JP2021112034A - Control device of four-wheel driven electric vehicle - Google Patents

Abstract

To provide a control device of a four-wheel driven electric vehicle which can output entire drive torque required by the vehicle as a whole in the vehicle while generating a desired drive torque difference between left and right wheels at one side of fore-and-aft wheels.SOLUTION: A control device of a four-wheel driven electric vehicle comprises; a motor torque determination part for determining whether or not the output torque of a first motor calculated by a motor torque calculation part exceeds a first upper limit value which is defined on the basis of an operation state of the first motor and a motor temperature, and whether or not the output torque of a second motor calculated by the motor torque calculation part exceeds a second upper limit value which is defined on the basis of an operation state of the second motor and a motor temperature; and a fore-and-aft torque redistribution calculation part for recalculating drive torque calculated by a fore-and-aft torque distribution calculation part in order to output entire drive torque which is required by the vehicle when it is determined that the output torque exceeds the first upper limit value, or exceeds the second upper limit value by the motor torque determination part.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a control device for a four-wheel drive electric vehicle.

Patent Document 1 discloses a driving force control device for an electric vehicle including at least two electric motors for driving the left and right wheels. The driving force control device for such an electric vehicle calculates the detection means for detecting the driving operation by the driver and the torque required by the driver and the torque difference given to the left and right wheels when turning, and obtains the required torque while maintaining the torque difference. It is equipped with a control means that calculates the torque difference maintenance torque between the left and right sides of the motor when it is generated and controls the motor based on the torque difference maintenance torque. When the torque difference maintaining torque on the turning outer ring side of the left and right torque difference maintaining torque exceeds the maximum output torque of the motor, the control means generates the required torque according to the driving operation detected by the detecting means. Determine the priority between the required torque mode and the torque difference mode that generates the torque difference. According to the driving force control device of such an electric vehicle, it is possible to improve the turning performance while fulfilling the driver requirement.

Japanese Unexamined Patent Publication No. 2016-13502

By the way, in a four-wheel drive electric vehicle, in order to control the yaw moment acting on the vehicle, a desired drive torque difference is generated between one of the left and right wheels of the front and rear wheels, and the total drive torque required by the vehicle is used as the entire vehicle. It is preferable to output.

In view of the above circumstances, at least one embodiment of the present invention is between the left and right wheels of one of the front and rear wheels even when the first motor and the second motor cannot output the drive torque required for one of the front and rear wheels. It is an object of the present invention to provide a control device for a four-wheel drive electric vehicle capable of outputting the total drive torque required by the vehicle as a whole while generating a desired drive torque difference.

In the motor control device for a four-wheel drive electric vehicle according to at least one embodiment of the present invention, one of the front and rear wheels of the vehicle is driven by a first motor and a second motor different from the first motor, and the front and rear wheels are driven by a second motor. The other of the wheels is a control device for a four-wheel drive electric vehicle driven by a drive source different from that of the first motor and the second motor, from the total drive torque required by the vehicle to the front and rear wheels. The front-rear torque distribution is such that a desired drive torque difference is generated between the front-rear torque distribution calculation unit that calculates the required drive torque and the left-right wheel of one of the front-rear wheels in order to control the yaw moment acting on the vehicle. The left and right torque distribution calculation unit that calculates the drive torque required for one of the front and rear wheels from the drive torque calculated by the calculation unit, and the first drive torque calculated by the left and right torque distribution calculation unit. The first motor outputs the output torque of the first motor calculated by the motor torque calculation unit that calculates the output torque of the first motor and the output torque of the second motor, and the motor torque calculation unit. Then, the motor control unit that controls the first motor and the second motor so that the second motor outputs the output torque of the second motor calculated by the motor torque calculation unit, and the above. Whether or not the output torque of the first motor calculated by the motor torque calculation unit exceeds the first upper limit value determined based on the operating state of the first motor and the motor temperature, and the motor torque calculation unit. A motor torque determination unit for determining whether or not the output torque of the second motor calculated in the above exceeds a second upper limit value determined based on the operating state of the second motor and the motor temperature, and the motor. When the torque determination unit determines that the first upper limit value is exceeded or the second upper limit value is exceeded, the drive torque calculated by the front-rear torque distribution calculation unit in order to output the total drive torque. It is equipped with a front-rear torque redistribution calculation unit that recalculates.

According to the above configuration, the front-rear torque redistribution calculation unit outputs the total drive torque when the motor torque determination unit determines that the first upper limit value is exceeded or the second upper limit value is exceeded. , Recalculate the drive torque calculated by the front-rear torque distribution calculation unit. As a result, even if the first motor and the second motor cannot output the drive torque required for one of the front and rear wheels, the vehicle can generate a desired drive torque difference between the left and right wheels of one of the front and rear wheels. The required total drive torque can be output for the entire vehicle.

In one embodiment of the present invention, when the front-rear torque redistribution calculation unit determines that the motor torque determination unit exceeds the first upper limit value or exceeds the second upper limit value, the first upper limit value is exceeded. The desired range between the left and right wheels of the front and rear wheels within a range in which the output torque of the motor 1 is equal to or less than the first upper limit value and the output torque of the second motor is equal to or less than the second upper limit value. The drive torque calculated by the front-rear torque distribution calculation unit is recalculated so that the drive torque difference of is generated.

According to the above configuration, the output torque of the first motor is equal to or less than the first upper limit value and the output torque of the second motor is equal to or less than the second upper limit value, which is desired between the left and right wheels of the front and rear wheels. Drive torque difference occurs. As a result, even if the output torque of the first motor exceeds the first upper limit value or the output torque of the second motor exceeds the second upper limit value, the desired drive is performed between the left and right wheels of one of the front and rear wheels. A torque difference can be generated.

