JP2010148310A - Driving controller for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To properly change the torque of a motor driving a wheel in conformity with a suddenly-changing vehicle state. <P>SOLUTION: The driving controller for a vehicle includes: a host unit 9 outputting a host torque command value Trqcmd corresponding to the driving operation state of a driver; a motor torque high-response controller 100 detecting the sudden change of the vehicle state and outputting a requirement torque Trqadd correcting the torque of the motor 4 in response to the suddenly changed vehicle state detected; and a generator controller 20 controlling a field current on the basis of the host torque command value Trqcmd. The driving controller for the vehicle further includes an inverter controller 20 switching-controlling an element for an inverter 3 on the basis of a voltage command value Vdc<SP>*</SP>for supplying the motor 4 with a power from a generator 2 and controlling the voltage command value Vdc<SP>*</SP>on the basis of the requirement torque Trqadd while conducting control for supplying the motor 4 with the power from the generator 2. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle drive control device that drives a motor with power generated by a generator and drives wheels with the motor.

Patent Document 1 discloses a vehicle drive control device that drives a wheel by driving a DC motor with electric power of a generator. In this patent document 1, the driving torque is controlled by controlling the field current of the DC motor.
JP 2001-239852 A

By the way, the drive control apparatus for vehicles of patent document 1 has a structure which increases the torque of a DC motor by increasing an armature current. However, since the rate of increase of the armature current is limited, it is difficult to increase the torque of the DC motor in accordance with a rapidly changing vehicle state such as wheel slip.
The same phenomenon occurs when attempting to increase the field current for driving the generator to increase the driving force of the motor. That is, since the responsiveness of the increase in the field current is low with respect to the demand for an increase in the driving force of the motor, it becomes difficult to increase or decrease the torque of the motor in accordance with a rapidly changing vehicle state such as wheel slip. .
The present invention is to appropriately change the torque of a motor that drives a wheel in accordance with a rapidly changing vehicle state.

  In order to solve the above problems, the present invention controls the field current of the generator based on the main motor torque command value corresponding to the driving operation state of the driver. Furthermore, the present invention detects a sudden change in the vehicle state and, based on the corrected motor torque command value for correcting the motor torque in accordance with the detected suddenly changed vehicle state, sets a target voltage command value for switching control of the inverter elements. Control.

  According to the present invention, the target voltage command value having higher responsiveness than the field current of the generator is controlled based on the corrected motor torque command value that corrects the motor torque in accordance with the rapidly changing vehicle state. Thereby, it is possible to appropriately change the torque of the motor that drives the wheels in accordance with the vehicle state that changes suddenly.

The best mode for carrying out the present invention (hereinafter referred to as an embodiment) will be described in detail with reference to the drawings.
(First embodiment)
(Constitution)
The first embodiment is a vehicle drive control device.
FIG. 1 is a configuration diagram illustrating a schematic configuration of a vehicle drive control device. As shown in FIG. 1, the vehicle drive control device includes an engine 1, a generator 2, an inverter 3, a motor 4, a capacitor 5, a generator voltage sensor 6, a motor resolver 7, a 4WD control circuit 8, and a host unit 9. .
The engine 1 generates driving force according to the driver's accelerator operation. The engine 1 rotationally drives the front wheels 10 and the generator 2 with the generated driving force. The engine 1 and the generator 2 are connected to each other by a connecting means such as a belt, and the generator 2 is driven by the engine 1. The generator 2 generates electric power according to its rotational speed and field magnetic flux. The generator 2 outputs the generated power to the inverter 3.

FIG. 2 shows a configuration including the generator 2, the inverter 3, the motor 4, the 4WD control circuit 8, the upper unit 9, and the like. FIG. 2 shows input / output of signals between the components. As shown in FIG. 2, the 4WD control circuit 8 includes a generator control unit 20, an inverter control unit 40, a voltage command value calculation unit 70, and a motor torque high response control unit 100.
FIG. 3 shows a configuration example of the generator control unit 20. As shown in FIG. 3, the generator control unit 20 includes a low-pass filter 21, a first adder 22, a P control unit 23, an I control unit 24, an FF control unit 25, a second adder 26, and a C1 calculation unit 27. .

The low pass filter 21 filters the upper torque command value Trqcmd. The upper torque command value Trqcmd is a torque command value determined by the driving operation of the driver. The host unit 9 outputs a host torque command value Trqcmd according to the driving operation of the driver. The low pass filter 21 outputs the filtered upper torque command value Trqcmd to the first adder 22. That is, the low pass filter 21 outputs the upper torque command value Trqcmd from which the high frequency component has been removed to the first adder 22.
The first adder 22 subtracts the internal torque command value Trqm from the upper torque command value Trqcmd. The internal torque command value Trqm is a command value output by the inverter control unit 40 (PI control unit 42). The first adder 22 outputs the subtraction result (torque deviation) to the P control unit 23 and the I control unit 24.

The P control unit 23 multiplies the torque deviation output from the first adder 22 by a specific gain. The P control unit 23 outputs the multiplication result (P control control amount Vp) to the second adder 26. The I control unit 24 integrates the torque deviation output from the first adder 22. The I control unit 24 outputs the integration result (I control control amount Vi) to the second adder 26.
When the integral result of torque deviation (I control control amount Vi) is larger than the preset upper limit value, the I control unit 24 outputs the upper limit value as the I control control amount Vi, and from the preset lower limit value. When the torque deviation integration result (I control control amount Vi) is small, the lower limit value is output as the I control control amount Vi.

