JP4396717B2 - 車両の制御装置、制御方法、その方法を実現させるプログラムおよびそのプログラムを記録した記録媒体 - Google Patents
車両の制御装置、制御方法、その方法を実現させるプログラムおよびそのプログラムを記録した記録媒体 Download PDFInfo
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
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- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/44—Drive Train control parameters related to combustion engines
- B60L2240/443—Torque
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- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
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- B60—VEHICLES IN GENERAL
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- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Y02T10/00—Road transport of goods or passengers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Description
図1を参照して、本発明の第1の実施の形態に係る制御装置を搭載したハイブリッド車両について説明する。この車両は、内燃機関であるエンジン100と、MG(Motor Generator)(1)200と、MG(2)300と、動力分割機構400と、インバータ(1)500と、インバータ(2)600、バッテリ700と、コンバータ800とを含む、この車両は、エンジン100およびMG(2)300の少なくともいずれか一方からの駆動力により走行する。
以下、本発明の第2の実施の形態について説明する。本実施の形態は、車両の振動を低減するトルクを出力するようにエンジン100が制御される点で、前述の第1の実施の形態と相違する。その他の構造については、前述の第1の実施の形態と同じである。それらの機能も同じである。したがって、ここではそれらの説明は繰返さない。
以下、本発明の第3の実施の形態について説明する。本実施の形態は、車両の振動を低減するトルクを算出する際に用いるゲインGを、バッテリ700への充電電力制限値WINもしくは放電電力制限値WOUTに応じて変更する点で、前述の第1の実施の形態と相違する。その他の構造については、前述の第1の実施の形態と同じである。したがって、ここではそれらの詳細な説明は繰返さない。
以下、本発明の第4の実施の形態について説明する。本実施の形態は、車両の振動を低減するトルクを算出する際に用いるゲインGを、大気圧に応じて変更する点で、前述の第1の実施の形態と相違する。その他の構造については、前述の第1の実施の形態と同じである。したがって、ここではそれらの詳細な説明は繰返さない。
Claims (6)
- 第1の回転電機に連結される第1の回転要素、第2の回転電機に連結される第2の回転要素およびエンジンに連結される第3の回転要素を有する差動機構と、前記第2の回転要素からトルクが伝達される車輪と、前記第2の回転電機に供給する電力を蓄える蓄電機構を備えた車両の制御装置であって、
前記蓄電機構への充電電力値の制限値を算出するための手段と、
前記蓄電機構からの放電電力値の制限値を算出するための手段と、
前記充電電力値の制限値および前記放電電力値の制限値のうちの少なくともいずれか一方に応じてゲインを変更するための変更手段と、
運転者が要求するトルクを算出するための手段と、
運転者が要求するトルクおよび前記ゲインの積を用いて前記車両の振動を低減するトルクを算出するための算出手段と、
前記車両の振動を低減するトルクを加味して前記第2の回転電機から出力されるトルクを算出するための手段と、
前記車両の振動を低減するトルクを加味して算出されたトルクを出力することにより、前記車両の振動を低減するトルクを出力するように、前記第2の回転電機を制御するための制御手段とを含む、車両の制御装置。 - 前記変更手段は、前記充電電力値の制限値および前記放電電力値の制限値のうちの少なくともいずれか一方に加えて、大気圧に応じて前記ゲインを変更するための手段を含む、請求項1に記載の車両の制御装置。
- 第1の回転電機に連結される第1の回転要素、第2の回転電機に連結される第2の回転要素およびエンジンに連結される第3の回転要素を有する差動機構と、前記第2の回転要素からトルクが伝達される車輪と、前記第2の回転電機に供給する電力を蓄える蓄電機構とを備えた車両の制御方法であって、
前記蓄電機構への充電電力値の制限値を算出するステップと、
前記蓄電機構からの放電電力値の制限値を算出するステップと、
前記充電電力値の制限値および前記放電電力値の制限値のうちの少なくともいずれか一方に応じてゲインを変更するステップと、
運転者が要求するトルクを算出するステップと、
運転者が要求するトルクおよび前記ゲインの積を用いて前記車両の振動を低減するトルクを算出するステップと、
前記車両の振動を低減するトルクを加味して前記第2の回転電機から出力されるトルクを算出するステップと、
前記車両の振動を低減するトルクを加味して算出されたトルクを出力することにより、前記車両の振動を低減するトルクを出力するように、前記第2の回転電機を制御するステップとを含む、車両の制御方法。 - 前記ゲインを変更するステップは、前記充電電力値の制限値および前記放電電力値の制限値のうちの少なくともいずれか一方に加えて、大気圧に応じて前記ゲインを変更するステップを含む、請求項3に記載の車両の制御方法。
- 請求項3または4に記載の制御方法をコンピュータに実現させるプログラム。