In one embodiment of the present invention, the output torque of the drive source calculated based on the drive torque calculated by the front-rear torque distribution calculation unit is determined based on the operating state of the drive source and the temperature of the drive source. A drive source torque determination unit for determining whether or not the upper limit value of 3 is exceeded is provided, and the front-rear torque redistribution calculation unit is determined by the drive source torque determination unit to exceed the third upper limit value. The drive torque calculated by the front-rear torque distribution calculation unit is recalculated so that the output torque of the drive source is equal to or less than the third upper limit value.

According to the above configuration, the front-rear torque redistribution calculation unit sets the output torque of the drive source to be equal to or less than the third upper limit value when the drive source torque determination unit determines that the third upper limit value is exceeded. In addition, the drive torque calculated by the front-rear torque distribution calculation unit is recalculated. As a result, even if the drive source cannot output the drive torque required for the other of the front and rear wheels, the total drive torque required by the vehicle can be output for the entire vehicle.

In one embodiment of the present invention, the front and rear wheels are provided with a braking unit capable of braking one of the front and rear wheels independently, and the motor torque determination unit uses only the first motor and the second motor. When it is determined that the desired drive torque difference cannot be generated between one of the left and right wheels, the braking force of one of the front and rear wheels, which has a smaller required drive torque, increases. As described above, the braking unit is braked.

According to the above configuration, when the motor torque determination unit determines that a desired drive torque difference cannot be generated between the left and right wheels of one of the front and rear wheels only by the first motor and the second motor. The braking unit is braked so that the braking force of one of the left and right wheels of the front and rear wheels, which requires a smaller driving torque, is increased. As a result, even when a desired drive torque difference cannot be generated between the left and right wheels of the front and rear wheels only by the first motor and the second motor, it is required among the left and right wheels of the front and rear wheels. By increasing the braking force of one wheel having a small driving torque, a desired torque difference can be generated between the left and right wheels of one of the front and rear wheels.

In one embodiment of the present invention, even if the front-rear torque redistribution calculation unit is determined by the motor torque determination unit to exceed the first upper limit value or the second upper limit value, the first upper limit value is exceeded. When the motor temperature of the motor 1 is equal to or lower than the preset first temperature and the motor temperature of the second motor is equal to or lower than the preset second temperature, the front-rear torque distribution calculation unit Stop recalculating the drive torque calculated in.

According to the above configuration, the front-rear torque redistribution calculation unit can be used even when the output torque of the first motor exceeds the first upper limit value or the output of the second motor exceeds the second upper limit value. Calculated by the front-rear torque distribution calculation unit when the motor temperature of the first motor is equal to or lower than the preset first temperature and the motor temperature of the second motor is equal to or lower than the preset second temperature. Stop recalculating the driven torque. As a result, even when the output torque of the first motor exceeds the first upper limit value or the output of the second motor exceeds the second upper limit value, the motor temperature of the first motor is set in advance. When the temperature is equal to or lower than 1 and the motor temperature of the second motor is equal to or lower than the preset second temperature, a desired drive torque difference is generated between the left and right wheels of one of the front and rear wheels. , The total drive torque required by the vehicle can be output.

According to at least one embodiment of the present invention, even if the first motor and the second motor cannot output the drive torque required for one of the front and rear wheels, the desired drive torque between the left and right wheels of the front and rear wheels. The total drive torque required by the vehicle can be output as the entire vehicle while making a difference.

It is a figure which shows typically the structure of the electric vehicle which mounts the control device of the four-wheel drive electric vehicle which concerns on one Embodiment of this invention. It is a block diagram which shows schematic the control structure of the control device of the four-wheel drive electric vehicle which concerns on one Embodiment of this invention. It is a flowchart which shows the control content of the control device of the four-wheel drive electric vehicle which concerns on one Embodiment of this invention. It is a block diagram which shows schematic the control structure of the control device of the four-wheel drive electric vehicle which concerns on one Embodiment of this invention. It is a flowchart which shows the control content of the control device of the four-wheel drive electric vehicle which concerns on one Embodiment of this invention. It is a block diagram which shows schematic the control structure of the control device of the four-wheel drive electric vehicle which concerns on one Embodiment of this invention. It is a flowchart which shows the control content of the control device of the four-wheel drive electric vehicle which concerns on one Embodiment of this invention. It is a flowchart which shows the control content of the control device for the four-wheel drive electric vehicle which concerns on one Embodiment of this invention.

Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described as embodiments or shown in the drawings are not intended to limit the scope of the present invention to this, and are merely explanatory examples. do not have.

As shown in FIG. 1, the control device 1 according to some embodiments of the present invention is an electric vehicle (EV), a hybrid vehicle (HV), or a plug that uses electricity charged in a drive battery 110 as a power source. It is installed in electric vehicles such as in-hybrid vehicles (PHV, PHEV). In the vehicle 100 on which the control device 1 according to some embodiments of the present invention is mounted, one of the front and rear wheels of the vehicle 100 is driven by a first motor and a second motor different from the first motor, and the front and rear wheels The other is driven by a drive source different from that of the first motor and the second motor.

In the vehicle 100 on which the control device 1 according to the embodiment of the present invention is mounted, for example, the rear wheel 102 of the vehicle 100 is the first motor 141 (hereinafter referred to as "first rear wheel motor 141") and the first. A third motor 142 driven by a second motor 142 (hereinafter referred to as "second rear wheel motor 142") different from the rear wheel motor 141, and the front wheels 101 being different from the first rear wheel motor 141 and the second rear wheel motor 142. It is driven by the motor 131 (hereinafter referred to as "front wheel motor 131").

Further, the vehicle 100 equipped with the control device 1 according to some embodiments of the present invention has a desired drive torque between the left and right wheels of the front and rear wheels 101 and 102 in order to control the yaw moment acting on the vehicle 100. It can be controlled to make a difference.

