JP2018064343A5

JP2018064343A5 -

Info

Publication number: JP2018064343A5
Application number: JP2016200687A
Authority: JP
Filing date: 2016-10-12
Publication date: 2019-01-31
Anticipated expiration: 2036-10-12

Description

本発明の車両制御装置は、ロック判定部（５４）と、モータ駆動制御部（５６）と、を備える。
ロック判定部は、車両（９０）がロック状態か否かを判断する。
モータ駆動制御部は、車両の駆動源である主機モータ（３）の回転数に係る回転数指令値を演算する回転数指令演算部（５７１）を有する。
モータ駆動制御部は、車両がロック状態である場合、周期的に変更される回転数指令値を用いた制御である回転数制御により、主機モータの駆動を制御する。
回転数指令演算部は、回転数指令値として、第１指令値と第２指令値とを交互に切り替える。 The vehicle control device of the present invention includes a lock determination unit (54) and a motor drive control unit (56).
The lock determination unit determines whether or not the vehicle (90) is in a locked state.
The motor drive control unit includes a rotation speed command calculation unit (571) that calculates a rotation speed command value related to the rotation speed of the main motor (3) that is a drive source of the vehicle.
When the vehicle is in a locked state, the motor drive control unit controls driving of the main motor by rotation speed control that is control using a rotation speed command value that is periodically changed.
The rotation speed command calculation unit alternately switches the first command value and the second command value as the rotation speed command value.

一方、本実施形態では、車両９０がロック状態となったとき、回転数指令値ω^*を周期的に切り替えている。これにより、ロック状態が継続した場合であっても、特定相への電流集中を防ぎ、フェイル判定となるのを回避しているので、ロック状態にて主機モータ３の駆動を継続することができる。
On the other hand, in the present embodiment, when the vehicle 90 is locked, the rotational speed command value ω ^* is periodically switched. Accordingly, even if the locking state continues, prevents current concentration on particular phase, since it avoids the full E-yl decision, to continue the driving of the main motor 3 in the locked state Can do.

Claims

A lock determination unit (54) for determining whether the vehicle (90) is in a locked state;
A motor drive control section (56) having a rotation speed command calculation section (571) for calculating a rotation speed command value relating to the control of the rotation speed of the main motor (3) which is a drive source of the vehicle;
With
The motor drive control unit controls driving of the main motor by rotation speed control that is control using the rotation speed command value that is periodically changed when the vehicle is in a locked state ,
The said rotation speed command calculating part is a vehicle control apparatus which switches a 1st command value and a 2nd command value alternately as said rotation speed command value .

When the rotation speed command value for rotating the main motor in the forward rotation direction is positive and the rotation speed command value for rotating in the reverse rotation direction is negative,
The rotational speed command calculation unit is
When the vehicle is in an uphill lock state in which the vehicle is locked on an ascending slope, the first command value is a positive value, the second command value is 0 or a positive value different from the first command value,
Wherein when the vehicle is in the non-climbing locked state to be locked at other upward slope, the first command value a positive value, the vehicle control apparatus according to claim 1, wherein the negative value of the second command value.

There is a gear backlash between the main motor and the drive wheel (95),
The rotation speed command calculation unit determines the first command value and the second command value so that a driving range of the main motor is within a range of the gear backlash when in the non-hill climbing lock state. the vehicle control device according to 2.

The rotation speed command calculation unit is configured to output the first command value and the first command value so that the main motor rotates at an electrical angle of 120 ° or more in one cycle of a switching cycle for switching between the first command value and the second command value. The vehicle control device according to any one of claims 1 to 3 , wherein the second command value is determined.

The lock determination unit locks the vehicle when the number of rotations of the main motor is smaller than a lock determination threshold and the torque of the main motor is larger than the torque determination threshold for a predetermined continuation determination time. The vehicle control device according to any one of claims 1 to 4 , which is determined to be in a state.

When the vehicle is in a locked state and the temperature of cooling water for cooling the inverter (20) for converting the power supplied to the main motor is higher than the rotation speed control threshold, the motor drive control unit The vehicle control device according to any one of claims 1 to 5 , which performs rotation speed control.

When the vehicle is in a locked state, a torque limiter (55) that limits the torque output from the main motor based on the temperature of cooling water that cools the inverter (20) that converts the power supplied to the main motor. The vehicle control device according to any one of claims 1 to 6 .

A clutch control unit (51) for controlling a clutch (81) provided between the main motor and the drive shaft (91);
The clutch control unit, when performing the rotation speed control, any one of claim 1 to 7, the engagement of the clutch is controlled to half-clutch state between the fully engaged state and a fully separated state The vehicle control device described in 1.

A brake control unit (59) for controlling the brake (97) to stop the vehicle when the vehicle is in a locked state and it is determined that the amount of movement of the vehicle is larger than a threshold value for determining a slippage. The vehicle control apparatus as described in any one of 1-8 .