The FF control unit 25 calculates the FF control control amount Vff based on the voltage command reference value Vdc ″ ^* , the upper torque command value Trqcmd, the motor rotation speed Nm, and the rotation speed Ng of the generator 2. Specifically, first, the FF control unit 25 calculates a power value based on the upper torque command value Trqcmd and the motor rotation speed Nm. Then, the FF control unit 25 calculates the FF control control amount Vff from the calculated power value, voltage command reference value Vdc ″ ^* and the rotational speed Ng of the generator 2. Specifically, a control map for obtaining a corresponding FF control control amount Vff from the power value and the voltage command reference value Vdc ″ ^* is provided. The control map is prepared for each rotation speed Ng of the generator 2. Thereby, the FF control unit 25 refers to such a control map, corresponds to the power value and the voltage command reference value Vdc ″ ^* , and corresponds to the rotational speed Ng of the generator 2 FF control control amount Vff. Get. The FF control unit 25 outputs the calculation result (FF control control amount Vff) to the second adder 26. Here, the voltage command reference value Vdc ″ ^* is output from the voltage command value etc. calculation unit 70 as described later.

The second adder 26 adds the P control control amount Vp, the I control control amount Vi, and the FF control control amount Vff. The second adder 26 outputs the addition result (control amount Vf) to the C1 calculation unit 27.
The C1 calculation unit 27 determines whether or not the DC voltage value Vdc is equal to or lower than the output voltage (12V) of a 12V battery (not shown). Here, the DC voltage value (actual voltage) Vdc is an output value of the generator voltage sensor 6. When the DC voltage value Vdc is 12 V or less, the C1 calculation unit 27 divides the control amount Vf output from the second adder 26 by 12 V. The C1 calculation unit 27 sets the division result as the field voltage PWM Duty ratio C1. Further, when the DC voltage value Vdc is larger than 12V, the C1 calculating unit 27 divides the control amount Vf output from the second adder 26 by the DC voltage value Vdc. The C1 calculation unit 27 sets the division result as the field voltage PWM Duty ratio C1.

  The generator control unit 20 performs PWM control for controlling the applied voltage (field current) to the field coil 2a (FIG. 2) of the generator 2 in accordance with the field voltage PWM Duty ratio thus obtained. Here, the field voltage PWM Duty ratio is an operation amount for manipulating the field current. In the generator 2, when a current according to the field voltage PWM Duty ratio C1 flows, the field coil 2a generates a magnetic force according to the magnitude of the current. Thereby, in the generator 2, the field coil 2a produces the magnetic flux which acts with a rotor (it comes to function as a field of the generator 2).

  As described above, the generator control unit 20 changes the field current by the deviation between the upper torque command value Trqcmd from the upper unit 9 and the internal torque command value Trqm from the inverter control unit 40. Specifically, the generator control unit 20 changes the field current by PI control with respect to the deviation between the upper torque command value Trqcmd and the internal torque command value Trqm. For example, if the internal torque command value Trqm is smaller than the upper torque command value Trqcmd (if the torque deviation is large), the field current increases. In this case, the internal torque command value Trqm increases.

Thus, the internal torque command value Trqm is a value determined by the field current. It should be noted that the response of the field current is low and lower than the response that the internal torque command value Trqm can change.
FIG. 4 shows a configuration example of the inverter control unit 40. As shown in FIG. 4, the inverter control unit 40 includes a third adder 41, a PI control unit 42, a field current command value calculation unit 43, an Id, Iq command value calculation unit 44, and a three-phase / two-phase conversion unit 45. A current F / B control unit 46, a Vd, Vq command value calculation unit 47, a fourth adder 48, a two-phase / three-phase conversion unit 49, and a PWM calculation unit 50.

The third adder 41 subtracts the DC voltage value Vdc from the voltage command value Vdc ^* . Here, the voltage command value Vdc ^* is a value output by the voltage command value etc. calculation unit 70. This voltage command value Vdc ^* is a voltage command value of electric power to be generated by the generator 2. That is, the voltage command value Vdc ^* is a value that is a voltage target of the generator 2. The third adder 41 outputs the subtraction result (voltage deviation) to the PI control unit 42.

The PI control unit 42 performs PI control based on the subtraction result (voltage deviation) output from the third adder 41. That is, the PI control unit 42 performs PI compensation for the deviation between the voltage command value Vdc ^* and the actual voltage (DC voltage value Vdc). The PI control unit 42 outputs the control result (internal torque command value Trqm) to the Id, Iq command value calculation unit 44 and the Vd, Vq command value calculation unit 47. Further, the PI control unit 42 outputs the control result (internal torque command value Trqm) to the generator control unit 20 (see FIG. 2) and the voltage command value calculation unit 70 (see FIG. 2).

In this way, the PI control unit 42 outputs the internal torque command value Trqm determined by the deviation between the voltage command value Vdc ^* and the actual voltage (DC voltage value Vdc). Specifically, the PI control unit 42 outputs an internal torque command value Trqm compensated for PI with respect to the deviation between the voltage command value Vdc ^* and the actual voltage (DC voltage value Vdc). That is, the internal torque command value Trqm is a value determined by the voltage command value Vdc ^* . Alternatively, the internal torque command value Trqm is a value that follows the voltage command value Vdc ^* .

The field current command value calculation unit 43 calculates a field current command value If ^* based on the motor rotation speed Nm. The field current command value calculation unit 43 controls the field current of the motor 4 according to the calculation result (field current command value If ^* ).
The Id, Iq command value calculation unit 44 calculates the target d-axis current Id ^* and the target q-axis current Iq ^* according to the control map based on the motor rotation speed Nm and the internal torque command value Trqm output from the PI control unit 42. . Here, the control map is a control map showing the target d-axis current Id ^* and the target q-axis current Iq ^* according to the motor rotation speed Nm and the internal torque command value Trqm.

The three-phase / two-phase converter 45 converts the detection results of the three-phase AC current values Iu, Iv, Iw output from the current sensor into two-phase DC current values Id, Iq. The current sensor is a sensor (not shown) that detects a current output from the inverter 3. The three-phase / two-phase converter 45 outputs the conversion result to the current F / B controller 46.
The current F / B control unit 46 outputs the two-phase DC current values Id and Iq output from the three-phase / two-phase conversion unit 45 and the target two-phase DC current values Id ^* and Id and Iq command value calculation unit 44. PI control is performed based on Iq ^* . The current F / B control unit 46 outputs the control results (feedback values) Vd ′ ^* and Vq ′ ^* to the fourth adder 48.