The vehicle 100 on which the control device 1 according to the embodiment of the present invention is mounted is controlled so that a desired drive torque difference is generated between the left and right wheels of the rear wheels 102, for example, in order to control the yaw moment acting on the vehicle 100. It is possible.

In the vehicle 100 according to the embodiment of the present invention, the transaxle 132 is provided between the front wheels 101 and the front wheel motor 131, and the power supplied from the front wheel motor 131 to the front wheels 101 is decelerated by the transaxle 132 to reduce the power supplied to the front wheels 101. Will be distributed to. Further, in the vehicle 100 according to the embodiment of the present invention, for example, a power distribution device 143 is provided between the rear wheel 102, the first rear wheel motor 141, and the second rear wheel motor 142, and the first one. Power is distributed from the rear wheel motor 141 to the rear wheels 102 (left wheel 102L and right wheel 102R), and power is distributed from the second rear wheel motor 142 to the rear wheels 102 (left wheel 102L and right wheel 102R).

The front wheel motor 131, the first rear wheel motor 141, and the second rear wheel motor 142 are, for example, AC motors, and are between the front wheel motor 131 and the drive battery 110, the first rear wheel motor 141 and the drive battery. Inverters 133, 145, and 146 are provided between the 110 and the second rear wheel motor 142 and the drive battery 110, respectively. The inverters 133, 145, and 146 convert the DC power charged in the drive battery 110 into AC power, and generate the output torques of the front wheel motor 131, the first rear wheel motor 141, and the second rear wheel motor 142. It can be output arbitrarily.

The vehicle 100 includes a vehicle control device 2 and a plurality of motor control devices 135, 147, 148. The vehicle control device 2 (hereinafter referred to as “EV-ECU 2”) is a higher-level control device that collectively controls the vehicle 100, and the plurality of motor control devices 135, 147, and 148 are motors based on commands from the EV-ECU 2. It is a lower control device that controls 131, 141, and 142.

The EV-ECU 2 is a processor (not shown) composed of an arithmetic unit, a register for storing instructions and information, peripheral circuits, and a memory (not shown) such as a ROM (Read Only Memory) and a RAM (Random Access Memory). ) And an input / output interface (not shown).

Information such as steering information (for example, steering angle), vehicle speed information (for example, wheel speed), accelerator pedal information (for example, depression amount), and brake pedal information (for example, depression amount) is input to the EV-ECU 2.

Similar to the EV-ECU 2, the plurality of motor control devices 135, 147, and 148 include an arithmetic unit, a processor (not shown) composed of a register for storing instructions and information, peripheral circuits, and the like, and a ROM (Read Only Memory). It is composed of a memory (not shown) such as a RAM (Random Access Memory) and an input / output interface (not shown).

The plurality of motor control devices 135, 147, 148 include a motor control device 135 that controls the front wheel motor 131, a motor control device 147 that controls the first rear wheel motor 141, and a motor that controls the second rear wheel motor 142. The control device 148 is included, commands from the EV-ECU 2 are input to the motor control devices 135, 147, 148, and information from the motor control devices 135, 147, 148 is output to the EV-ECU 2.

As shown in FIG. 2, the control device 1 according to some embodiments of the present invention includes a front-rear torque distribution calculation unit 21, a left-right torque distribution calculation unit 22, a motor torque calculation unit 23, a motor control unit 24, and a motor torque determination. A unit 25 and a front-rear torque redistribution calculation unit 26 are provided.

The front-rear torque distribution calculation unit 21 according to some embodiments of the present invention is a part that calculates the drive torque required for the front and rear wheels 101 and 102 from the total drive torque required by the vehicle.

The front-rear torque distribution calculation unit 21 according to the embodiment of the present invention is provided in, for example, the EV-ECU 2. As described above, the front-rear torque distribution calculation unit 21 calculates the drive torque required for the front and rear wheels 101 and 102 from the total drive torque required by the vehicle 100, but the total drive torque required by the vehicle 100 is the total drive torque of the vehicle 100. It is calculated based on the driving conditions and the driver's operation. The driving condition is obtained from, for example, vehicle speed information, and the driver's operation is obtained from, for example, the operation of the accelerator pedal or the brake pedal. The drive torque required for the front and rear wheels is a drive torque required for the front wheels 101 and a drive torque required for the rear wheels 102, and the total drive torque required by the vehicle 100 is distributed. The drive torque required for the front wheels 101 and the drive torque required for the rear wheels 102 calculated by the front-rear torque distribution calculation unit 21 are calculated based on the traveling conditions of the vehicle 100 and the operation of the driver, but are predetermined. It may be calculated based on the distribution. The drive torque calculated by the front-rear torque distribution calculation unit 21 may be a distribution amount with respect to the total drive torque required by the vehicle 100, but may be a distribution ratio with respect to the total drive torque required by the vehicle 100. As a result, the front-rear torque distribution calculation unit 21 calculates the drive torque required for the front wheels 101 and the drive torque required for the rear wheels 102.

The left-right torque distribution calculation unit 22 according to some embodiments of the present invention causes a desired drive torque difference between the left and right wheels 101 and 102 in order to control the yaw moment acting on the vehicle 100. In addition, it is a part for calculating the drive torque required for one of the front and rear wheels 101 and 102 from the drive torque calculated by the front-rear torque distribution calculation unit 21.

