JP2015136207A - Torque return control method and electric motor control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a possibility that an idling slide occurs once again during the return control of re-adhesion control.SOLUTION: When an application condition of slowing processing is satisfied, the slowing processing is applied during return control at re-adhesion control. The slowing processing means processing for temporarily stopping a return motion, or processing for reducing a return pace (that is, a return speed) for making a torque command value approximate a target torque value. Fig. (1) indicates that, since the application condition is satisfied at a time point of a time t35, the return motion is temporarily stopped for times t35 to t36. Fig. (2) indicates that, since a second holding period is finished, and the application condition is satisfied at a time point of a time t29 at which a second return motion is started, a start of the return motion is temporarily stopped by a time t30 as it is.

Description

  The present invention relates to a torque return control method and the like performed after lowering a torque command value of an electric motor that drives a moving wheel in re-adhesion control for re-adhering a moving wheel in which idling or sliding has occurred.

  An electric vehicle, an electric vehicle, and the like are known as vehicles that travel by driving a driving wheel with an electric motor. Hereinafter, an electric vehicle will be described as a representative example. An electric vehicle is accelerated and decelerated by a tangential force (also called adhesive force) between wheels and rails. If the driving force generated by the generated torque of the electric motor is less than the adhesive force acting on the wheels and rails, the adhesive running is performed. If the driving force exceeds the adhesive force, the idle running or sliding (hereinafter referred to as “idling running”) is performed. Occurs. When the occurrence of idling is detected, control for reducing the generated torque of the electric motor to return to adhesion running, that is, re-adhesion control is performed (see, for example, Patent Document 1).

JP 2002-44804 A

  The re-adhesion control is broadly divided into two types of control: a reduction control for reducing the torque command value of the electric motor, and a return control for returning the reduced torque command value. Since the determination (monitoring) of whether or not the idling has occurred is always performed, the occurrence of idling may be detected during the return control. In that case, the return control is discontinued, the pull-down control is performed once again, and the re-adhesion control is performed again.

  However, for example, a situation in which idling is likely to occur is a situation in which a large traction force (tensile force) is required, such as when starting from a stop or when climbing, so that the occurrence of idling is detected and re-adhesion control is performed. It is possible that another detection will occur while As a result, the torque is reduced again before the return of the torque is completed, and thus there is a possibility that a desired traction force (tensile force) cannot be exhibited.

  The present invention has been devised for the purpose of reducing the possibility of another idling during the return control of the re-adhesion control.

The first invention for solving the above problems is:
A torque return control method that is performed after the torque command value of the electric motor that drives the driving wheel is lowered in the re-adhesion control for re-adhering the driving wheel in which idling or sliding occurs.
1) a speed difference between the speed related to the rotation of the driving wheel and a given reference speed; and / or 2) acceleration associated with the rotation of the driving wheel slows down the return operation of the torque command value. A detection step (for example, step S10 in FIG. 4) for detecting that a predetermined threshold condition defined as an application condition is satisfied;
An application step (for example, step S22 in FIG. 4) of applying the slowing process to the return operation in response to detection in the detection step;
Is a torque return control method.

  According to the first aspect of the present invention, in the torque return control after reducing the torque command value, the speed difference between the speed related to the rotation of the driving wheel and the given reference speed, and / or 2) the rotation related to the rotation of the driving wheel. When the acceleration satisfies a predetermined threshold condition, the return operation of the torque command value is slowed down. Whether or not idling is likely to occur can be estimated using 1) speed difference and 2) acceleration. Therefore, during the torque return control, it is possible to determine whether or not it is likely that re-sliding is likely to occur again based on whether or not a predetermined threshold condition is satisfied. And when predetermined | prescribed threshold value conditions are satisfy | filled, the possibility that idling will generate | occur | produce can be reduced by slowing down the reset operation | movement of a torque command value.

The second invention is the first invention, wherein
The application step is a torque return control method including a temporary stop step of temporarily stopping a return operation of the torque command value as the slowing-down process.

  According to the second aspect of the present invention, the return operation of the torque command value can be temporarily stopped as the slackening process. Therefore, it is possible to suppress the fluctuation of the torque and reduce the possibility of idling during the return operation. it can.

