JP2018078665A - 車両の制御装置 - Google Patents
車両の制御装置 Download PDFInfo
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Abstract
【解決手段】駆動輪と、トルク指令に応じて走行用の動力を発生する駆動部と、駆動部の動力を駆動輪へ伝達する動力伝達部とを有する車両に搭載され、駆動部を制御する車両の制御装置であって、動力伝達部の共振を制御する共振制御部(203、204)と、共振制御部を、共振を抑制する共振抑制状態と、共振を発生させる共振発生状態とに切り替える共振切替部(205)を備えている。
【選択図】図2
Description
駆動輪と、トルク指令に応じて走行用の動力を発生する駆動部と、前記駆動部の動力を前記駆動輪へ伝達する動力伝達部とを有する車両に搭載され、前記駆動部を制御する車両の制御装置であって、
前記動力伝達部の共振を制御する共振制御部と、
前記共振制御部を、前記共振を抑制する共振抑制状態と、前記共振を発生させる共振発生状態とに切り替える共振切替部と、
を備えていることを特徴としている。
前記駆動輪の状態を表わす情報を入力する第1入力部を備え、
前記共振切替部は、前記駆動輪がロックされ、且つ、前記トルク指令が上限に達していることに基づいて、前記共振制御部を前記共振発生状態へ切り替えることを特徴とするとしている。
前記駆動輪は、第1駆動輪と第2駆動輪とを含み、
前記駆動部は、前記第1駆動輪と前記第2駆動輪との動力をそれぞれ発生する第1駆動部と第2駆動部とを含み、
前記動力伝達部は、前記第1駆動輪と前記第2駆動輪とにそれぞれ動力を伝達する第1動力伝達部と第2動力伝達部とを含み、
前記共振制御部は、前記第1動力伝達部の共振と前記第2動力伝達部の共振とをそれぞれ制御する第1共振制御部と第2共振制御部とを含み、
さらに、前記駆動輪の状態を表わす情報を入力する第1入力部を備え、
前記共振切替部は、前記第1駆動輪と前記第2駆動輪とのうち一方が空転し、且つ、前記第1駆動輪と前記第2駆動輪とのうち空転していない駆動輪側の前記トルク指令が上限に達していることに基づいて、前記第1共振制御部と前記第2共振制御部とのうち前記空転していない駆動輪側の一方を前記共振発生状態へ切り替えることを特徴としている。
前記共振の振動量を評価する評価部をさらに備え、
前記共振制御部は、前記共振発生状態の際、前記評価部の評価値が所定値となるように前記共振の発生を制御することを特徴としている。
車両の発進状態を判別する発進判別部をさらに備え、
前記発進判別部の判別結果が非発進であり、且つ、共振発生状態になってからの継続期間が所定期間経過した場合に、前記共振切替部は前記共振の発生を抑制する指令(例えば、共振制御部を共振抑制状態に切り替える指令、駆動トルクを停止する指令、駆動トルクを低減する指令など)を出力することを特徴としている。
前記共振制御部を前記共振発生状態から前記共振抑制状態へ切り替える際、前記トルク指令に前記共振の大きさに応じた復帰時の補正を行って、前記復帰時の補正が無い場合より速やかに前記共振を減衰させる復帰処理部をさらに備えることを特徴としている。
図3は、Fr共振制御部の詳細を示す回路図である。
続いて、図5を参照しながら、Fr共振制御部203又はRr共振制御部204の動作状態を切り替える共振制御処理について説明する。図5は、共振切替部により実行される共振制御処理の手順を示すフローチャートである。
2 前輪(第1駆動輪、駆動輪)
3 後輪(第2駆動輪、駆動輪)
11 前輪モータ(第1駆動部、駆動部)
12 後輪モータ(第2駆動部、駆動部)
13 Fr動力伝達部(第1動力伝達部、動力伝達部)
14 Rr動力伝達部(第2動力伝達部、動力伝達部)
15a、15b 車輪速センサ
16a、16b レゾルバ
17a、17b 駆動回路
20 ECU(制御装置)
31 運転操作部
201 Frトルク要求部
202 Rrトルク要求部
203 Fr共振制御部(第1共振制御部、共振制御部)
204 Rr共振制御部(第2共振制御部、共振制御部)
205 共振切替部(共振切替部、復帰処理部)
211 バンドパスフィルタ
212 振幅評価部(評価部)
213 減算器
214 アンプ
215 PD制御回路
221 離散微分器
223、225 アンプ
i1 入力部(第2入力部)
i2 入力部(第1入力部)
Claims (6)
- 駆動輪と、トルク指令に応じて走行用の動力を発生する駆動部と、前記駆動部の動力を前記駆動輪へ伝達する動力伝達部とを有する車両に搭載され、前記駆動部を制御する車両の制御装置であって、
前記動力伝達部の共振を制御する共振制御部と、
前記共振制御部を、前記共振を抑制する共振抑制状態と、前記共振を発生させる共振発生状態とに切り替える共振切替部と、
を備えていることを特徴とする車両の制御装置。 - 前記駆動輪の状態を表わす情報を入力する第1入力部を備え、
前記共振切替部は、前記駆動輪がロックされ、且つ、前記トルク指令が上限に達していることに基づいて、前記共振制御部を前記共振発生状態へ切り替えることを特徴とする請求項1記載の車両の制御装置。 - 前記駆動輪は、第1駆動輪と第2駆動輪とを含み、
前記駆動部は、前記第1駆動輪と前記第2駆動輪との動力をそれぞれ発生する第1駆動部と第2駆動部とを含み、
前記動力伝達部は、前記第1駆動輪と前記第2駆動輪とにそれぞれ動力を伝達する第1動力伝達部と第2動力伝達部とを含み、
前記共振制御部は、前記第1動力伝達部の共振と前記第2動力伝達部の共振とをそれぞれ制御する第1共振制御部と第2共振制御部とを含み、
さらに、前記駆動輪の状態を表わす情報を入力する第1入力部を備え、
前記共振切替部は、前記第1駆動輪と前記第2駆動輪とのうち一方が空転し、且つ、前記第1駆動輪と前記第2駆動輪とのうち空転していない駆動輪側の前記トルク指令が上限に達していることに基づいて、前記第1共振制御部と前記第2共振制御部とのうち前記空転していない駆動輪側の一方を前記共振発生状態へ切り替えることを特徴とする請求項1記載の車両の制御装置。 - 前記共振の振動量を評価する評価部をさらに備え、
前記共振制御部は、前記共振発生状態の際、前記評価部の評価値が所定値となるように前記共振の発生を制御することを特徴とする請求項1から請求項3の何れか一項に記載の車両の制御装置。 - 車両の発進状態を判別する発進判別部をさらに備え、
前記発進判別部の判別結果が非発進状態であり、且つ、共振発生状態になってからの継続期間が所定期間経過した場合に、前記共振切替部は前記共振の発生を抑制する指令を出力することを特徴とする請求項4に記載の車両の制御装置。 - 前記共振制御部を前記共振発生状態から前記共振抑制状態へ切り替える際、前記トルク指令に前記共振の大きさに応じた復帰時の補正を行って、前記復帰時の補正が無い場合より速やかに前記共振を減衰させる復帰処理部をさらに備えることを特徴とする請求項1から請求項5の何れか一項に記載の車両の制御装置。
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