The left-right torque distribution calculation unit 22 according to the embodiment of the present invention is provided in, for example, the EV-ECU 2. The left-right torque distribution calculation unit 22 calculates the rear wheel 102 by the front-rear torque distribution calculation unit 21 so that a desired torque difference is generated between the left and right wheels of the rear wheel 102 in order to control the yaw moment that affects the vehicle 100. The drive torque required for the left and right wheels 102L and 102R of the rear wheel 102 is calculated from the drive torque required for. The desired torque difference is calculated based on, for example, steering information (for example, steering angle), vehicle speed information (for example, wheel speed), accelerator pedal information, brake pedal information, and the like (for example, yaw rate, driving torque, and brake pressure). As a result, the left-right torque distribution calculation unit 22 calculates the drive torque required for the left wheel 102L of the rear wheel 102 and the drive torque required for the right wheel 102R of the rear wheel 102.

The motor torque calculation unit 23 according to some embodiments of the present invention calculates the output torque of the first motor and the output torque of the second motor based on the drive torque calculated by the left-right torque distribution calculation unit 22. It is the part to do.

The motor torque calculation unit 23 according to the embodiment of the present invention is provided in, for example, the EV-ECU 2. The motor torque calculation unit 23 calculates the output torque of the first rear wheel motor 141 based on the drive torque required for the left wheel 102L of the rear wheel 102 calculated by the left / right torque distribution calculation unit 22, and also calculates the output torque of the first rear wheel motor 141. The output torque of the second rear wheel motor 142 is calculated based on the drive torque required for the right wheel 102R. As a result, the motor torque calculation unit 23 calculates the output torque of the first rear wheel motor 141 and the output torque of the second rear wheel motor 142.

In the motor control unit 24 according to some embodiments of the present invention, the first motor outputs the output torque of the first motor calculated by the motor torque calculation unit 23, and the motor torque calculation unit 23 calculates the output torque. It is a part that controls the first motor and the second motor so that the second motor outputs the output torque of the second motor.

The motor control unit 24 according to an embodiment of the present invention includes, for example, a motor control device 147 (hereinafter referred to as "RMCU (R) 147") for controlling the first rear wheel motor 141 and a second rear wheel motor 142. It is provided in a motor control device 148 (hereinafter referred to as "RMCU (L) 148") to be controlled.

The motor control unit 24 provided in the RMCU (R) 147 is a first so that the first rear wheel motor 141 outputs the output torque of the first rear wheel motor 141 calculated by the motor torque calculation unit 23. It controls the rear wheel motor 141. The motor control unit 24 has, for example, the drive battery 110 and the first rear wheel so that the first rear wheel motor 141 outputs the output torque of the first rear wheel motor 141 calculated by the motor torque calculation unit 23. It controls the inverter 145 provided between the motor 141 and the motor 141. Further, the motor control unit 24 provided in the RMCU (R) 147 directly or indirectly acquires the operating state and the motor temperature of the first rear wheel motor 141, and these information (the first rear wheel motor 141). (Operating temperature and motor temperature) are managed and shared with the EV-ECU 2 (output to the EV-ECU 2). The operating state of the first rear wheel motor 141 is, for example, the magnitude of the load, and the motor temperature of the first rear wheel motor 141 is, for example, the coil temperature of the motor, the temperature of the cooling oil, or the temperature of the housing of the motor.

The motor control unit 24 provided in the RMCU (L) 148 has a second rear wheel motor 142 so that the second rear wheel motor 142 outputs the output torque of the second rear wheel motor 142 calculated by the motor torque calculation unit 23. It controls the rear wheel motor 142. The motor control unit 24 uses the drive battery 110 and the second rear wheel so that the second rear wheel motor 142 outputs the output torque of the second rear wheel motor 142 calculated by the motor torque calculation unit 23, for example. It controls an inverter 146 provided between the motor 142 and the motor 142. Further, the motor control unit 24 provided in the RMCU (L) 148 describes the operating state of the second rear wheel motor 142, the motor temperature, and the torque difference (the output torque of the first motor and the output torque of the second motor). The difference) is directly or indirectly acquired, and these information (operating state of the second motor, motor temperature, and torque difference) are managed and shared with the EV-ECU 2 (output to the EV-ECU 2). The operating state of the second rear wheel motor 142 is, for example, the magnitude of the load, and the motor temperature of the second rear wheel motor 142 is, for example, the coil temperature of the motor, the temperature of the cooling oil, or the temperature of the housing of the motor. ..

In the motor torque determination unit 25 according to some embodiments of the present invention, the output torque of the first motor calculated by the motor torque calculation unit 23 is determined based on the operating state of the first motor and the motor temperature. Whether or not the upper limit value of 1 is exceeded, and the output torque of the second motor calculated by the motor torque calculation unit 23 exceeds the second upper limit value determined based on the operating state of the second motor and the motor temperature. This is the part that determines whether or not.

The motor torque determination unit 25 according to the embodiment of the present invention is provided in, for example, the EV-ECU 2. In the motor torque determination unit 25, the output torque of the first rear wheel motor 141 calculated by the motor torque calculation unit 23 is a first upper limit value determined based on the operating state of the first rear wheel motor 141 and the motor temperature. The second upper limit value determined based on the operating state of the second rear wheel motor 142 and the motor temperature, and whether or not the output torque of the second rear wheel motor 142 calculated by the motor torque calculation unit 23 exceeds Judge whether or not it exceeds. As a result, the motor torque determination unit 25 determines whether or not the first rear wheel motor 141 can output the output torque of the first rear wheel motor 141 calculated by the motor torque calculation unit 23, and the motor torque calculation unit. It is determined whether or not the second rear wheel motor 142 can output the output torque of the second rear wheel motor 142 calculated in 23.

The front-rear torque redistribution calculation unit 26 according to some embodiments of the present invention is totally driven when the motor torque determination unit 25 determines that the first upper limit value is exceeded or the second upper limit value is exceeded. This is a portion for recalculating the drive torque calculated by the front-rear torque distribution calculation unit 21 in order to output the torque.