The third invention is the first or second invention, wherein
In the torque return control method, the application step includes a return pace reduction step of reducing a return pace for returning the torque command value as the slowing process.

  According to the third aspect of the invention, since the return speed of the torque command value can be reduced as the slowing process, the rising speed at which the torque command value is returned can be suppressed, and the possibility of idling during the return operation can be prevented. Can be reduced.

Moreover, 4th invention is either 1st-3rd invention,
The application step is a step of applying the slowing process while being detected in the detection step, and releasing the application when it is no longer detected.
This is a torque return control method.

  According to the fourth aspect of the invention, the slowing process is performed only while the predetermined threshold condition is satisfied, and is released when the threshold value is no longer satisfied.

The fifth invention is the fourth invention, wherein
A release step (for example, YES to step S26 in step S24 of FIG. 4) for canceling the application of the slowing process when the application duration of the slowing process reaches a predetermined time;
The torque return control method further includes:

  According to the fifth aspect, when the application duration of the slowing process reaches a predetermined time, the application of the slowing process is canceled. When application of the slackening process is continued, it takes time to return the torque, and as a result, the driving force of the entire vehicle does not return to the original driving force. Therefore, when the application continuation time reaches a predetermined time, the application of the slowing process is canceled and the original return operation is restored, and this problem can be solved.

Moreover, 6th invention is 4th or 5th invention,
A deterring step (for example, step S16 in FIG. 4) for suppressing application of the slowing process when the number of times of applying the slowing process reaches a predetermined number of times;
The torque return control method further includes:

  According to the sixth aspect of the invention, when the number of times of applying the slowing process reaches a predetermined number, the slowing process can not be applied. This is because when the application of the slackening process is repeatedly performed, it takes time to return the torque, and as a result, the driving force of the entire vehicle does not return to the original driving force.

  The seventh aspect of the invention relates to the torque return according to any one of the first to sixth aspects of the invention after lowering the torque command value of the electric motor that drives the moving wheel in the re-adhesion control for re-adhering the moving wheel in which slipping has occurred. It is an electric motor control apparatus (for example, electric motor control apparatus 50 of FIG. 5) which performs a control method.

  According to the seventh aspect of the invention, it is possible to configure an electric motor control device that exhibits the effects of the first to sixth aspects of the invention.

The figure for demonstrating re-adhesion control. The figure for demonstrating an example of the sudden change of the shaft speed during re-adhesion control. The figure for demonstrating an example of the slowing-down process. The figure which shows the outline | summary of the logic of re-adhesion control. The figure which shows the circuit block of the main circuit of an electric vehicle. The figure which shows the functional block of a return control part.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following, the case where the present invention is applied to an electric vehicle will be described. However, the present invention can be applied to an electric vehicle and a fuel cell vehicle as long as the vehicle is driven by driving a driving wheel with an electric motor (electric vehicle). It is. Although the case where the present invention is applied to idling will be described, the present invention can be similarly applied to sliding. Needless to say, the brake control at the time of sliding can be applied not only to the regenerative brake but also to an electric vehicle that performs a brake control by a mechanical brake.
Also, after the basic concept of the present invention has been described, specific examples will be described in detail.

[Organization of problems]
First, the re-adhesion control will be specifically described with reference to FIG. FIG. 1 shows a schematic example of a series of signal waveforms from the state of constant acceleration in which no idling has occurred to the occurrence of idling and readhesion control. With the horizontal axis as time t, in order from the top, a graph showing the axial speed V and the reference speed Vm related to the rotation of the moving shaft (wheel) to be controlled, a graph showing the acceleration A related to the rotation of the control symmetrical axis, and the motor torque It is a graph which shows torque command value (tau) _e ^* . In a state where no idling occurs, the shaft speed V substantially matches the reference speed Vm, and the torque command value τ _e ^* is kept substantially constant. In this state, the torque command value τ _e ^* is the torque pattern value τ _n ^* (original command value) calculated based on the vehicle speed, the notch command, or the like.

  When idling occurs, the shaft speed V starts to increase, and the idling gliding speed (speed difference) ΔV that is the difference from the reference speed Vm increases. Then, when the idle running speed ΔV reaches a predetermined idle running detection threshold Vs at time t1, the occurrence of idle running is detected.