The Vd, Vq command value calculation unit 47 calculates the Vd command reference value Vd ″ ^* and the Vq command reference value Vq ″ ^* based on the internal torque command value Trqm output from the PI control unit 42 and the motor rotation speed Nm. To do. The Vd, Vq command value calculation unit 47 outputs the calculation results (Vd and Vq command reference values Vd ″ ^* , Vq ″ ^* ) to the fourth adder 48.
The fourth adder 48 adds the Vd and Vq command reference values Vd ″ ^* and Vq output from the Vd and Vq command value calculation unit 47 to the feedback values Vd ′ ^* and Vq ′ ^* output from the current F / B control unit 46. '' ^* Add to each to calculate the Vd command value Vd ^* and the Vq command value Vq ^* . The fourth adder 48 outputs the addition result (Vd and Vq command values Vd ^* , Vq ^* ) to the PI control unit 42.

The two-phase / three-phase converter 49 converts the Vd and Vq command values Vd ^* and Vq ^* output from the fourth adder 48 into U, V, and W phase sine wave command values of the inverter 3. The two-phase / three-phase converter 49 outputs the conversion result to the PWM calculator 50.
The PWM calculation unit 50 performs amplitude correction on the sine wave command value output from the two-phase / three-phase conversion unit 49. The PWM calculation unit 50 calculates the PWM command by comparing the amplitude-corrected sine wave command value with the triangular wave. The PWM calculation unit 50 outputs the PWM command (U, V, W phase switching control signal) to the inverter 3. Thus, the inverter control unit 40 outputs a PWM command (U, V, W phase switching control signal) based on the internal torque command value Trqm.

FIG. 5 shows a configuration example of the voltage command value etc. calculation unit 70. As illustrated in FIG. 5, the voltage command value calculation unit 70 includes a fifth adder 71, a PI control unit 72, a voltage command value calculation unit 73, and a sixth adder 74.
The fifth adder 71 adds or subtracts the required torque Trqadd, the internal torque command value Trqm, and the upper torque command value Trqcmd from the motor torque high response control unit 100.

  Here, the motor torque high response control unit 100 is a control unit for detecting a rapidly changing vehicle state and quickly increasing or decreasing the motor torque in accordance with the detected vehicle state. Specifically, the motor torque high response control unit 100 is a motor TCS (TractionControl System). The motor TCS suppresses the slip of the rear wheel 11 driven by the motor 4. For example, in the motor TCS, the driving of the motor 4 is suppressed so that the slip ratio of the rear wheel 11 is a predetermined value or less.

Alternatively, the motor torque high response control unit 100 is a vibration suppression control unit. When the motor 4 generates torque, the motor 4 (drive shaft) may oscillate. In the vibration suppression control, a torque that cancels the rotational vibration is generated in the motor 4.
The motor torque high response control unit 100 outputs, as the required torque Trqadd, a torque for rapidly increasing or decreasing the motor torque such as the motor TCS or vibration suppression control. The required torque Trqadd is a torque that is added to the upper torque command value Trqcmd that increases or decreases the torque of the motor 4 according to the operation state of the driver. If the motor torque high response control unit 100 functions as the motor TCS, the required torque Trqadd becomes a value that acts in the decreasing direction of the upper torque command value Trqcmd. Further, if the motor torque high response control unit 100 functions as a vibration suppression control unit, the required torque Trqadd becomes a value that acts in the increasing direction of the upper torque command value Trqcmd. With this required torque Trqadd, the torque of the motor 4 changes smoothly.

The fifth adder 71 subtracts the internal torque command value Trqm from the upper torque command value Trqcmd. Then, the fifth adder 71 adds the aforementioned required torque Trqadd to the subtraction result (torque deviation). The fifth adder 71 outputs the calculation result to the PI control unit 72.
The PI control unit 72 performs PI control based on the calculation result output from the fifth adder 71. The PI control unit 42 outputs a control result (voltage command value correction term Vdc ′ ^* ) by the PI control to the sixth adder 74. As a result, the PI control unit 72 outputs a voltage command value correction term Vdc ′ ^* that follows a value obtained by adding the required torque Trqadd to the torque deviation to the sixth adder 74.

The voltage command value calculation unit 73 calculates a voltage command reference value Vdc ″ ^* (corresponding to the original value of the power command value Vdc ^* ) based on the rotational speed Ng of the generator 2. For example, the voltage command value calculation unit 73 has a control map with the rotation speed Ng of the generator 2 as an argument. The voltage command value calculation unit 73 refers to the control map and sets a voltage command reference value Vdc ″ ^* corresponding to the rotational speed Ng of the generator 2. Here, the rotational speed Ng of the generator 2 can be replaced with the rotational speed of the engine 1. The voltage command value calculation unit 73 outputs the calculation result (voltage command reference value Vdc ″ ^* ) to the sixth adder 74. Further, the voltage command value calculation unit 73 outputs the calculation result (voltage command reference value Vdc ″ ^* ) to the generator control unit 20.

The sixth adder 74 subtracts the voltage command value correction term Vdc ′ ^* output from the PI control unit 72 from the voltage command reference value Vdc ″ ^* output from the voltage command value calculation unit 73. The sixth adder 74 outputs the subtraction result (voltage command value (DC voltage command value) Vdc ^* ).
As described above, the voltage command value Vdc ^* is mainly determined by the upper torque command value Trqcmd, the internal torque command value Trqm, and the rotational speed Ng of the generator 2. The voltage command value etc. calculation unit 70 outputs the voltage command value Vdc ^* to the inverter control unit 40.