The front-rear torque redistribution calculation unit 26 according to the embodiment of the present invention is provided in, for example, the EV-ECU 2. When the front-rear torque redistribution calculation unit 26 determines that the motor torque determination unit 25 exceeds the first upper limit value or exceeds the second upper limit value, the output torque of the first rear wheel motor 141 becomes the first. The drive torque and rear wheels required for the front wheels 101 calculated by the front-rear torque distribution calculation unit 21 so that the output torque of the second rear wheel motor 142 is equal to or less than the upper limit value of 1. The drive torque required for 102 is recalculated.

As shown in FIG. 3, in the control device 1 according to the embodiment of the present invention, the front-rear torque distribution calculation unit 21 calculates the total drive torque required by the vehicle 100 based on the traveling conditions of the vehicle 100 and the operation of the driver. Then, the drive torque required for the front wheels 101 and the drive torque required for the rear wheels 102 are calculated from the total drive torque based on the traveling conditions of the vehicle 100 and the operation of the driver (step S11).

Next, in the control device 1 according to the embodiment of the present invention, a desired drive torque difference is generated between the left and right wheels of the rear wheels 102 so that the left and right torque distribution calculation unit 22 controls the yaw moment acting on the vehicle 100. The drive torque required for the left wheel 102L of the rear wheel 102 and the drive torque required for the right wheel 102R are calculated from the drive torque of the rear wheel 102 calculated by the front-rear torque distribution calculation unit 21 (step S12).

For example, the left-right torque distribution calculation unit 22 calculates a desired drive torque difference based on steering information, vehicle speed information, accelerator pedal information, brake pedal information, and the like (step S121). Then, the drive torque required for the left wheel 102L of the rear wheel 102 and the drive torque required for the right wheel 102R are calculated based on the drive torque required for the rear wheel 102 and the desired drive torque difference (step S122).

Next, in the control device 1 according to the embodiment of the present invention, the drive torque required for the left wheel 102L of the rear wheel 102 calculated by the left and right torque distribution calculation unit 22 by the motor torque calculation unit 23 and the right side of the rear wheel 102. The output torque of the first rear wheel motor 141 and the output torque of the second rear wheel motor 142 are calculated based on the drive torque required for the wheels 102R (step S13).

Next, in the control device 1 according to the embodiment of the present invention, the output torque of the first rear wheel motor 141 calculated by the motor torque determination unit 25 by the motor torque calculation unit 23 is the output torque of the first rear wheel motor 141. Whether or not the first upper limit value determined based on the operating state and the motor temperature is exceeded, and the output torque of the second rear wheel motor 142 calculated by the motor torque calculation unit 23 of the second rear wheel motor 142. It is determined whether or not the second upper limit value determined based on the operating state and the motor temperature is exceeded (step S14).

Next, in the control device 1 according to the embodiment of the present invention, when the motor torque determination unit 25 determines that the value is equal to or less than the first upper limit value and equal to or less than the second upper limit value, RMCU (R) 147 The motor control unit 24 provided in the RMCU (L) 148 controls the output torque of the first rear wheel motor 141 calculated by the motor torque calculation unit 23 so that the first rear wheel motor 141 outputs the output torque. The provided motor control unit 24 controls the output torque of the second rear wheel motor 142 calculated by the motor torque calculation unit 23 so that the second rear wheel motor 142 outputs the output torque (step S15).

Next, in the control device according to the embodiment of the present invention, the total required by the vehicle 100 when the motor torque determination unit 25 determines that the first upper limit value is exceeded or the second upper limit value is exceeded. In order to output the drive torque, the front-rear torque redistribution calculation unit 26 recalculates the drive torque required for the front wheels 101 and the drive torque required for the rear wheels 102 calculated by the front-rear torque distribution calculation unit 21 (step S16). ). As a result, the drive torque required for the front wheels 101 increases, and the drive torque required for the rear wheels 102 decreases.

According to the control device 1 according to the embodiment of the present invention described above, the front-rear torque redistribution calculation unit 26 determines that the motor torque determination unit 25 exceeds the first upper limit value or exceeds the second upper limit value. If this is the case, the drive torque required for the front wheels 101 and the drive torque required for the rear wheels 102 calculated by the front-rear torque distribution calculation unit 21 are recalculated in order to output the total drive torque. As a result, the drive torque required for the front wheels 101 increases, and the drive torque required for the rear wheels 102 decreases. Then, the motor torque determination unit 25 determines that the value is equal to or less than the first upper limit value and the second upper limit value or less, and the motor control unit 24 provided in the RMCU (R) 147 is calculated by the motor torque calculation unit 23. The output torque of the first rear wheel motor 141 was controlled to be output by the first rear wheel motor 141, and the motor control unit 24 provided in the RMCU (L) 148 was calculated by the motor torque calculation unit 23. The output torque of the second rear wheel motor 142 is controlled so that the second rear wheel motor 142 outputs the output torque. As a result, even when the first motor and the second motor cannot output the drive torque required for one of the front and rear wheels, the vehicle 100 creates a desired drive torque difference between the left and right wheels of one of the front and rear wheels. Can output the total drive torque required by the vehicle as a whole.

In the control device 1 according to some embodiments of the present invention, the front-rear torque redistribution calculation unit 26 is determined by the motor torque determination unit 25 to exceed the first upper limit value or the second upper limit value. In this case, it is desired between the left and right wheels of the front and rear wheels within a range in which the output torque of the first motor is equal to or less than the first upper limit value and the output torque of the second motor is equal to or less than the second upper limit value. The drive torque calculated by the front-rear torque distribution calculation unit 21 is recalculated so that a drive torque difference occurs.

