JP2015198494A - Vehicular control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicular control device capable of rendering comfort by vibration when a vehicle stops.SOLUTION: When a vehicle stops, a motor 15 is supplied with electric power according to a 1/f fluctuation torque command value Tf. The 1/f fluctuation torque command value Tfis for generating the turning force corresponding to a 1/f fluctuation in the motor 15. As a result, the motor 15 generates the turning force corresponding to a 1/f fluctuation. The turning force is applied to the vehicle and therefore the vibration corresponding to a 1/f fluctuation is generated in the vehicle. An occupant experiences the vibration corresponding to a 1/f fluctuation and can feel comfortableness.

Description

  The present invention relates to a vehicle control device.

  In recent years, hybrid vehicles having two different power sources such as an internal combustion engine and a motor are becoming popular from the viewpoint of environmental protection. For example, as described in Patent Document 1, there are several types of hybrid vehicles such as a series system and a parallel system depending on the combination of an internal combustion engine and a motor. The series system is a system in which wheels are driven by a motor using electric power generated by the power of an internal combustion engine. The parallel system is a system in which wheels are driven by the power of one or both of an internal combustion engine and a motor. There are many types of hybrid vehicles that improve fuel efficiency by stopping the internal combustion engine when the vehicle is stopped.

  In recent years, electric vehicles and fuel cell vehicles have also been developed. An electric vehicle refers to a vehicle that is driven by a motor using externally charged electric power charged in a vehicle-mounted battery as a power source. A fuel cell vehicle refers to a vehicle that is driven by a motor using power generated by a chemical reaction between hydrogen and oxygen in a fuel cell as a power source.

JP 2013-9513 A

  In any vehicle, vibrations occur in the vehicle due to various factors during its travel. Further, if the vehicle is equipped with an internal combustion engine and the internal combustion engine is not stopped when the vehicle is stopped, the vehicle may generate vibrations associated with the driving of the internal combustion engine even when the vehicle is stopped. However, when a hybrid vehicle, an electric vehicle, or a fuel cell vehicle that stops the internal combustion engine when the vehicle stops, basically no vibration is generated in the vehicle.

  Although the vibration of the vehicle is one of the factors that affect the ride comfort, it may feel that the rider feels comfortable if the vibration is moderate. For example, babies may get in a bad mood as soon as they stop and no longer vibrate while the vehicle is driving. It is presumed that the baby feels comfortable with the vibrations that occur while driving. In addition, not only babies but also adults may have occupants who desire a comfortable feeling (comfort) by appropriate vibrations when stopped.

  An object of the present invention is to provide a vehicle control device capable of producing comfort due to vibration when the vehicle is stopped.

  A vehicle control device that can achieve the above object generates a torque command value calculation unit that generates a torque command value for a rotating electrical machine that is a driving source for traveling based on vehicle information, and generates a torque corresponding to the torque command value. And a current control unit that controls power feeding to the rotating electrical machine. The control circuit generates a torque command value for causing the rotating electrical machine to generate a rotational force corresponding to 1 / f fluctuation when the vehicle is stopped.

  According to this configuration, when the vehicle is stopped, electric power corresponding to a torque command value for causing the rotating electrical machine to generate a rotational force corresponding to 1 / f fluctuation is supplied to the rotating electrical machine. For this reason, the rotating electrical machine generates a rotational force corresponding to 1 / f fluctuation. When the rotational force is applied to the vehicle, vibration corresponding to 1 / f fluctuation is generated in the vehicle. It is said that 1 / f fluctuation gives a comfortable feeling or healing effect to a person. The passenger can feel comfort by experiencing vibration equivalent to 1 / f fluctuation.

  In the above vehicle control device, the control circuit enables and disables a function of generating a torque command value for generating a rotational force equivalent to 1 / f fluctuation in the rotating electrical machine through operation of an on-vehicle switch. It is preferable to switch between them.

  Not all occupants want the vehicle to generate vibration corresponding to 1 / f fluctuations when the vehicle is stopped. In this regard, according to the above configuration, the occupant can arbitrarily select whether or not to generate 1 / f fluctuation vibration in the vehicle through the operation of the on-vehicle switch.

  In the above vehicle control device, the rotating electrical machine may be provided on each of a plurality of drive wheels. At this time, when a specific seat is designated through the operation of a plurality of in-vehicle switches respectively associated with the plurality of seats of the vehicle, the control circuit performs 1 / f fluctuation to the rotating electrical machine closest to the designated seat. A torque command value for generating a corresponding rotational force may be generated.

According to this configuration, vibration corresponding to 1 / f fluctuation can be selectively applied to a specific seat specified through operation of a plurality of in-vehicle switches, which is convenient.
In the above vehicle control device, the control circuit may further include a vibration suppression control unit that performs a filtering process for suppressing vibration of the vehicle with respect to the torque command value.

  According to this configuration, the vibration corresponding to 1 / f fluctuation can be suitably generated in the vehicle by suppressing the natural vibration of the vehicle. The passenger can easily experience vibration corresponding to 1 / f fluctuation.

  ADVANTAGE OF THE INVENTION According to this invention, the comfort by vibration can be produced at the time of a stop.

The block diagram which shows schematic structure of a vehicle. The block diagram which shows the structure of the control apparatus in 1st Embodiment. The flowchart which shows the procedure of the production | generation process of the 1 / f fluctuation torque by the control apparatus in 1st Embodiment. The block diagram which shows the structure of the control apparatus in 2nd Embodiment. The flowchart which shows partially the procedure of the production | generation process of the 1 / f fluctuation torque by the control apparatus in 2nd Embodiment. The block diagram which shows the structure of the control apparatus in 3rd Embodiment. The front view which shows an example of the switch in other embodiment.

<First Embodiment>
Hereinafter, a first embodiment of the vehicle control device will be described. Here, as a vehicle on which the vehicle control device is mounted, a so-called motor-assisted four-wheel drive vehicle will be described as an example.

  As shown in FIG. 1, the vehicle 11 includes an internal combustion engine (engine) 12 that is a first drive source for traveling. The internal combustion engine 12 is connected to left and right front wheels 14 and 14 via left and right drive shafts 13 and 13, respectively. The power of the internal combustion engine 12 is transmitted to the left and right front wheels 14, 14 via two drive shafts 13, 13, respectively. That is, the left and right front wheels 14 and 14 are driven by the internal combustion engine 12.

  Further, the vehicle 11 has a motor 15, a speed reducer 16, and a differential gear 17 which are second driving sources for traveling. For example, a three-phase brushless motor is employed as the motor 15. The power of the motor 15 is decelerated by the speed reducer 16 and the differential gear 17, and the decelerated power of the motor 15 is transmitted to the left and right rear wheels 19, 19 via the left and right drive shafts 18, 18, respectively. That is, the left and right rear wheels 19, 19 are driven by the motor 15.

  Further, the vehicle 11 includes a generator 21, a secondary battery 22, and a control device 23. The generator 21 generates power using the power of the internal combustion engine 12. As the generator 21, for example, a three-phase brushless motor is employed. The secondary battery 22 stores electric power generated by the generator 21. As the secondary battery 22, for example, a lithium ion battery is employed. The secondary battery 22 functions as an operation power source for the motor 15 and the control device 23.

  The control device 23 acquires the detection results of various sensors provided in the vehicle 11 as vehicle information indicating the running state of the vehicle 11 or the driver's request, and controls the motor 15 according to the acquired vehicle information. The vehicle information includes, for example, the accelerator opening θ and the vehicle speed V. Further, the control device 23 executes vibration effect control that causes the vehicle 11 to generate appropriate vibration when the vehicle 11 is stopped.

  The vehicle 11 is provided with a switch 24. As the switch 24, various types such as a mechanical switch such as a push button switch or an electrical switch such as a touch switch can be adopted. The switch 24 is provided, for example, in the driver's seat and is operated when switching the vibration effect control by the control device 23 between valid and invalid. The switch 24 generates an electrical signal So indicating that the switch 24 is on or off.

Next, the control device 23 will be described in detail.
As shown in FIG. 2, the control device 23 includes an MPU (microprocessing unit) 31 and a PWM (pulse width modulation) type inverter 32.

  The MPU 31 performs various calculations related to the control of the motor 15. The MPU 31 includes a torque command value calculation unit 41, a feedforward vibration suppression control unit (hereinafter referred to as “FF vibration suppression control unit 42”), and a current control unit 43.

The torque command value calculation unit 41 takes in the accelerator opening θ and the vehicle speed V as vehicle information, and calculates a torque command value T ^* based on the fetched vehicle information. The torque command value T ^* is a command value indicating the rotational force (motor torque) to be generated by the motor 15.

The torque command value calculation unit 41 has a 1 / f fluctuation generator 41a. The 1 / f fluctuation generator 41a generates 1 / f fluctuation data using a 1 / f fluctuation generation algorithm. As an algorithm for generating 1 / f fluctuation, various algorithms such as cellular automan, intermittent chaos, and 1/2 order integration can be adopted. When importance is placed on suppressing the calculation load of the MPU 31, it is preferable to employ intermittent chaos with a simple algorithm and a small amount of calculation. The torque command value calculation unit 41 calculates a torque command value T ^* (hereinafter referred to as “1 / f fluctuation torque command value Tf ^* ”) corresponding to the 1 / f fluctuation data generated by the 1 / f fluctuation generator 41a. To do. The 1 / f fluctuation torque command value Tf ^* is a torque command value T ^* for causing the motor 15 to generate a rotational force corresponding to 1 / f fluctuation.

The torque command value calculation unit 41 uses 1 / f fluctuation data stored in advance in a storage device (not shown) of the control device 23 instead of 1 / f fluctuation data generated by the 1 / f fluctuation generator 41a. The 1 / f fluctuation torque command value Tf ^* may be calculated. The 1 / f fluctuation data stored in the storage device may be artificially generated, or may be directly extracted from a natural world (real world) signal such as a river turbulence, or may be desired by the user while the vehicle is running. What extracted the frequency component may be used. In this case, the MPU 31 that does not have the 1 / f fluctuation generator 41a can be employed. Incidentally, “1 / f fluctuation” refers to fluctuation in which the power spectrum indicating the amount of energy and the like is inversely proportional to the frequency f.

The FF vibration suppression control unit 42 executes vibration suppression control for removing the natural vibration of the vehicle 11. That is, the FF vibration suppression control unit 42 includes a filter 42a. For example, a band stop filter such as a notch filter is employed as the filter 42a. The filter 42a has a transmission characteristic defined by an ideal response characteristic of the motor torque with respect to the torque command value T ^* and an actual response characteristic. The filter 42 a performs a filtering process for removing the natural vibration of the vehicle 11 on the torque command value T ^* generated by the torque command value calculation unit 41.

The current control unit 43 calculates three-phase (U-phase, V-phase, W-phase) voltage command values based on the torque command value T ^* , and generates a PWM signal having a predetermined duty ratio based on these voltage command values. The PWM signal is a switching command for the inverter 32.

The inverter 32 is formed by connecting three switching arms, each having two switching elements connected in series, in parallel. The inverter 32 converts the DC power supplied from the secondary battery 22 into three-phase AC power by switching each switching element based on the PWM signal generated by the current control unit 43. When AC power having a period corresponding to the PWM signal is supplied to the motor 15 through the inverter 32, the motor 15 generates a rotational force corresponding to the torque command value T ^* . As the switching element, an FET (Field Effect Transistor) or an IGBT (Insulated Gate Bipolar Transistor) is employed.

When both of the following conditions (A) and (B) are satisfied, the control device 23 permits execution of vibration effect control by causing the vehicle 11 to generate appropriate vibration. Specifically, the generation of the previous 1 / f fluctuation torque command value Tf ^* is permitted.

  (A) The switch 24 is operated. This is because not all passengers want the vehicle 11 to generate vibration corresponding to 1 / f fluctuations when the vehicle is stopped. It is preferable that an occupant arbitrarily select whether to generate the vibration.

  (B) The vehicle 11 is stopped. This is because the vibration of the vehicle 11 corresponding to 1 / f fluctuation is required when the vehicle 11 is stopped. The control device 23 can determine whether or not the vehicle 11 is stopped based on vehicle information such as an operating state of a parking brake or a brake pedal or a vehicle speed V, for example.

Next, the processing procedure of the effect control by the control device will be described according to the flowchart of FIG. Each process of the flowchart is executed when the vehicle 11 is powered on.
As shown in the flowchart of FIG. 3, when the operation of the switch 24 is detected (YES in step S101), the control device 23 determines whether or not the vehicle 11 is stopped (step S102).

  When it is determined that the vehicle 11 is stopped (YES in step S102), the control device 23 permits the vehicle 11 to generate vibration corresponding to 1 / f fluctuation (step S103).

Next, the control device 23 generates a 1 / f fluctuation torque command value Tf ^* (step S104) and ends the process.
Note that the control device 23 performs normal control when the operation of the switch 24 is not detected in step S101 (NO in step S101) and when it is determined in step S102 that the vehicle 11 is not stopped (NO in step S102). Is executed (step S105), and the process is terminated. Normal control refers to the control state of the control device 23 when the vehicle 11 travels normally.

Therefore, according to the present embodiment, the following effects can be obtained.
(1) When the vehicle 11 stops with the switch 24 being operated, a PWM signal is generated based on the 1 / f fluctuation torque command value Tf ^* after the filtering process by the filter 42a. The period or pulse width of the PWM signal includes a 1 / f fluctuation component. For this reason, when AC power having a period corresponding to the PWM signal is supplied to the motor 15 through the inverter 32, the motor 15 generates a rotational force corresponding to the 1 / f fluctuation torque command value Tf ^* . When the rotational force is applied to the vehicle 11, vibration or vibration corresponding to 1 / f fluctuation is generated in the vehicle 11. It is said that 1 / f fluctuation gives a comfortable feeling or healing effect to a person. The passenger can feel comfort by experiencing vibration equivalent to 1 / f fluctuation. A new added value can also be provided to the user of the vehicle 11.

  Incidentally, the switch 24 is not essential. Depending on the specifications of the vehicle 11 and the like, a configuration without the switch 24 may be employed. In this case, when the vehicle 11 is stopped, the motor 15 always generates a rotational force corresponding to 1 / f fluctuation.

(2) The filter 42a of the FF vibration suppression control unit 42 performs a filtering process for suppressing the natural vibration of the vehicle 11 on the torque command value T ^* (including the 1 / f fluctuation torque command value Tf ^* ). Is done. By suppressing the natural vibration of the vehicle 11, vibration corresponding to 1 / f fluctuation can be suitably generated in the vehicle 11. This makes it easier for the occupant to feel vibration corresponding to 1 / f fluctuation.

Incidentally, the FF vibration suppression control unit 42 is not essential. Depending on the specifications of the vehicle 11 or the like, a configuration without the FF vibration suppression control unit 42 may be employed.
<Second Embodiment>
Next, a second embodiment of the vehicle control device will be described. The vehicle control device of this example is different from the first embodiment in the configuration for suppressing the vibration of the vehicle. Therefore, the detailed description of the same members or configurations as those of the first embodiment is omitted.

  As shown in FIG. 4, the MPU 31 includes an adder 51 and a feedback vibration suppression control unit (hereinafter referred to as “FB vibration suppression control unit 52”) in addition to the FF vibration suppression control unit 42. Further, the motor 15 is provided with a rotation sensor 53 for detecting the rotation speed N thereof.

The FB vibration damping control unit 52 has an ideal model (not shown) that defines the relationship between the torque command value T ^* and the ideal rotational speed N of the motor 15. The ideal model is obtained by simulation using a vehicle model. Further, the FB vibration suppression control unit 52 has a filter (not shown) having a transfer characteristic defined by a reverse characteristic of the transfer characteristic of the vehicle 11 and a bandpass filter. Here, the transmission characteristic of the vehicle 11 refers to an actual response characteristic of the motor torque with respect to the torque command value T ^* . The center frequency of the band-pass filter matches or approximates the resonance frequency (natural frequency) of the vehicle 11.

The FB vibration suppression control unit 52 takes in the torque command value T ^* supplied to the current control unit 43 and the rotation speed N detected by the rotation sensor 53. The FB vibration suppression control unit 52 obtains an ideal rotational speed N corresponding to the torque command value T ^* at that time by applying the torque command value T ^* to the ideal model, and the ideal rotational speed N and the rotational speed. A deviation from the actual rotational speed N detected through the sensor 53 is obtained. The FB vibration suppression control unit 52 calculates a feedback component for suppressing the natural vibration of the vehicle 11 by performing a filtering process using a filter on the deviation. The adder 51 calculates a final torque command value T ^* by adding a feedback component to the torque command value T ^* after being processed by the filter 42a.

  In this way, vibration of the vehicle 11 due to disturbance torque (mechanical noise of the vehicle 11) or the like is canceled through feedback compensation. A vibration control effect at the start of traveling of the vehicle 11 can also be obtained.

  Next, a processing procedure of vibration effect control by the control device of this example will be described. The processing procedure of the vibration effect control in this example is basically the same as the processing procedure shown in the flowchart of FIG.

As shown in the flowchart of FIG. 5, after permitting the occurrence of 1 / f fluctuation (step S103), the control device 23 disables the function of the FB vibration suppression control unit 52 (step S201). That is, only the function of the FF vibration suppression control unit 42 is effectively maintained. Thereafter, the control device 23 generates a 1 / f fluctuation torque command value Tf ^* (step S104) and ends the process.

Therefore, according to this embodiment, in addition to the effects (1) and (2) in the first embodiment, the following effects can be obtained.
(3) When performing the vibration effect control, when the function of the FB vibration suppression control unit 52 is effectively maintained, vibration or vibration corresponding to 1 / f fluctuation is disturbed through the feedback compensation function of the FB vibration suppression control unit 52. There is a concern that it will be canceled out. In this regard, when the vibration effect control is executed as in this example, the function corresponding to the 1 / f fluctuation can be suitably generated in the vehicle 11 by disabling the function of the FB vibration suppression control unit 52. It becomes.

<Third Embodiment>
Next, a third embodiment of the vehicle control device will be described. This example differs from the first embodiment in terms of the configuration of the vehicle on which the vehicle control device is mounted and the contents of the vibration effect control.

  As shown in FIG. 6, left and right front wheels 14 and 14 and left and right rear wheels 19 and 19 in the vehicle 11 are provided with IWM (In-Wheel Motor) 61a to 61d, respectively. The control device 23 controls the drive power (braking force) of the four wheels independently by individually controlling the four IWMs 61a to 61d.

The control device 23 has an MPU 31 and four inverters 32a to 32d. The MPU 31 acquires information indicating driving operation (for example, accelerator, brake, steering wheel) and information indicating vehicle behavior (for example, angular velocity, acceleration, vehicle speed) as vehicle information through various in-vehicle sensors (not shown). The MPU 31 calculates a torque command value T ^* corresponding to the driving force required for each wheel based on the acquired vehicle information. The MPU 31 generates a PWM signal that is a switching command for each of the inverters 32a to 32d based on the calculated torque command value T ^* . Each inverter 32a-32d produces | generates the alternating current power supplied to each IWM61a-61d through the switching based on a PWM signal. Each IWM 61a to 61d generates a rotational force corresponding to the AC power generated by each inverter 32a to 32d.

  Now, in this example, utilizing the fact that the four IWMs 61a to 61d are individually controlled, vibration or shaking corresponding to 1 / f fluctuation is generated for each seat. A seat that generates vibration corresponding to 1 / f fluctuation is designated through the operation of the switch 24. The switch 24 is configured as follows, for example.

  As shown in FIG. 7, the switch 24 has first to fourth switches 62a to 62d. The first to fourth switches 62a to 62d have a circular shape as a whole, for example, by being provided collectively at specific installation locations in the driver's seat.

  The first to fourth switches 62a to 62d are respectively associated with the four seats of the vehicle 11 (left and right of the front seat and left and right of the rear seat). Here, the first switch 62a is in the front right seat, the second switch 62b is in the front left seat, the third switch 62c is in the rear right seat, and the fourth switch 62d is in the rear left seat. It corresponds to each seat.

  The first to fourth switches 62 a to 62 d are also associated with the IWMs 61 a to 61 d existing at positions closest to the four seats of the vehicle 11, respectively. Here, the first switch 62a is the right front wheel IWM 61a, the second switch 62b is the left front wheel IWM 61b, the third switch 62c is the right rear wheel IWM 61c, and the fourth switch 62d is the left rear wheel. Each corresponds to the IWM 61d.

  When the first switch 62a is operated, the control device 23 generates a rotational force equivalent to 1 / f fluctuation on the IWM 61a of the right front wheel and on the IWM 61b of the left front wheel when the second switch 62b is operated. As a result, vibration corresponding to 1 / f fluctuation is selectively applied to the front right seat or the front left seat corresponding to the first or second switch 62a, 62b.

  Further, the control device 23 generates a rotational force equivalent to 1 / f fluctuation on the right rear wheel IWM 61c when the third switch 62c is operated, and on the left rear wheel IWM 61d when the fourth switch 62d is operated. Let As a result, vibration corresponding to 1 / f fluctuation is selectively applied to the rear right seat or the rear left seat corresponding to the third or fourth switch 62c, 62d.

Therefore, according to this embodiment, in addition to the effects (1) and (2) in the first embodiment, the following effects can be obtained.
(4) Each seat of the vehicle 11 can be designated and vibration corresponding to 1 / f fluctuation can be selectively applied. For example, it is convenient because a vibration corresponding to 1 / f fluctuation can be generated by designating a seat where a child seat is installed.

Note that the third embodiment may be modified as follows.
As shown in FIG. 7, you may provide the indicator 63a-63d in the 1st-4th switch 62a-62d, respectively. When the first to fourth switches 62a to 62d are operated, the control device 23 lights the indicators 63a to 63d of the operated first to fourth switches 62a to 62d. The occupant can easily confirm whether or not the first to fourth switches 62a to 62d have been operated by visually confirming the lighting of the indicators 63a to 63d.

  Moreover, while providing a load sensor (sitting sensor) in each seat, you may provide the seating lights 64a-64d in the 1st-4th switch 62a-62d, respectively. The control device 23 detects the presence / absence of sitting through each load sensor, and lights the seating lights 64a to 64d corresponding to the seats detected to be seated. The occupant can confirm the presence or absence of seating by visually confirming the lighting of the seating lights 64a to 64d. It is possible to avoid generating a vibration corresponding to 1 / f fluctuation by erroneously specifying a seat where no one is sitting.

  Further, the control device 23 of the present example is a front-wheel-drive vehicle 11 in which IWMs 61a and 61b are provided only on the left and right front wheels 14 or 14, or a rear wheel in which IWMs 61c and 61d are provided only on the left and right rear wheels 19 and 19, respectively. It is also possible to apply to the driving vehicle 11.

<Other technical ideas>
Next, the technical idea that can be grasped from each embodiment will be added below.
(A) The control circuit generates 1 / f fluctuation data using a 1 / f fluctuation generation algorithm, and calculates the 1 / f fluctuation torque command value using the 1 / f fluctuation data.

  (B) The control circuit calculates a 1 / f fluctuation torque command value using 1 / f fluctuation data stored in advance.

  DESCRIPTION OF SYMBOLS 11 ... Vehicle, 14 ... Front wheel (drive wheel), 15 ... Motor (rotary electric machine), 19 ... Rear wheel (drive wheel), 23 ... Control device (control device for vehicles), 24 ... Switch (vehicle-mounted switch), 31 ... MPU (control circuit), 32... Inverter, 41... Torque command value calculation unit, 42... Feedforward damping control unit, 42 a.

Claims (4)

A torque command value calculation unit that generates a torque command value for the rotating electrical machine that is a driving source for traveling based on the vehicle information, and a current that controls power supply to the rotating electrical machine in order to generate a rotational force according to the torque command value A control circuit including a control unit,
When the vehicle is stopped, the control circuit is a vehicle control device that generates a torque command value for causing the rotating electrical machine to generate a rotational force corresponding to 1 / f fluctuation through the torque command value calculation unit. The vehicle control device according to claim 1,
The said control circuit is a vehicle control apparatus which switches the function which produces | generates the torque command value for making the said rotary electric machine generate | occur | produce the rotational force equivalent to 1 / f fluctuation through operation of a vehicle-mounted switch between effective and invalid. The vehicle control device according to claim 1,
Assuming that the rotating electrical machine is provided on each of a plurality of drive wheels,
When a specific seat is designated through the operation of a plurality of in-vehicle switches respectively associated with the plurality of seats of the vehicle, the control circuit rotates corresponding to 1 / f fluctuation to the rotating electrical machine closest to the designated seat. A vehicle control device that generates a torque command value for generating force. In the vehicle control device according to any one of claims 1 to 3,
The said control circuit is a vehicle control apparatus further including the vibration suppression control part which performs the filtering process for suppressing the vibration of a vehicle with respect to the said torque instruction value.