The inverter 3 rotationally drives the motor 4 using the power supplied by the generator 2 in accordance with the U, V, and W phase switching control signals output from the 4WD control circuit 8 (PWM operation unit 50). The motor 4 is an AC motor. The motor 4 rotationally drives the rear wheel 11 via the clutch 12 by the driving force.
The capacitor 5 functions, for example, to smooth the current from the generator 2. The capacitor 5 is in a state where one electrode is connected to the power line 13 that connects the output terminal of the generator 2 and the input terminal of the inverter 3. The capacitor 5 is in a state where the other electrode is grounded. With such a connection, the capacitor 5 can make the voltage between both electrodes higher than 12V (a voltage higher than that of a 12V battery (not shown) can be generated).

The generator voltage sensor 6 detects the output voltage (DC voltage value Vdc) of the generator 2. The generator voltage sensor 6 outputs the detection result (DC voltage value Vdc) to the 4WD control circuit 8 (the generator control unit 20 and the inverter control unit 40).
The motor resolver 7 detects the rotational speed Nm of the motor 4 and the motor magnetic pole position. The motor resolver 7 outputs the detection result to the 4WD control circuit 8 (the generator control unit 20 and the inverter control unit 40).

(Operation and action)
As shown in FIG. 5, the voltage command value calculation unit 70 receives a required torque Trqadd (requested torque Trqadd acting in a direction to increase the upper torque command value Trqcmd) from the motor torque high response control unit 100. Reduce voltage command value Vdc ^* .
FIG. 6 shows changes in the voltage command value Vdc ^* and the internal torque command value Trqm depending on an isofield current line (output possible characteristic line), an isopower line (constant power line), and the like. FIG. 6 shows an example when there is an input of a required torque Trqadd that acts in the direction of increasing the upper torque command value Trqcmd.

When the required torque Trqadd is input from the motor torque high response control unit 100, the voltage command value Vdc ^* decreases in the inverter control unit 40 as shown in FIG. Thereby, in the inverter control unit 40, the internal torque command value Trqm is increased by feedback of the voltage deviation between the voltage command value Vdc ^* and the DC voltage value Vdc (control of the PI control unit 42 in FIG. 4).

At this time, the operating point moves to a point where the output is high on the isomagnetic field line St3 of the generator 2 so as to follow the voltage command value Vdc ^* . Then, the operating point moves to the maximum generated power point (maximum output point) that is the point where the isofield current line and the isopower line are in contact. At this time, even if the field current of the generator 2 does not change, the operating point moves to the maximum generated power point on the isofield current line. The movement at this time is a movement by the switching operation of the inverter 3, that is, a movement corresponding to the response of the inverter 3.

When the operating point moves due to such a change in the voltage command value Vdc ^* , the generator control unit 20 performs PI control with respect to the deviation between the internal torque command value Trqm and the upper torque command value Trqcmd at that time. Thus, the field current of the generator 2 is changed. As the field current of the generator 2 increases, the internal torque command value Trqm increases.
Here, the movement of the operating point due to the response of the inverter 3 is a movement with sufficiently quick response compared to that due to the field time constant of the generator 2 (movement due to the response of the field current). As a result, the change (in the example in FIG. 6) of the internal torque command value Trqm due to the change in the voltage command value Vdc ^* (in the example in FIG. 6) has a faster response than that due to the change in the field current.

FIG. 7 schematically shows changes in the internal torque command value Trqm. As shown in FIG. 7, the internal torque command value Trqm is caused by the change in the operating point on the isofield current line St3 due to the voltage command value Vdc ^* change of the inverter control unit 40 and the field current change of the generator control unit 20. It changes with the movement of the operating point between the isomagnetic field current lines. It is assumed that the motor speed increases at the time of vibration suppression. In such a scene where the motor speed Nm increases, the isofield current line corresponding to the motor speed Nm must be moved. become.

As described above, as a result of the internal torque command value Trqm changing according to the voltage command value Vdc ^* and the field current, the internal torque command value Trqm changes while vibrating. As a result, while the internal torque command value Trqm increases so as to follow the upper torque command value Trqcmd, the vibration component of the internal torque command value Trqm changes rapidly (rotational vibration) during the vibration suppression control. ) Will be offset. As a result, the motor 4 smoothly increases the torque so as to follow the upper torque command value Trqcmd while suppressing the rotational vibration.

  FIG. 8 shows changes in the internal torque command value Trqm shown in comparison with FIG. As shown in FIG. 8, when the internal torque command value Trqm is increased in accordance with the upper torque command value Trqcmd, it is conceivable that the internal torque command value Trqm is increased only by the field current. In this case, since the responsiveness of the internal torque command value Trqm depends on the responsiveness of the field current, the internal torque command value Trqm is highly responsive with respect to the upper torque command value Trqcmd that implements damping control and the like. It cannot be answered. On the other hand, by changing the internal torque command value Trqm as shown in FIG. 6, the internal torque command value Trqm can be made to respond with high responsiveness for vibration control or the like.

(Modification of the first embodiment)
(1) FIG. 9 shows a configuration example of the motor TCS 101 as the motor torque high response control unit 100. As shown in FIG. 9, the motor TCS 101 reduces the motor torque so as to suppress the slip of the wheel speed based on the deviation between the vehicle body speed and the wheel speed. The motor TCS 101 outputs the required torque Trqadd as a value for reducing the motor torque. For example, the required torque Trqadd is a value that increases or decreases in accordance with the deviation between the vehicle body speed and the wheel speed. Due to the required torque Trqadd, the voltage command value Vdc ^* increases.

(2) FIG. 10 shows a configuration example of the vibration suppression control unit 110 as the motor torque high response control unit 100. As shown in FIG. 10, the vibration suppression control unit 110 filters the motor rotation speed with a high-pass filter. And the vibration suppression control part 110 multiplies the value obtained by filtering by the gain 112, and outputs the value obtained by it as request | requirement torque Trqadd. For example, the required torque Trqadd is a value that increases or decreases according to a high-frequency vibration component.

(3) FIG. 11 is a configuration example having the motor TCS 101 and the vibration suppression control unit 110 as the motor torque high response control unit 100. In this case, the seventh addition unit 120 adds the required torque Trqadd1 output from the motor TCS101 and the required torque Trqadd2 output from the vibration suppression control unit 110. Then, the seventh addition unit 120 outputs the added value as the required torque Trqadd.

(4) The motor torque high response control unit 100 is not limited to the motor TCS and vibration suppression control, and can detect a sudden change in the vehicle state and correct the torque of the motor in accordance with the detected suddenly changed vehicle state.
(5) The 4WD control circuit 8 can have the motor torque high response control unit 100, and the inverter control unit 40 of the 4WD control circuit 8 can also have the motor torque high response control unit 100.

  In the first embodiment, the generator 2 realizes a generator driven by a field current. Moreover, the motor 4 implement | achieves the motor which drives a wheel. Moreover, the inverter 3 implement | achieves the inverter which supplies the electric power generated by the said generator to a motor. The host unit 9 realizes a main motor torque command value output means for outputting a main motor torque command value corresponding to the driving operation state of the driver. The motor torque high response control unit 100 also includes a vehicle state detection unit that detects a sudden change in the vehicle state, and a modified motor torque command that corrects the torque of the motor in accordance with the vehicle state that changes suddenly detected by the vehicle state detection unit. A modified motor torque command value output means for outputting a value is realized. Further, the generator control unit 20 realizes a generator control means for controlling the field current based on the main motor torque command value output from the main motor torque command value output means. The inverter control unit 40 controls the switching of elements of the inverter based on a target voltage command value for supplying electric power from the generator to the motor, and supplies electric power from the generator to the motor. The inverter control means for controlling the target voltage command value based on the corrected motor torque command value output from the corrected motor torque command value output means is realized.

Further, the vibration suppression control unit 110 detects vehicle state detection means that detects rotational vibration of the motor as a sudden change in the vehicle state, and a corrected motor torque command value that suppresses rotational vibration of the motor detected by the vehicle state detection means. A modified motor torque command value output means for outputting is realized.
Further, the motor TCS 101 includes vehicle state detection means for detecting the slip of the wheel as a sudden change in the vehicle state, and rotation of the motor for driving the wheel to suppress the wheel slip detected by the vehicle state detection means. A corrected motor torque command value output means for outputting a corrected motor torque command value for suppressing the above is realized.

(effect)
The effects of the first embodiment are as follows.
(1) The generator control unit 20 controls the field current of the generator 2 based on the upper torque command value Trqcmd (main motor torque command value) corresponding to the driving operation state of the driver. The motor torque high response control unit 100 detects a sudden change in the vehicle state. Then, based on the required torque Trqadd (corrected motor torque command value) corresponding to the detected suddenly changing vehicle state, the inverter control unit 40 controls the voltage command value Vdc ^* (target voltage command value) for switching the elements of the inverter 3. ) To control.
As a result, the voltage command value Vdc ^* having higher responsiveness than the field current of the generator 2 can be controlled based on the required torque Trqadd for correcting the torque of the motor 4 according to the vehicle state that changes suddenly. As a result, it is possible to appropriately change the torque of the motor 4 that drives the wheels in accordance with the vehicle state that changes suddenly.

(2) The inverter control unit 40 calculates the internal torque command value Trqm based on the deviation between the voltage command value Vdc ^* and the DC voltage value Vdc (actual voltage value) when power is supplied from the generator 2 to the motor 4. To do. Then, the inverter control unit 40 performs switching control of the elements based on the calculated internal torque command value Trqm and supplies the electric power from the generator 2 to the motor 4. On the other hand, the generator control unit 20 controls the field current based on the deviation between the upper torque command value Trqcmd and the internal torque command value Trqm. As a result, the voltage command value Vdc ^* is changed based on the required torque Trqadd to change the internal torque command value Trqm.

Here, the fifth adder 71, the PI control unit 72, and the sixth adder 74 realize changing the voltage command value Vdc ^* based on the required torque Trqadd (FIG. 5). Further, the PI control unit 42 realizes that the internal torque command value Trqm is changed by changing the voltage command value Vdc ^* (FIG. 4).
In this way, even when the inverter 3 is controlled to be switched using the internal torque command value Trqm, and further the field current is controlled using the internal torque command value Trqm, the inverter 3 is adapted to the rapidly changing vehicle state. The torque of the motor 4 that drives the wheel can be appropriately changed.

(3) The motor torque high response control unit 100 (vibration control unit) detects the rotational vibration of the motor as a sudden change in the vehicle state, and outputs a requested torque Trqadd that suppresses the rotational vibration of the motor.
As a result, even when the motor 4 rotates and vibrates as a suddenly changing vehicle state, the torque of the motor 4 can be appropriately changed (rapidly increased) accordingly.
(4) Motor torque high response control unit 100 (motor TCS) detects a wheel slip as a sudden change in the vehicle state, and requests torque to suppress rotation of the motor that drives the wheel to suppress the wheel slip. Outputs Trqadd.
Thereby, even when a wheel slips as a vehicle state that changes suddenly, the torque of the motor 4 can be appropriately changed (rapidly reduced) accordingly.

(Second Embodiment)
The second embodiment is a vehicle drive control device. In the second embodiment, the inverter control unit 40 and the voltage command value etc. calculation unit 70 are different from those in the first embodiment.
FIG. 12 shows the configuration of the voltage command value etc. calculation unit 70 in the second embodiment. As shown in FIG. 12, in the voltage command value calculation unit 70, the fifth adder 71 corrects an internal torque command value, which will be described later, output from the inverter control unit 40 based on the required torque Trqadd from the motor torque high response control unit 100. The term (correction internal torque command value) Trqm2 is subtracted. The fifth adder 71 outputs the subtraction result to the PI control unit 72.