In the control device 1 according to the embodiment of the present invention, when the front-rear torque redistribution calculation unit 26 is determined by the motor torque determination unit 25 to exceed the first upper limit value or the second upper limit value. , The distance between the left and right wheels of the rear wheels 102 within the range where the output torque of the first rear wheel motor 141 is equal to or less than the first upper limit value and the output torque of the second rear wheel motor 142 is equal to or less than the second upper limit value. The drive torque required for the front wheels 101 and the drive torque required for the rear wheels 102 calculated by the front-rear torque distribution calculation unit 21 are recalculated so that a desired drive torque difference is generated.

According to the control device 1 according to the embodiment of the present invention described above, the output torque of the first rear wheel motor 141 is equal to or less than the first upper limit value, and the output torque of the second rear wheel motor 142 is the second. It becomes equal to or less than the upper limit value of, and a desired drive torque difference is generated between the left and right wheels of the rear wheels 102. As a result, even if the output torque of the first rear wheel motor 141 exceeds the first upper limit value, or the output torque of the second rear wheel motor 142 exceeds the second upper limit value, the left and right wheels of the rear wheel 102 A desired drive torque difference can be generated between them.

As shown in FIG. 4, the control device 1 according to some embodiments of the present invention further includes a drive source control unit 27 and a drive source torque determination unit 28.

The drive source control unit 27 according to some embodiments of the present invention calculates the output torque of the drive source based on the drive torque calculated by the front-rear torque distribution calculation unit 21, and the drive source outputs the output torque. It is a part that controls the drive source.

The drive source control unit 27 according to the embodiment of the present invention is provided in, for example, a motor control device 135 (hereinafter referred to as “FMCU135”) that controls the front wheel motor 131. The drive source control unit 27 calculates the output torque of the front wheel motor 131 based on the drive torque required for the front wheels 101 calculated by the front-rear torque distribution calculation unit 21, so that the front wheel motor 131 outputs the output torque. Controls the front wheel motor 131. The drive source control unit 27 is provided with an inverter 133 between the drive battery 110 and the front wheel motor 131 so that the front wheel motor 131 outputs the output torque of the front wheel motor 131 calculated by the drive source control unit 27, for example. To control. Further, the drive source control unit 27 directly or indirectly acquires the operating state and the motor temperature of the front wheel motor 131, manages these information (operating temperature of the front wheel motor 131 and the motor temperature), and shares them with the EV-ECU 2. (Output to EV-ECU 2). The operating state of the front wheel motor 131 is, for example, the magnitude of the load, and the motor temperature of the front wheel motor 131 is, for example, the temperature of the coil of the motor, the temperature of the cooling oil, or the temperature of the housing of the motor.

In the drive source torque determination unit 28 according to some embodiments of the present invention, the output torque of the drive source calculated based on the drive torque calculated by the front-rear torque distribution calculation unit 21 is the operating state of the drive source and the drive source. This is a part for determining whether or not the third upper limit value determined based on the temperature of the above is exceeded.

The drive source torque determination unit 28 according to the embodiment of the present invention is provided in, for example, the EV-ECU 2. In the drive source torque determination unit 28, the output torque of the front wheel motor 131 calculated based on the drive torque required for the front wheels 101 calculated by the front-rear torque distribution calculation unit 21 is based on the operating state of the front wheel motor 131 and the motor temperature. It is determined whether or not the third upper limit value determined in the above is exceeded. As a result, the drive source torque determination unit 28 determines whether or not the front wheel motor 131 can output the drive torque required for the front wheels 101 calculated by the front-rear torque distribution calculation unit 21.

In the control device 1 according to some embodiments of the present invention, when the front-rear torque redistribution calculation unit 26 is determined by the drive source torque determination unit 28 to exceed the third upper limit value, the output torque of the drive source Is recalculated by the front-rear torque distribution calculation unit 21 so that is equal to or less than the third upper limit value.

In the control device 1 according to the embodiment of the present invention, the front-rear torque redistribution calculation unit 26 determines that the output torque of the front wheel motor 131 exceeds the third upper limit value in the drive source torque determination unit 28. The drive torque calculated by the front-rear torque distribution calculation unit 21 is recalculated so as to be equal to or less than the third upper limit value.

As shown in FIG. 5, in the control device 1 according to the embodiment of the present invention described above, it is determined that the motor torque determination unit 25 is equal to or less than the first upper limit value and is equal to or less than the second upper limit value. In this case, the output torque of the front wheel motor 131 calculated by the drive source torque determination unit 28 based on the drive torque required for the front wheels 101 calculated by the front-rear torque distribution calculation unit 21 is the operating state of the front wheel motor 131 and the motor. It is determined whether or not the third upper limit value determined based on the temperature is exceeded (step S21).

Next, in the control device 1 according to the embodiment of the present invention, when the drive source torque determination unit 28 determines that the value is equal to or less than the third upper limit value (step S21: No), the drive source control unit 27 The front wheel motor 131 is controlled to output the output torque of the front wheel motor 131 calculated based on the drive torque required for the front wheels 101 calculated by the front / rear torque distribution calculation unit 21 (step S22).

Next, in the control device 1 according to the embodiment of the present invention, when the drive source torque determination unit 28 determines that the third upper limit value is exceeded, the total drive torque required by the vehicle 100 is output. The front-rear torque redistribution calculation unit 26 recalculates the drive torque required for the front wheels 101 and the drive torque required for the rear wheels 102 calculated by the front-rear torque distribution calculation unit 21 (step S23). As a result, the drive torque required for the front wheels 101 decreases, and the drive torque required for the rear wheels 102 increases.

According to the control device 1 according to the embodiment of the present invention described above, when the front-rear torque redistribution calculation unit 26 is determined by the drive source torque determination unit 28 to exceed the third upper limit value, the front wheel motor 131 The drive torque calculated by the front-rear torque distribution calculation unit 21 is recalculated so that the output torque of the above is equal to or less than the third upper limit value. As a result, even if the front wheel motor 131 cannot output the drive torque required for the front wheels 101, the total drive torque required by the vehicle 100 can be output for the entire vehicle.

As shown in FIG. 6, the vehicle 100 according to some embodiments of the present invention includes a braking unit 160. The braking unit 160 can brake one of the front and rear wheels 101 and 102 independently.

The braking unit 160 according to the embodiment of the present invention can brake the left and right wheels of the rear wheels 102 independently. The braking unit 160 (hereinafter referred to as “ASC unit 160”) includes a hydraulic unit 161 and a control device 162 (hereinafter referred to as “ASC-ECU 162”), and the ASC-ECU 162 controls the hydraulic unit 161 to form a single wheel or a vehicle. Braking of multiple wheels is possible.

In the control device 1 according to some embodiments of the present invention, the motor torque determination unit 25 determines a desired drive torque difference between the left and right wheels of the front and rear wheels 101 and 102 using only the first motor and the second motor. When it is determined that the brake cannot be generated, the braking unit 160 is braked so that the braking force of one of the left and right wheels 101 and 102, which requires a small driving torque, is increased.

In the control device 1 according to the embodiment of the present invention, the motor torque determination unit 25 determines a desired drive torque difference between the left and right wheels of the rear wheels 102 using only the first rear wheel motor 141 and the second rear wheel motor 142. When it is determined that the problem cannot be generated, the ASC-ECU 162 controls the hydraulic unit 161 so that the braking force of one of the left and right wheels 102L and 102R of the rear wheel 102, which has a smaller driving wheel, is increased. Let me.

As shown in FIG. 7, in the vehicle 100 according to the embodiment of the present invention, when the motor torque determination unit 25 determines that the first upper limit value is exceeded or the second upper limit value is exceeded (step S14). : No), it is determined whether or not a desired drive torque difference can be generated between the left and right wheels of the rear wheel 102 only by the first rear wheel motor 141 and the second rear wheel motor 142 (step S31). ..

When the motor torque determination unit 25 determines that a desired drive torque difference can be generated (step S31: Yes), the motor control unit 24 provided in the RMCU (R) 147 calculates by the motor torque calculation unit 23. The output torque of the first rear wheel motor 141 is controlled so as to be output by the first rear wheel motor 141, and the motor control unit 24 provided in the RMCU (L) 148 is calculated by the motor torque calculation unit 23. The output torque of the second rear wheel motor 142 is controlled to be output by the second rear wheel motor 142 (step S15).

On the other hand, when the motor torque determination unit 25 determines that a desired drive torque difference cannot be generated (step S31: No), the braking force of one of the left and right wheels of the rear wheels 102, which requires a smaller drive torque, is smaller. The hydraulic unit 161 is controlled by the ASC-ECU 162 so as to increase (step S32). As a result, the required drive torque of the left and right wheels of the rear wheel 102 is reduced, so that a desired torque difference is generated between the left and right wheels of the rear wheel 102.

According to the vehicle 100 according to the embodiment of the present invention described above, a desired drive torque difference is generated between the left and right wheels of the rear wheels 102 only by the first rear wheel motor 141 and the second rear wheel motor 142. Even if this is not possible, the braking force of one of the left and right wheels 102L and 102R of the rear wheel 102, which has a smaller required drive torque, increases, so that a desired drive torque difference is generated between the left and right wheels of the rear wheel 102. be able to.

In the control device 1 according to some embodiments of the present invention, the front-rear torque redistribution calculation unit 26 is determined by the motor torque determination unit 25 to exceed the first upper limit value or the second upper limit value. Even in this case, the front-rear torque distribution is performed when the motor temperature of the first motor is equal to or lower than the preset first temperature and the motor temperature of the second motor is equal to or lower than the preset second temperature. The recalculation of the drive torque calculated by the calculation unit 21 is stopped.

In the control device 1 according to the embodiment of the present invention, when the front-rear torque redistribution calculation unit 26 is determined by the motor torque determination unit 25 to exceed the first upper limit value or the second upper limit value. Even if there is, the motor temperature of the first rear wheel motor 141 is equal to or lower than the preset first temperature, and the motor temperature of the second rear wheel motor 142 is equal to or lower than the preset second temperature. In a certain case, the recalculation of the drive torque calculated by the front-rear torque distribution calculation unit 21 is stopped.

As shown in FIG. 8, in the control device 1 according to the embodiment of the present invention, when the motor torque determination unit 25 determines that the first upper limit value is exceeded or the second upper limit value is exceeded (step S14). : Yes), it is determined whether or not the motor temperature of the first rear wheel motor 141 exceeds the first temperature and the motor temperature of the second rear wheel motor 142 exceeds the second temperature (step). S41).

When it is determined that the motor temperature of the first rear wheel motor 141 exceeds the first temperature, or the motor temperature of the second rear wheel motor 142 exceeds the second temperature (step S41: Yes), the front and rear The recalculation of the drive torque calculated by the torque distribution calculation unit 21 is stopped (step S42).

On the other hand, when it is determined that the motor temperature of the first rear wheel motor 141 is equal to or lower than the first temperature and the motor temperature of the second rear wheel motor 142 is equal to or lower than the second temperature (step S41: No). In addition, the left and right wheels of the rear wheels 102 are within the range in which the output torque of the first rear wheel motor 141 is equal to or less than the first upper limit value and the output torque of the second rear wheel motor 142 is equal to or less than the second upper limit value. The drive torque required for the front wheels 101 and the drive torque required for the rear wheels 102 calculated by the front-rear torque distribution calculation unit 21 are recalculated so that a desired drive torque difference is generated between them.