- 請求項3または4に記載の制御方法をコンピュータに実現させるプログラムを記録したコンピュータ読み取り可能な記録媒体。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007057534A JP4396717B2 (ja) | 2007-03-07 | 2007-03-07 | 車両の制御装置、制御方法、その方法を実現させるプログラムおよびそのプログラムを記録した記録媒体 |
CN2008800071688A CN101626929B (zh) | 2007-03-07 | 2008-03-05 | 车辆、车辆的控制装置及控制方法 |
PCT/JP2008/054438 WO2008111595A1 (ja) | 2007-03-07 | 2008-03-05 | 車両、その制御装置および制御方法 |
US12/449,219 US8219304B2 (en) | 2007-03-07 | 2008-03-05 | Vehicle, controller for the vehicle, and method of controlling the vehicle |
Applications Claiming Priority (1)
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CN102421633B (zh) * | 2009-05-13 | 2015-08-12 | 丰田自动车株式会社 | 减振控制装置 |
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JP5573456B2 (ja) * | 2010-07-23 | 2014-08-20 | 日産自動車株式会社 | 電動車両の制振制御装置および電動車両の制振制御方法 |
DE102010039701A1 (de) * | 2010-08-24 | 2012-03-01 | Robert Bosch Gmbh | Verfahren und System zur Steuerung einer elektrischen Maschine in einem Antriebsstrang eines Kraftfahrzeuges |
CN102275585B (zh) * | 2011-05-18 | 2013-07-24 | 上海理工大学 | 输入分配型混合动力车辆动力系统效率控制方法 |
JP5360157B2 (ja) * | 2011-08-02 | 2013-12-04 | 株式会社デンソー | 電力送受電システム |
DE102011084548A1 (de) * | 2011-10-14 | 2013-04-18 | Robert Bosch Gmbh | Aktive Dämpfungsregelung für ein Elektro- oder Hybridfahrzeug |
JP5857781B2 (ja) * | 2012-02-15 | 2016-02-10 | 日産自動車株式会社 | 電動モータを用いた車両の制振制御装置 |
CN103661356B (zh) * | 2012-09-13 | 2017-01-18 | 三菱自动车工业株式会社 | 车辆控制装置 |
JP6330820B2 (ja) * | 2013-12-02 | 2018-05-30 | 日産自動車株式会社 | 電動車両の制御装置および電動車両の制御方法 |
JP6233420B2 (ja) * | 2013-12-02 | 2017-11-29 | 日産自動車株式会社 | 電動車両の制御装置および電動車両の制御方法 |
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WO2017033753A1 (ja) * | 2015-08-26 | 2017-03-02 | 日産自動車株式会社 | 電動車両の制御方法、及び、制御装置 |
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US10619586B2 (en) | 2018-03-27 | 2020-04-14 | GM Global Technology Operations LLC | Consolidation of constraints in model predictive control |
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JP6962271B2 (ja) * | 2018-05-17 | 2021-11-05 | トヨタ自動車株式会社 | ハイブリッド車両の制御装置 |
US10859159B2 (en) | 2019-02-11 | 2020-12-08 | GM Global Technology Operations LLC | Model predictive control of torque converter clutch slip |
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JP7478250B2 (ja) | 2020-04-06 | 2024-05-02 | トヨタ モーター ヨーロッパ | ハイブリッド車両のエンジン速度制御のための方法、制御ユニット、マシン、車両、非一時的格納媒体、及び、データキャリア |
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JP2006298293A (ja) | 2005-04-25 | 2006-11-02 | Denso Corp | 車両制御装置 |
CN1907747B (zh) * | 2005-08-01 | 2010-11-10 | 爱信艾达株式会社 | 电动车辆驱动控制装置及电动车辆驱动控制方法 |
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JP2008220129A (ja) | 2008-09-18 |
CN101626929B (zh) | 2012-10-10 |
US20100004806A1 (en) | 2010-01-07 |
US8219304B2 (en) | 2012-07-10 |
CN101626929A (zh) | 2010-01-13 |
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