When the occurrence of idling is detected, the re-adhesion control is activated and the torque command value τ _e ^* is lowered. Then, the increase in the acceleration A is gradually suppressed and starts to decrease. During this time, the axial speed V continues to increase, but at time t3 when the acceleration A becomes zero, the increase in the axial speed V also becomes zero. The fact that this acceleration A has become zero is detected as the start of recovery from idle running to the original adhesive running (recovery detection). From time t1 to time t3 is the pull-down control.
Although the acceleration A for recovery detection has been described as zero, it has been set to zero for the sake of simplicity, and a predetermined recovery detection threshold (for example, “+1” or “−1” instead of zero). When the following is reached, it may be detected as a recovery start, and the pull-down control may be terminated.

When recovery is detected, the control for lowering the torque command value τ _e ^* is terminated, and the control for returning to the torque command value τ _e ^* is started. The return control will be described as a so-called pattern return, which is a two-step return control. That is, the torque command value τ _e ^* is held and returned as a set twice to return to the torque pattern value τ _n ^* , and the time distribution for holding, returning, holding, and returning is determined in advance as a pattern. I will do it.

When the return control is started, first, the value of the torque command value τ _e ^* is held. Then, the decrease in acceleration A, which has been negative, is gradually suppressed, and eventually increases. Further, the axial speed V, which has a large deviation from the reference speed Vm, starts to decrease. Then, when the holding period has elapsed, a return operation is performed next. That is, control for gradually returning the torque command value τ _e ^* to the torque pattern value τ _n ^* is started.

In the return operation, first, the return control is gradually performed using the temporary torque return value τ _l ^* as the target torque value. The torque temporary return value τ _l ^* is calculated using the torque pattern value τ _n ^* and the acceleration A. When the torque command value τ _e ^* becomes the torque temporary return value τ _l ^* , the holding period is again taken. After the second holding period, the torque command value τ _e ^* is gradually returned with the torque pattern value τ _n ^* as the target torque value. Then, at time t11 when the torque pattern value τ _n ^* is restored, the return control ends, that is, the re-adhesion control ends. After the re-adhesion control is completed, the torque pattern value τ _n ^* becomes the torque command value τ _e ^* .

  In addition, although the monitoring object of the idle running detection and the re-adhesion detection is the axial speed V (and hence the idle running speed ΔV), the acceleration A may be used in addition to the monitored object. In addition, although the acceleration A is the monitoring target for recovery detection, the axial speed V (and hence the idling speed ΔV) is also used in addition to the monitoring object, so that the acceleration A becomes zero, or the idling speed ΔV is detected as idling. A method of detecting that the recovery threshold value is below a predetermined threshold value that is equal to or lower than the threshold value Vs is considered as the start of recovery.

  However, the change in the shaft speed V (and hence the idling sliding speed ΔV) shown in FIG. 1 is an ideal type, and in fact, it may change suddenly during the return control of the re-adhesion control. An example of this is shown in FIG.

For example, in FIG. 2, when the initial holding period of the return control ends and the shaft speed V suddenly increases because the torque command value τ _e ^* starts increasing at time t25 when the return operation is started ( V11) or when the shaft speed V increases during the return operation (V12), or when the shaft speed V increases at time t29 when the second holding period ends and the second return operation starts (V13). That is it.

  Since occurrence detection (occurrence monitoring) of idling is always performed, if the occurrence of idling is detected during return control, the return control is discontinued, the lowering control is performed again, and re-adhesion control is performed again. It will be. In the present embodiment, by applying the slowing process to the return operation, it is possible to reduce the possibility of the occurrence of this idling again.

[principle]
FIG. 3 is a diagram for explaining an example of the slowing process of the present embodiment. The slowing process is a process applied during the return control in the re-adhesion control, and is a process for temporarily stopping the return operation, or a return pace for bringing the torque command value τ _e ^* closer to the target torque value (also referred to as a return speed). ). FIG. 3A shows that during the first return operation started from time t34, the return operation was temporarily stopped between times t35 and t36 because the application condition for applying the slackening process was satisfied. ing. This temporary stop corresponds to the application of the slowing process.

