor that drives each shaft of a power vehicle,
Command value of the ratio of the tensile force and axle load of each axis, the traveling acceleration, and, using said vehicle-specific constants of the motor vehicle, axle load movement tension of each axis considering the force and the ratio of axle load the command value A torque command calculation unit for calculating a torque command for passing,
A detection unit for detecting an axis that has slipped freely;
A torque command changing unit that updates the torque command by changing at least the torque command of the idle-sliding shaft when detection by the detection unit is performed;
Based on the torque command, a drive control unit that individually drives and controls the corresponding electric motor,
An electric vehicle control device comprising: