JP2017118735A - 車両の駆動力制御装置 - Google Patents
車両の駆動力制御装置 Download PDFInfo
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Abstract
Description
Vb=Vw×F(G)
Tbk=ab×Tsb+(1−ab)×Tbp
上記の式におけるabは、運転者が要求する制動トルクTbkを求める際における、制動トルクTsbの寄与率であって、第1ECU21に記憶されている図11に示すマップに基づいて定めることができる。なお、図11に示すマップは、制動トルクTsbが大きくなるに連れて、寄与率abが比例的に小さくなるように定められている。
Tac=Ka×STKa
なお、上記Kaは、アクセルペダルの操作量STKaを、駆動トルクTacに換算するために予め定められた係数である。
Tdr=Tac−Tbk
γtgt=((1/1+A×Vb 2)×(Vb/l))×(δ/n)
なお、上式におけるAは目標スタビリティファクタを示し、lはホイールベースを示し、nはステアリングのギヤ比を示している。
Tr di=−Kγ×Δγ
Tl di=Kγ×Δγ
なお、Kγは、左右のトルクの分配係数であって、第1ECU21に予め記憶されている。以下の説明では、ステップS11で算出されるトルクを、「分配トルク」と記す。
Tfr w=1/6×Tdr+1/3Tr di
Tfl w=1/6×Tdr+1/3Tl di
Trr w=1/3×Tdr+2/3Tr di
Trl w=1/3×Tdr+2/3Tl di
なお、上式における「Tfr w」は、右前輪3Rに伝達するべきトルクを示し、「Tfl w」は、左前輪3Lに伝達するべきトルクを示し、「Trr w」は、右後輪4Rに伝達するべきトルクを示し、「Trl w」は、左後輪4Lに伝達するべきトルクを示している。また、駆動トルクを出力する場合には、後輪4L,4R側の設置荷重が増大するため、前輪3L,3Rの要求トルクTdrおよび各分配トルクTr di,Tl diと、後輪4L,4Rの要求トルクTdrおよび分配トルクTr di,Tl diとの配分を1対2としている。この配分率は、車両Veの構成などに応じて適宜定めてもよい。
Si a=(Vi w/Vb)−1
なお、ここでは、便宜上、一つの式を示しているものの、実際には、各車輪3L,3R,4L,4R毎に上式でスリップ率を演算する。以下の説明では、便宜上、各車輪3L,3R,4L,4R毎に演算する式を一つのみ示し、その演算に用いられるパラメータに、「i」を付して示す。
Ti wla=Ti w×αi lima
Tfr w=1/3×Tdr+2/3Tr di
Tfl w=1/3×Tdr+2/3Tl di
Trr w=1/6×Tdr+1/3Tr di
Trl w=1/6×Tdr+1/3Tl di
なお、ステップS17では、制動トルクを出力することとなるため、その場合には、上述したステップS13とは異なり、前輪3L,3R側の設置荷重が増大する。そのため、上式では、前輪3L,3Rの要求トルクTdrおよび各分配トルクTr di,Tl diと、後輪4L,4Rの要求トルクTdrおよび各分配トルクTr di,Tl diとの配分を2対1としている。この配分率は、車両Veの構成などに応じて適宜定めてもよい。
Si b=1−(Vi w/Vb)
Ti wlb=Ti w×αi limb
I*m a=KIma×(T*r wla+T*l wla)
I*s a=KIs×(T*r wla−T*l wla)/2
上式におけるKImaは、第1モータ1や第2モータ2に要求されるトルクを電流値に変換するための定数(変換定数)であって、予め第1ECU21に記憶されている。ここで、「*」は、前方および後方のそれぞれについての値を示している。すなわち、上式におけるI*m aは、右前輪3Rと左前輪3Lとについて算出された指示トルクを加算し、その指示トルクに変換定数KImaを積算して、第1モータ1へ通電する電流値を求めるとともに、右後輪4Rと左後輪4Lとについて算出された指示トルクを加算し、その指示トルクに変換定数KImaを積算して、第2モータ2へ通電する電流値を求める。また、上式におけるI*s aは、右前輪3Rについて算出された指示トルクと左前輪3Lについて算出された指示トルクとの差を半分とし、その値に変換定数KIsを積算して、第1モータ1へ通電する電流値を求めるとともに、右後輪4Rについて算出された指示トルクと左後輪4Lについて算出された指示トルクとの差を半分とし、その値に変換定数KIsを積算して、第2モータ2へ通電する電流値を求める。
Twlb>Tkai
なお、上式におけるTkaiは、各モータ1,2の特性などに基づいて予め定められている回生トルクの最大値であり、この発明の実施例における「限界トルク」に相当する。
I*m b=KImb×(T*r wlb+T*l wlb)
I*s b=KIs×(T*r wlb−T*l wlb)/2
上式におけるKImbは、第1モータ1や第2モータ2に要求されるトルクを電流値に変換するための定数(変換定数)であって、予め第1ECU21に記憶されている。なお、ステップS25における式は、ステップS21と同様に演算することができる。
I*m b=KImb×(Tkai/2)
I*b b=KIb×(T*r wlb+T*l wlb−Tkai/2)
I*s b=KIs×(T*r wlb−T*l wlb)/2
上式に示すように各ブレーキ機構12,18へ通電する電流値I*b bも、ステップS21における各駆動用モータ1,2に通電する電流値I*m aと同様に右前輪3Rについて算出された指示トルクと左前輪3Lについて算出された指示トルクとの差、または右後輪4Rについて算出された指示トルクと左後輪4Lについて算出された指示トルクとの差に基づいて算出する。
Claims (7)
- 駆動用モータと、前記駆動用モータからトルクが入力され、複数の回転要素を備えかつ前記入力されたトルクを左右の車輪に伝達することができる差動機構と、前記差動機構におけるいずれかの前記回転要素に連結されると共に、トルクを出力することにより前記差動機構から前記左右の車輪に伝達するトルクの分配率を制御する差動用モータとを備えた車両の駆動力制御装置において、
前記駆動用モータと前記差動用モータとに通電する電流を制御するコントローラを備え、
前記コントローラは、
運転者の操作に基づく要求トルクであって、前記車両を加速するトルク、および前記車両を減速するトルクである駆動トルクを算出し、
前記算出された駆動トルクと前記車両の姿勢に関係するデータとに基づいて前記左右の車輪のそれぞれに伝達する目標トルクを算出し、
前記左右の車輪のそれぞれのスリップ状態を検出し、前記検出したスリップ状態に基づいて前記左右の車輪のそれぞれについての前記目標トルクを補正し、
一方の車輪に伝達する前記補正された目標トルクと、他方の車輪に伝達する前記補正された目標トルクとの和に基づいて前記駆動用モータに通電する第1電流値を算出するとともに、一方の車輪に伝達する前記補正された目標トルクと、他方の車輪に伝達する前記補正された目標トルクとの差に基づいて前記差動用モータに通電する第2電流値を算出し、
前記第1電流値で前記駆動用モータを制御し、前記第2電流値で前記差動用モータを制御する
ように構成されていることを特徴とする車両の駆動力制御装置。 - 請求項1に記載の車両の駆動力制御装置において、
前記駆動用モータから前記差動機構に到るトルクの伝達経路内に設けられた回転部材に、通電される電流に応じた制動トルクを作用させるように構成されたブレーキ機構を更に備え、
前記コントローラは、前記ブレーキ機構に通電する電流を制御する機能を更に備え、
前記コントローラは、
一方の車輪に伝達する前記補正された目標トルクと、他方の車輪に伝達する前記補正された目標トルクとの和に基づいて前記ブレーキ機構に通電する第3電流値を算出する
ように構成されていることを特徴とする車両の駆動力制御装置。 - 請求項2に記載の車両の駆動力制御装置において、
前記駆動用モータは、発電機能のあるモータであり、
前記コントローラは、
一方の車輪に伝達する前記補正された目標トルクと、他方の車輪に伝達する前記補正された目標トルクとの和が制動トルクであり、その制動トルクが前記駆動用モータによる発電機能によって生じさせることができる限界トルクよりも大きい場合に、前記駆動用モータが限界トルクを生じるように前記駆動用モータに通電する第1電流値を算出するとともに、前記ブレーキ機構により前記補正された目標トルクの和から前記限界トルクを減算したトルクを生じさせるように前記ブレーキ機構に通電する第3電流値を算出する
ように構成されていることを特徴とする車両の駆動力制御装置。 - 請求項1ないし3のいずれか一項に記載の車両の駆動力制御装置において、
前記コントローラは、
前記車両が旋回走行している場合に、前記左右の車輪のうちの一方の車輪のトルクを増大し、かつ前記左右の車輪のうちの他方の車輪のトルクを、前記一方の車輪のトルクの増大量と同一量、減少するように前記目標トルクを算出する
ように構成されていることを特徴とする車両の駆動力制御装置。 - 請求項1ないし4のいずれか一項に記載の車両の駆動力制御装置において、
前記運転者による操作は、アクセル操作またはブレーキ操作である
ことを特徴とする車両の駆動力制御装置。 - 請求項1ないし5のいずれか一項に記載の車両の駆動力制御装置において、
前記車両の姿勢に関係するデータは、前記車両のヨーレートを含む
ことを特徴とする車両の駆動力制御装置。 - 請求項1ないし6のいずれか一項に記載の車両の駆動力制御装置において、
前記スリップ状態は、車速と、前記左右の車輪のそれぞれの車輪速との比率に基づいて求められる状態比である
ことを特徴とする車両の駆動力制御装置。
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