  Further, in FIG. 3B, since the application condition for applying the slackening process is satisfied at time t29 when the second holding period ends and the second return operation is started, the return operation is started. The case where it is suspended as it is until time t30 is shown.

  The application condition is determined as a condition based on an index value indicating the rotation state of the control target shaft (hereinafter referred to as “rotation state index value”). The rotation state index value is an idling sliding speed (speed difference) ΔV or acceleration A. For example, a threshold value Vj smaller than the idling detection threshold value Vs is determined, and the idling speed ΔV exceeding the threshold value Vj is defined as an application condition. Similarly, a threshold condition related to the acceleration A may be set as an application condition, and an AND condition of both threshold conditions may be set as an application condition. In any case, a condition that is stricter than the condition for detecting the occurrence of idling is set as the application condition, and the condition that is satisfied before the occurrence of the idling is detected is set as the application condition.

  Therefore, before the occurrence of idling is detected, the application condition is always satisfied, and the slowing process is applied. As a result, the return operation is paused or the return pace is reduced, so that the change in torque of the control target shaft is temporarily stopped or slowed down, and there is a possibility that idling will occur again during the re-adhesion control. Can be reduced.

However, continuing to apply the slowing process or applying the slowing process many times during one re-adhesion control means that the return of the torque command value τ _e ^* is delayed. Absent. Therefore, in applying the slackening process, the application is canceled based on the application duration or the application more than a certain number of times is suppressed.

  FIG. 4 is a diagram showing an outline of the control logic of the re-adhesion control of the present embodiment. The re-adhesion control of the present embodiment performs the pull-down control and the return control as described with reference to FIG. 1, and applies the slowing process when the application condition is satisfied during the return control. This will be specifically described.

  First, when the occurrence of idling is detected and re-adhesion control is started, pull-down control is performed (step S2). Then, after the pull-down control, the counter value for counting the number of times of applying the slowing process applied during the current re-adhesion control is reset (step S4), and then the return control is started (step S6). Since the holding and returning operation itself in the return control is as described with reference to FIG. 1, illustration and description are omitted.

Until the torque command value τ _e ^* is returned to the torque pattern value τ _n ^* and the return control is completed (step S8: NO), steps S10 to S26 are repeated. That is, when the rotation state index value of the control target shaft does not satisfy the application condition of the slowing process (step S10: NO), if the slowing process is not being applied (step S12: NO), the process proceeds to step S8. If the application condition is not satisfied (step S12: YES), the application is canceled (step S26) and the process proceeds to step S8.

  In addition, when the application condition of the slowing process is satisfied (step S10: YES), the slowing process is applied in principle unless the slowing process is being applied (step S14: NO), but the counter value is set to a predetermined number. If it has been reached (step S16: YES), the application of the slowing process is inhibited by proceeding to step S8 as it is. The predetermined number may be once, or twice or three times.

  If the counter value has not reached the predetermined number (step S16: NO), the counter value is incremented by "1" (step S18), and the timer for counting the application duration of the slowing process is reset and timed. After starting (step S20), a slowing process is applied (step S22).

  On the other hand, if the application condition of the slowing process is satisfied (step S10: YES) and the slowing process is being applied (step S14: YES), the application of the slowing process is continued in principle. That is, when the application duration of the slowing process has reached the predetermined time (step S24: YES), the application of the slowing process is canceled (step S26), and the process proceeds to step S8. The predetermined time is determined in a range that does not hinder the extension of the return operation, such as 250 ms or 500 ms.

In this way, by continuing to apply the slowing process or applying the slowing process many times during one re-adhesion control, the return of the torque command value τ _e ^* is prolonged. To prevent.

[Example]
Next, an embodiment to which the above principle is applied will be described.
FIG. 5 is a diagram schematically showing a configuration related to the present embodiment in the circuit block of the main circuit of the electric vehicle, and shows one dynamic axis. Although the control of the electric motor will be described below as individual control (so-called 1C1M), the applicable form of the present invention is not limited to this. For example, the present invention can be applied to 1C2M that collectively controls the two driving wheels.

  In FIG. 5, the main circuit of the electric vehicle according to this embodiment includes an electric motor 10, a pulse generator 20, an inverter 30, a current sensor 40, and an electric motor control device 50.