The PI control unit 72 performs PI control based on the subtraction result (requested torque deviation) output from the fifth adder 71. The PI control unit 72 outputs the control result (voltage command value correction term Vdc ′ ^* ) by the PI control to the inverter control unit 40 as it is. In addition, the voltage command value calculation unit 75 calculates a voltage command value Vdc ^* (corresponding to a voltage command reference value Vdc ″ ^* ) according to the rotational speed Ng of the generator 2. The voltage command value calculation unit 75 outputs the calculation result (voltage command value Vdc ^* ) to the inverter control unit 40 as it is. The voltage command value calculation unit 75 outputs the calculation result (voltage command value Vdc ^* ) to the generator control unit 20 as a voltage command reference value Vdc ″ ^* .

FIG. 13 shows the configuration of the inverter control unit 40 in the second embodiment. As illustrated in FIG. 13, the inverter control unit 40 further includes a PI control unit 51 and an eighth adder 52.
The PI control unit 51 performs PI control based on the voltage command value correction term Vdc ′ ^* ) output from the voltage command value calculation unit 70. The PI control unit 51 outputs a control result (internal torque command value correction term Trqm2) by the PI control to the eighth adder 52. Further, the PI control unit 51 outputs a control result (internal torque command value correction term Trqm2) by the PI control to the voltage command value etc. calculation unit 70. Accordingly, the PI control unit 72 outputs the internal torque command value correction term Trqm2 that follows the voltage command value correction term Vdc ′ ^* to the eighth adder 52 and the voltage command value calculation unit 70.

Therefore, the PI control unit 72 of the voltage command value calculation unit 70 to which the internal torque command value correction term Trqm2 is input follows the request torque Trqadd with the internal torque command value correction term Trqm2 as the actual torque of the request torque Trqadd. This means that the voltage command value correction term Vdc ' ^* is being output.
The eighth adder 52 adds the internal torque command value correction term Trqm2 output from the PI control unit 51 and the value (corresponding to the original internal torque command value Trqm) output from the other PI control unit 42. Thereby, the eighth adder 52 obtains the final internal torque command value Trqm. The eighth adder 52 outputs the internal torque command value Trqm to the Id, Iq command value calculation unit 44 and the Vd, Vq command value calculation unit 47. Further, the eighth adder 52 outputs the internal torque command value Trqm to the generator control unit 20 (see FIG. 2).

(Operation and action)
The voltage command value calculation unit 70 outputs a voltage command value correction term Vdc ′ ^* ) that follows the required torque Trqadd from the motor torque high response control unit 100 by PI control. Further, the voltage command value calculation unit 70 outputs a voltage command value Vdc ^* corresponding to the rotational speed Ng of the generator 2.
On the other hand, the inverter control unit 40 outputs an internal torque command value correction term Trqm2 following the voltage command value correction term Vdc ′ ^* ) output from the voltage command value calculation unit 70 by PI control. Further, the inverter control unit 40 outputs a voltage deviation between the voltage command value Vdc ^* output from the voltage command value calculation unit 70 and the DC voltage value Vdc by PI control. The inverter control unit 40 adds the internal torque command value correction term Trqm2 to the voltage deviation and outputs the internal torque command value Trqm.

With the configuration as described above, the internal torque command value Trqm can be changed as in the first embodiment. That is, the internal torque command value Trqm is calculated between the change in the operating point on the isofield current line due to the change in the voltage command value Vdc ^* of the inverter control unit 40 and the isofield current line due to the field current change in the generator control unit 20. It changes with the movement of the operating point (see FIG. 7). As described above, as a result of the internal torque command value Trqm changing according to the voltage command value Vdc ^* and the field current, the internal torque command value Trqm changes while vibrating. As a result, while the internal torque command value Trqm increases so as to follow the upper torque command value Trqcmd, the vibration component of the internal torque command value Trqm changes rapidly (rotational vibration) during the vibration suppression control. ) Will be offset. As a result, the motor 4 smoothly increases the torque following the upper torque command value Trqcmd while suppressing rotational vibration.

(effect)
The effects of the second embodiment are as follows.
(1) The generator control unit 20 controls the field current of the generator 2 based on the upper torque command value Trqcmd (main motor torque command value) corresponding to the driving operation state of the driver. The motor torque high response control unit 100 detects a sudden change in the vehicle state. Then, based on the required torque Trqadd (corrected motor torque command value) corresponding to the detected suddenly changing vehicle state, the inverter control unit 40 controls the voltage command value Vdc ^* (target voltage command value) for switching the elements of the inverter 3. ) To control.

As a result, the voltage command value Vdc ^* having higher responsiveness than the field current of the generator 2 can be controlled based on the required torque Trqadd for correcting the torque of the motor 4 according to the vehicle state that changes suddenly. As a result, it is possible to appropriately change the torque of the motor 4 that drives the wheels in accordance with the vehicle state that changes suddenly.
The configuration of the voltage command value calculation unit 70 shown in FIG. 12, the PI control units 42 and 51 and the eighth adder 52 of the inverter control unit 40 shown in FIG. 13 are based on the required torque Trqadd. It is possible to control the voltage command value Vdc ^* for switching control of the element.

(2) As shown in FIG. 12, the voltage command value computing unit 70 calculates the voltage command value Vdc ^* without using the upper torque command value Trqcmd and the internal torque command value Trqm. That is, the voltage command value etc. calculation unit 70 calculates the voltage command value Vdc ^* without reacting to the torque deviation.
As a result, a stable voltage command value Vdc ^* can be obtained, and a stable internal torque command value Trqm can be obtained.

(Third embodiment)
The third embodiment is a vehicle drive control device. In the third embodiment, the host unit 9 performs motor torque high response control such as motor TCS and vibration suppression control, and motor torque control according to the driving operation of the driver.
FIG. 14 shows the configuration of the voltage command value etc. calculation unit 70 in the third embodiment. As shown in FIG. 14, the upper unit 9 includes, as the upper torque command value Trqcmd, the upper torque command value Trqcmd for motor torque control according to the driving operation of the driver, and the required torque for motor torque high response control. The addition value with Trqadd is output to the voltage command value etc. computing unit 70. That is, the upper unit 9 adds the required torque Trqadd to the upper torque command value Trqcmd and outputs the result to the voltage command value calculation unit 70 as the upper torque command value Trqcmd.