According to the control device 1 according to the embodiment of the present invention described above, the output torque of the first rear wheel motor 141 exceeds the first upper limit value, or the output of the second rear wheel motor 142 is the second. Even when the upper limit is exceeded, if the motor temperature of the first rear wheel motor 141 is equal to or lower than the first temperature and the motor temperature of the second rear wheel motor 142 is equal to or lower than the second temperature, It is possible to output the total drive torque required by the vehicle 100 while generating a desired drive torque difference between the left and right wheels of the rear wheels 102.

The present invention is not limited to the above-described embodiment, and includes a modified form of the above-described embodiment and a combination of these embodiments as appropriate.

For example, in the above-described embodiment, the example in which the front wheels 101 are driven by the front wheel motor 131 has been described, but the front wheels 101 may be driven by an engine, or may be driven by a motor and an engine. When the front wheels 101 are driven by a motor and an engine, the motor is used as a drive source when traveling only with the electric power charged in the drive battery 110, and the drive battery 110 is charged while being charged by the engine. When traveling with the generated electric power, the motor is used as the drive source. When traveling by an engine and a motor, the engine and the motor are used as drive sources.

1 Control device (control device for four-wheel drive electric vehicle)
2 Vehicle control unit (EV-ECU)
21 Front-rear torque distribution calculation unit 22 Left-right torque distribution calculation unit 23 Motor torque calculation unit 24 Motor control unit 25 Motor torque determination unit 26 Front-rear torque redistribution calculation unit 27 Drive source control unit 28 Drive source torque determination unit 100 Electric vehicle 101 Front wheel 102 Rear wheel 102L Left wheel 102R Right wheel 110 Drive battery 131 Front wheel motor 132 Trans axle 133 Inverter 135 Motor controller (FMCU)
141 First rear wheel motor 142 Second rear wheel motor 143 Power distribution device 145 Inverter 146 Inverter 147 Motor control device (RMCU (R))
148 Motor controller (RMCU (L))
160 Braking unit (ASC unit)
161 Hydraulic unit 162 ASC-ECU

Claims (5)

One of the front and rear wheels of the vehicle is driven by a first motor and a second motor different from the first motor, and the other of the front and rear wheels is driven by a drive source different from the first motor and the second motor. It is a control device for a four-wheel drive electric vehicle that is driven.
A front-rear torque distribution calculation unit that calculates the drive torque required for the front and rear wheels from the total drive torque required by the vehicle, and a front-rear torque distribution calculation unit.
One of the front and rear wheels is derived from the drive torque calculated by the front and rear torque distribution calculation unit so that a desired drive torque difference is generated between the left and right wheels of one of the front and rear wheels in order to control the yaw moment acting on the vehicle. Left and right torque distribution calculation unit that calculates the drive torque required for the left and right wheels,
A motor torque calculation unit that calculates the output torque of the first motor and the output torque of the second motor based on the drive torque calculated by the left-right torque distribution calculation unit.
The first motor outputs the output torque of the first motor calculated by the motor torque calculation unit, and the second motor outputs the output torque of the second motor calculated by the motor torque calculation unit. A motor control unit that controls the first motor and the second motor so as to output
Whether or not the output torque of the first motor calculated by the motor torque calculation unit exceeds the first upper limit value determined based on the operating state of the first motor and the motor temperature, and the motor torque calculation. A motor torque determination unit that determines whether or not the output torque of the second motor calculated by the unit exceeds the second upper limit value determined based on the operating state of the second motor and the motor temperature.
When the motor torque determination unit determines that the first upper limit value is exceeded or the second upper limit value is exceeded, the front-rear torque distribution calculation unit calculates the total drive torque. A four-wheel drive electric vehicle control device equipped with a front-rear torque redistribution calculation unit that recalculates the drive torque. When the motor torque determination unit determines that the front-rear torque redistribution calculation unit exceeds the first upper limit value or exceeds the second upper limit value, the output torque of the first motor is said to be the same. Within the range where the output torque of the second motor is equal to or less than the first upper limit value and the output torque of the second motor is equal to or less than the second upper limit value, the desired drive torque difference is generated between the left and right wheels of the front and rear wheels. The four-wheel drive electric vehicle control device according to claim 1, wherein the drive torque calculated by the front-rear torque distribution calculation unit is recalculated. Whether the output torque of the drive source calculated based on the drive torque calculated by the front-rear torque distribution calculation unit exceeds the third upper limit value determined based on the operating state of the drive source and the temperature of the drive source. Equipped with a drive source torque judgment unit that determines whether or not
The front-rear torque redistribution calculation unit
When the drive source torque determination unit determines that the third upper limit value is exceeded, the front-rear torque distribution calculation unit calculates the output torque of the drive source to be equal to or less than the third upper limit value. The control device for a four-wheel drive electric vehicle according to claim 1 or 2, wherein the driving torque is recalculated. A braking unit capable of braking one of the left and right wheels of the front and rear wheels independently is provided.
When the motor torque determination unit determines that the desired drive torque difference cannot be generated between the left and right wheels of one of the front and rear wheels only by the first motor and the second motor, the front and rear The four-wheel drive motor according to any one of claims 1 to 3, wherein the braking unit is braked so that the braking force of one of the left and right wheels of the wheel, which requires a smaller driving torque, is increased. Vehicle control device. Even if the front-rear torque redistribution calculation unit determines that the motor torque determination unit exceeds the first upper limit value or exceeds the second upper limit value, the motor temperature of the first motor is determined in advance. Calculation of drive torque calculated by the front-rear torque distribution calculation unit when the temperature is equal to or lower than the set first temperature and the motor temperature of the second motor is equal to or lower than the preset second temperature. The control device for a four-wheel drive electric vehicle according to any one of claims 1 to 4, wherein the re-doing is stopped.

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