The electric motor 10 is a main electric motor (main motor) that rotationally drives the axle when supplied with electric power from the inverter 30, and is realized by, for example, a three-phase induction motor. The pulse generator 20 is a rotation detector that detects the rotation of the drive shaft, and outputs a PG signal that is a detection signal to the vector arithmetic control device 59. Other rotation detectors such as a speed generator may be used instead of the pulse generator. The current sensor 40 is provided at the input end of the electric motor 10 and detects U-phase and V-phase currents Iu and Iv flowing into the electric motor 10. The inverter 30 is supplied with overhead power via a pantograph and a converter. Then, the output voltage is adjusted based on the voltage command values Vu ^* , Vv ^* , Vw ^* of the U-phase, V-phase, and W-phase input from the vector arithmetic control device 59, and the electric motor 10 is supplied with power.

  The electric motor control device 50 performs vector control of the electric motor 10. The electric motor control device 50 is realized by a computer or the like including a CPU, a ROM, a RAM, and the like. For example, the electric motor control device 50 is mounted as a control board as a part of an electric vehicle control device or an inverter 30 including an inverter 30 is integrated. Configured as a device. Further, the motor control device 50 includes a speed detection unit 51, an acceleration detection unit 53, a torque pattern value calculation device 55, a re-adhesion control device 60, a torque command determination unit 57, and a vector calculation control device 59. Yes.

  The speed detector 51 performs a filter process for smoothing the PG signal in the time axis direction to detect the axis speed V. The acceleration detection unit 53 detects the acceleration A based on the axial velocity V detected by the speed detection unit 51 that moves back and forth in time. In addition, when driving the electric motor 10 by so-called speed sensorless vector control, the speed is calculated using the driving current to the electric motor 10 detected by the current sensor 40 without using the pulse generator 20 and the PG signal. You may decide to detect an acceleration by differentiating this.

The torque pattern value calculation device 55 calculates and outputs a torque pattern value τ _n ^* of the torque command value based on the reference speed Vm and the notch signal. The reference speed Vm is a traveling speed of a train, and may be a speed obtained from a driver's cab, for example, or may be an axial speed of a follower wheel of a T car. Further, among the shaft speeds of the respective axes in the vehicle, the minimum value may be determined during power running, and the maximum value or the like may be determined during braking. Since the calculation process of the torque pattern value τ _n ^* is known, the description thereof is omitted.

The torque command determination unit 57 determines the torque pattern value τ _n ^* output from the torque pattern value calculation device 55 as the torque command value τ _e ^{* in the} normal time when idling is not detected, and during re-adhesion control is being executed. The re-adhesion command value τ _r ^* output from the re-adhesion control device 60 is determined as the torque command value τ _e ^* . Whether or not the re-adhesion control is being executed is determined by a control signal (not shown) from the re-adhesion control device 60.

The vector arithmetic control unit 59 is a d-axis component excitation current component Id and a q-axis component torque current component (motor torque) obtained by converting the Iv and Iu detected by the current sensor 40 by dq axis coordinates. The voltage command values Vu ^* , Vv ^* , and Vw ^* for the inverter 30 are generated based on the component current (Iq), the torque command value τ _e ^{*, and the} like. Note that the arithmetic processing for calculating the voltage command values Vu ^* , Vv ^* , Vw ^* is a known arithmetic processing, and a description thereof will be omitted.

The re-adhesion control device 60 includes an idling / sliding detection unit 61, a recovery detection unit 63, and a re-adhesion control unit 67. The general operation of the re-adhesion control device 60 is the same as the re-adhesion control described with reference to FIG. That is, when the idle running detection unit 61 detects the occurrence of idle running using the reference speed Vm, the shaft speed V, and the acceleration A, the re-adhesion control unit 67 starts the re-adhesion control and sets the torque pattern value τ _n ^* . Torque reduction control is performed to generate and output the command value gradually reduced as the re-adhesion command value τ _r ^* . In addition, a re-adhesion control start signal is output to the torque command determination unit 57.