  In the voltage command value calculation unit 70, the fifth adder 71 subtracts the internal torque command value Trqm from the added value (upper torque command value Trqcmd). The fifth adder 71 outputs the subtraction result to the PI control unit 72. The PI control unit 72 performs PI control based on the subtraction result output from the fifth adder 71 as in the first embodiment.

(Operation and action)
In the third embodiment, the upper unit 9 outputs the upper torque command value Trqcmd as an addition value of the upper torque command value Trqcmd according to the driving operation of the driver and the required torque Trqadd for motor torque high response control. . Even in this case, the fifth adder 71 subtracts the required torque Trqadd from the upper torque command value Trqcmd so that the subtraction value output from the fifth adder 71 is the fifth adder in the first embodiment. It becomes the same value as the calculation result outputted by 71. In the third embodiment, as in the first embodiment, the PI control unit 72 performs PI control on the subtraction result output from the fifth adder 71 in the same manner as in the first embodiment. And output the voltage command value correction term Vdc ' ^* ).

Thereby, also in 3rd Embodiment, the internal torque command value Trqm can be changed similarly to the said 1st Embodiment. That is, the internal torque command value Trqm is calculated between the change in the operating point on the isofield current line due to the change in the voltage command value Vdc ^* of the inverter control unit 40 and the isofield current line due to the field current change in the generator control unit 20. It changes with the movement of the operating point (see FIG. 7). As described above, as a result of the internal torque command value Trqm changing according to the voltage command value Vdc ^* and the field current, the internal torque command value Trqm changes while vibrating. As a result, while the internal torque command value Trqm increases so as to follow the upper torque command value Trqcmd, the vibration component of the internal torque command value Trqm changes rapidly (rotational vibration) during the vibration suppression control. ) Will be offset. As a result, the motor 4 smoothly increases the torque following the upper torque command value Trqcmd while suppressing rotational vibration.

  In the third embodiment, the upper unit 9 includes main motor torque command value output means for outputting a main motor torque command value corresponding to the driving operation state of the driver, and vehicle state detection for detecting a sudden change in the vehicle state. And a corrected motor torque command value output means for outputting a corrected motor torque command value for correcting the torque of the motor in accordance with the suddenly changing vehicle state detected by the vehicle state detecting means.

(effect)
The effects of the third embodiment are as follows.
(1) The generator control unit 20 controls the field current of the generator 2 based on the upper torque command value Trqcmd (main motor torque command value) corresponding to the driving operation state of the driver. Further, the inverter control unit 40 controls the voltage command value Vdc ^* (target voltage command value) for switching control of the elements of the inverter 3 based on the required torque Trqadd (corrected motor torque command value) corresponding to the rapidly changing vehicle state. To do.
As a result, the voltage command value Vdc ^* having higher responsiveness than the field current of the generator 2 can be controlled based on the required torque Trqadd for correcting the torque of the motor 4 according to the vehicle state that changes suddenly. As a result, it is possible to appropriately change the torque of the motor 4 that drives the wheels in accordance with the vehicle state that changes suddenly.

(2) The upper unit 9 outputs the upper torque command value Trqcmd as an addition value of the upper torque command value Trqcmd according to the driving operation of the driver and the required torque Trqadd for motor torque high response control.
Even in this case, it is possible to appropriately change the torque of the motor 4 that drives the wheels in accordance with the suddenly changing vehicle state.

(Fourth embodiment)
The fourth embodiment is a vehicle drive control device. In the fourth embodiment, as in the third embodiment, the host unit 9 performs motor torque high response control such as motor TCS and vibration suppression control and motor torque control according to the driving operation of the driver. ing. In the fourth embodiment, processing is performed with the same configuration as that of the second embodiment.

  FIG. 15 shows the configuration of the voltage command value etc. calculation unit 70 in the fourth embodiment. As shown in FIG. 15, the voltage command value calculation unit 70 has a high-pass filter 76. In the voltage command value calculation unit 70, the high order torque command value Trqcmd from the high order unit 9 is input to the high pass filter 76. The upper torque command value Trqcmd here is an addition value of the torque command value Trqcmd according to the driving operation of the driver and the required torque Trqadd for motor torque high response control. The high pass filter 76 extracts the required torque Trqadd for motor torque high response control by filtering. The high pass filter 76 outputs the required torque Trqadd to the fifth adder 71.

The fifth adder 71 performs the same process as in the second embodiment on the required torque Trqadd output from the high-pass filter 76. That is, the fifth adder 71 subtracts the internal torque command value correction term Trqm2 output from the inverter control unit 40 from the required torque Trqadd. Then, the fifth adder 71 outputs the subtraction result to the PI control unit 72. Similarly to the second embodiment, the PI control unit 72 performs PI control on the subtraction result output from the fifth adder 71 and outputs a voltage command value correction term Vdc ′ ^* ).

(Operation and action)
In the fourth embodiment, the upper unit 9 outputs the upper torque command value Trqcmd as an addition value of the upper torque command value Trqcmd according to the driving operation of the driver and the required torque Trqadd for motor torque high response control. . Then, the high pass filter 76 extracts the required torque Trqadd and outputs the required torque Trqadd to the fifth adder 71. Thereby, the subtraction value output from the fifth adder 71 becomes the same value as the subtraction result output from the fifth adder 71 in the second embodiment.

Thereby, also in 4th Embodiment, the internal torque command value Trqm can be changed similarly to the said 2nd Embodiment. That is, the internal torque command value Trqm is calculated between the change in the operating point on the isofield current line due to the change in the voltage command value Vdc ^* of the inverter control unit 40 and the isofield current line due to the field current change in the generator control unit 20. It changes with the movement of the operating point (see FIG. 7). As described above, as a result of the internal torque command value Trqm changing according to the voltage command value Vdc ^* and the field current, the internal torque command value Trqm changes while vibrating. As a result, while the internal torque command value Trqm increases so as to follow the upper torque command value Trqcmd, the vibration component of the internal torque command value Trqm changes rapidly (rotational vibration) during the vibration suppression control. ) Will be offset. As a result, the motor 4 smoothly increases the torque following the upper torque command value Trqcmd while suppressing rotational vibration.