Then, when the torque is lowered and the recovery detection unit 63 detects the start of recovery from the idle running to the original adhesion running, the re-adhesion control unit 67 ends the reduction control and starts the return control. The return control unit 70 is responsible for this return control.
The return control unit 70 first holds the re-adhesion command value τ _r ^* for the first holding period, and then gradually returns the re-adhesion command value τ _r ^* to the temporary torque return value τ _l ^*. Perform the action. After that, after holding the re-adhesion command value τ _r ^* for the second holding period, a return operation is performed to gradually bring the re-adhesion command value τ _r ^* closer to the torque pattern value τ _n ^* , and Then, the re-adhesion control is completed and a completion signal is output to the torque command determination unit 57.

The return control unit 70 includes a slowing control unit 80, a holding unit 74, and a return operation unit 76. The function unit responsible for holding the re-adhesion command value τ _r ^* is the holding unit 74, and the function unit responsible for the return operation is the return operation unit 76. The slowing control unit 80 determines whether or not an application condition for the slowing process is satisfied based on the rotation state index value, and outputs a slowing instruction signal to the return operation unit 76 when the rotational speed index value is satisfied. The return operation unit 76 temporarily stops the return operation of the re-adhesion command value τ _r ^* while the slowing down instruction signal is input. In addition, it is good also as reducing the speed (increase rate per unit time: pace) which makes the re-adhesion command value τ _r ^* close to the target torque value instead of temporarily stopping. Further, when the slowing down instruction signal is not input, a normal return operation is performed.

FIG. 6 is a diagram illustrating functional blocks of the return control unit 70.
The return control unit 70 includes an adder / subtractor 81, comparators 82, 83, 86, 88, an OR circuit 84, a counter 85, a timer 87, and an AND circuit 89.

The adder / subtractor 81 calculates an idle running speed (speed difference) ΔV by subtracting the reference speed Vm from the shaft speed V detected by the speed detector 51, and outputs it to the comparator 82. Further, the acceleration A detected by the acceleration detector 53 is input to the comparator 83.
The comparator 82, the comparator 83, and the logical sum circuit 84 correspond to a functional unit that detects that the application condition of the slowing process is satisfied. The comparator 82 is set with a threshold value Vj smaller than the idling detection threshold value Vs, and when the idling running speed ΔV exceeds the threshold value Vj, an ON signal is given, and when it is equal to or less than the threshold value Vj, an OFF signal is given. Output to.
Similarly, the comparator 83 is set with a threshold value smaller than the threshold value of the acceleration A used for detecting idling, and an OR signal is output when the acceleration A exceeds the threshold value, and an OFF signal when the acceleration A is less than the threshold value. 84.

  When an ON signal is input from either the comparator 82 or the comparator 83, the OR circuit 84 turns on the output signal, and no ON signal is input from either the comparator 82 or the comparator 83. In this case, the output signal is turned off. The output signal of the logical sum circuit 84 is input to the counter 85, the timer 87, and the logical product circuit 89. An AND circuit may be used instead of the OR circuit 84.

  The counter 85 is a functional unit that counts the number of times of applying the slowing process, and increments the counter value by “1” every time the output signal of the OR circuit 84 changes from off to on, and the counter value is sent to the comparator 86. Output. When a new re-adhesion control is started, a counter value reset signal is input from the re-adhesion control unit 67, and the counter value is reset.

  The comparator 86 compares the counter value input from the counter 85, that is, the number of times of application of the slowing process and the set predetermined number of times, and outputs an ON signal when the predetermined number has not been reached. In this case, an off signal is output.

  The timer 87 is a functional unit that measures the application duration time of the slowing process, and measures the elapsed time while the output signal of the OR circuit 84 is turned on and outputs it to the comparator 88. Further, the time counting is reset when the output signal of the OR circuit 84 changes from on to off, and the time counting is stopped during the off time.

  The comparator 88 compares the timer time input from the timer 87, that is, the application continuation time of the slowing process with the set predetermined time, and outputs an ON signal when the predetermined time has not been reached. If it does, an off signal is output.

  The AND circuit 89 outputs a slowing down instruction signal to the return operation unit 76 only when the output signals of the comparator 86, the comparator 88, and the OR circuit 84 are all ON signals. Thus, not only when the application condition of the slowing process is not satisfied (when the output signal of the OR circuit 84 is an OFF signal), but also when the application number of the slowing process reaches a predetermined number (the output signal of the comparator 86). When the application duration time reaches a predetermined time (when the output signal of the comparator 88 is an off signal), the slowing instruction signal is not output.