  In the fourth embodiment, the upper unit 9 includes main motor torque command value output means for outputting a main motor torque command value corresponding to the driving operation state of the driver, and vehicle state detection for detecting a sudden change in the vehicle state. And a corrected motor torque command value output means for outputting a corrected motor torque command value for correcting the torque of the motor in accordance with the suddenly changing vehicle state detected by the vehicle state detecting means.

(effect)
The effects of the fourth embodiment are as follows.
(1) The generator control unit 20 controls the field current of the generator 2 based on the upper torque command value Trqcmd (main motor torque command value) corresponding to the driving operation state of the driver. Further, the inverter control unit 40 controls the voltage command value Vdc ^* (target voltage command value) for switching control of the elements of the inverter 3 based on the required torque Trqadd (corrected motor torque command value) corresponding to the rapidly changing vehicle state. To do.
As a result, the voltage command value Vdc ^* having higher responsiveness than the field current of the generator 2 can be controlled based on the required torque Trqadd for correcting the torque of the motor 4 according to the vehicle state that changes suddenly. As a result, it is possible to appropriately change the torque of the motor 4 that drives the wheels in accordance with the vehicle state that changes suddenly.

(2) As shown in FIG. 15, the voltage command value calculation unit 70 calculates the voltage command value Vdc ^* without using the upper torque command value Trqcmd and the internal torque command value Trqm. That is, the voltage command value etc. calculation unit 70 calculates the voltage command value Vdc ^* without reacting to the torque deviation.
As a result, a stable voltage command value Vdc ^* can be obtained, and a stable internal torque command value Trqm can be obtained.
(3) The upper unit 9 outputs the upper torque command value Trqcmd as an addition value of the upper torque command value Trqcmd according to the driving operation of the driver and the request torque Trqadd for motor torque high response control.
Even in this case, it is possible to appropriately change the torque of the motor 4 that drives the wheels in accordance with the suddenly changing vehicle state.

It is a figure which shows schematic structure of the drive control apparatus for vehicles of the 1st Embodiment of this invention. It is a principal part enlarged view which expands and shows the principal part of FIG. It is a block diagram which shows the structure of a generator control part. It is a block diagram which shows the structure of an inverter control part. It is a block diagram which shows the structure of calculating parts, such as a voltage command value. FIG. 6 is a characteristic diagram showing a change in voltage command value Vdc ^* and internal torque command value Trqm depending on an isofield current line, an isopower line, and the like. It is a figure which shows typically the change of internal torque command value Trqm. It is a characteristic view which shows the change of the internal torque command value Trqm compared with FIG. It is a figure which shows the structural example of motor TCS which is a motor torque high response control part. It is a figure which shows the structural example of the vibration suppression control part which is a motor torque high response control part. It is a figure which shows the structural example of the motor torque high response control part which has a motor TCS and a vibration suppression control part. It is a block diagram which shows the structure of calculating parts, such as a voltage command value, in 2nd Embodiment. It is a block diagram which shows the structure of the inverter control part in 2nd Embodiment. It is a block diagram which shows the structure of calculating parts, such as a voltage command value, in 3rd Embodiment. It is a block diagram which shows the structure of calculating parts, such as a voltage command value, in 4th Embodiment.

Explanation of symbols

  1 Engine, 2 Generator, 2a Field Coil, 3 Inverter, 4 Motor, 5 Capacitor, 8 4WD Control Circuit, 9 Host Unit, 20 Generator Control Unit, 40 Inverter Control Unit, 70 Voltage Command Value etc. Calculation Unit, 100 Motor High torque response control unit, 101 Motor TCS, 110 Vibration suppression control unit

Claims (4)

In a vehicle drive control device comprising: a generator driven by a field current; a motor that drives a wheel; and an inverter that supplies electric power generated by the generator to the motor.
Main motor torque command value output means for outputting a main motor torque command value corresponding to the driving operation state of the driver;
Vehicle state detection means for detecting a sudden change in the vehicle state;
A corrected motor torque command value output means for outputting a corrected motor torque command value for correcting the torque of the motor according to the suddenly changing vehicle state detected by the vehicle state detection means;
Generator control means for controlling the field current based on a main motor torque command value output by the main motor torque command value output means;
The modified motor torque is controlled while switching the elements of the inverter based on a target voltage command value for supplying electric power from the generator to the motor and supplying electric power from the generator to the motor. Inverter control means for controlling the target voltage command value based on the corrected motor torque command value output by the command value output means;
A vehicle drive control device comprising: The inverter control means calculates an internal torque command value based on a deviation between the target voltage command value and an actual voltage value when power is supplied from the generator to the motor, and calculates the calculated internal torque command value. Based on the switching control of the element to supply power from the generator to the motor,
The generator control means controls the field current based on a deviation between the main motor torque command value and the internal torque command value calculated by the inverter control means,
2. The vehicle drive control device according to claim 1, wherein the internal torque command value is changed by changing the target voltage command value based on the corrected motor torque command value. The vehicle state detection means detects rotational vibration of the motor as a sudden change in the vehicle state,
The vehicle drive control according to claim 1 or 2, wherein the corrected motor torque command value output means outputs a corrected motor torque command value that suppresses rotational vibration of the motor detected by the vehicle state detection means. apparatus. The vehicle state detection means detects a slip of the wheel as a sudden change in the vehicle state,
The corrected motor torque command value output means outputs a corrected motor torque command value that suppresses rotation of the motor that drives the wheel in order to suppress slippage of the wheel detected by the vehicle state detection means. The vehicle drive control device according to any one of claims 1 to 3.

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