  According to the above embodiment, in the re-adhesion control, when the return control is performed after the torque reduction control is performed, the rotation state index value (the idling sliding speed (speed difference) ΔV and acceleration A) is When the application condition of the slowing process is satisfied, the slowing process is applied and the return operation is paused or the return pace is reduced, so that the torque change of the control target axis is paused or slowed down. Thus, it is possible to reduce the possibility of another idling during the re-adhesion control.

Further, by continuing to apply the slowing process or applying the slowing process many times during one re-adhesion control, the return of the torque command value τ _e ^* is prevented from being prolonged. be able to.

[Modification]
The embodiments to which the present invention can be applied are not limited to the above-described embodiments. For example, re-adhesion control unit 67 generates a re-adhesive for instruction value tau _r ^*, the torque command value and the torque command determiner 57 switches the Torukupatan value tau _n ^* re tackifying command value τ _r ^* τ _e ^* Explained as determining. The re-adhesion control unit 67 does not generate the re-adhesion command value τ _r ^* , but calculates a reduction amount (or reduction ratio) with respect to the torque pattern value τ _n ^* , and the torque command determination unit 57 calculates the torque pattern. The torque command value τ _e ^* may be determined by subtracting the torque corresponding to the reduction amount from the value τ _n ^* .

Further, although the return control has been described as the step return control, the torque command value τ _e ^* may be gradually returned to the torque pattern value τ _n ^* by one return operation without providing a step.

In addition, it has been explained that the slowing process is applied while the application condition of the slowing process is satisfied, and the application is canceled when it is no longer satisfied. Even if the application is applied for a time (for example, 10 ms or 50 ms) and the application condition is not satisfied, the application may be continued until the unit time during application elapses.
In this case, the length of the predetermined unit time may be further varied during the return control. For example, the length of the unit time may be shortened as the end of the return control approaches, or the length of the unit time may be shortened as the number of times of applying the slowing process increases.

  Moreover, although it demonstrated as providing the upper limit of application continuation time which cancels application when the application continuation time of slowing-down processing reaches predetermined time, you may make this upper limit variable during return control. For example, it may be shortened as it approaches the end of the return control, or may be shortened as the number of times of application of the slowing process increases.

  In addition, as an example of canceling the application of the slowing process, both the case where the application duration time of the slowing process reaches a predetermined time and the case where the number of times of application reaches the predetermined number have been described. Only one of them may be used.

50 Electric motor control device 60 Re-adhesion control device 67 Re-adhesion control unit
70 Return control unit
74 Holding part
76 Return operation part
80 Slowening control unit

Claims (7)

A torque return control method that is performed after the torque command value of an electric motor that drives a moving wheel is reduced in the re-adhesion control for re-adhering the moving wheel in which idling or sliding (hereinafter collectively referred to as “idling and sliding”) occurs.
1) a speed difference between the speed related to the rotation of the driving wheel and a given reference speed; and / or 2) acceleration associated with the rotation of the driving wheel slows down the return operation of the torque command value. A detection step for detecting that a predetermined threshold condition defined as an application condition is satisfied;
An application step of applying the slowing process to the return operation in response to detection in the detection step;
Including a torque return control method. The application step includes a temporary stop step of temporarily stopping a return operation of the torque command value as the slowing process.
The torque return control method according to claim 1. The application step includes a return pace reduction step of reducing a return pace for returning the torque command value as the slowing process.
The torque return control method according to claim 1 or 2. The application step is a step of applying the slowing process while being detected in the detection step, and canceling the application when it is no longer detected.
The torque return control method according to any one of claims 1 to 3. A release step of canceling the application of the slowing process when the application duration of the slowing process reaches a predetermined time;
The torque return control method according to claim 4, further comprising: A deterring step of inhibiting application of the slowing process when the number of times of application of the slowing process reaches a predetermined number of times;
The torque return control method according to claim 4 or 5, further comprising:   The electric motor control which performs the torque return control method as described in any one of Claims 1-6 after lowering | reducing the torque command value of the electric motor which drives the said driving wheel in the re-adhesion control which re-adheres the driving wheel which the idling skid occurred. apparatus.

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