JP5455802B2 - 電動車両のピッチング制御装置 - Google Patents
電動車両のピッチング制御装置 Download PDFInfo
- Publication number
- JP5455802B2 JP5455802B2 JP2010133502A JP2010133502A JP5455802B2 JP 5455802 B2 JP5455802 B2 JP 5455802B2 JP 2010133502 A JP2010133502 A JP 2010133502A JP 2010133502 A JP2010133502 A JP 2010133502A JP 5455802 B2 JP5455802 B2 JP 5455802B2
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- JP
- Japan
- Prior art keywords
- torque
- vehicle
- braking
- pitching
- electric vehicle
- Prior art date
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Classifications
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
-
- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
-
- 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17555—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
-
- 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
- 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
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/04—Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/16—Pitch
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Description
ax=Ta/mrt (1)
となる。
Ff=−2axmh/(lf+lr) (2)
Fr=2axmh/(lf+lr) (3)
と表される。
M=−Fflf+Frlr (4)
である。
M=2mh・ax (5)
となる。
θS=M/K=(2mh/K)ax (6)
となる。
θ(s)/M(s)=1/(Is2+Cs+K) (7)
と表される。
θ(s)=2mh/(Is2+Cs+K)・ax(s) (8)
として表される。
vcont=∫{(T0+f(t)−Tresist)/rt/m)dt (9)
を計算し、現在の速度検出手段111で計測した車両速度vと比較する。
Trev(t)=T0+ΔT・t (10)
と表すことができる。
ΔT・tcont=T0+Tresist (11)
でなければならないから、式(9)の積分は0からtcontの区間で
vcont=(T0+Tresist)2/(2・m・rt・ΔT) (12)
となり、この式に従って制御開始タイミングの速度を算出すれば良い。
Trev=T0+f(t) (13)
であり、先の1次関数の補正の場合は
Trev=T0+ΔT・t (14)
で表される補正値を駆動装置108へと出力する。
102,204 後輪
103,104,205,206 サスペンション装置
105 ハンドル
106 アクセルペダル
107 ブレーキペダル
108 駆動装置
109 トルク補正値算出器
110 走行抵抗算出手段
111 速度検出手段
112 駆動用モータ
113,114 車両重量判定手段
115,116 ピッチング量検出手段
117 前報障害物検知手段
118 運転操作量検出手段
201 車体
202 重心点
301,302 車両速度
303,404〜407 制駆動トルク
304,305,408〜411 ピッチング応答
401〜403 車両速度
Claims (1)
- 電動車両のピッチング運動によって生じる前記電動車両の姿勢変化を抑制する制御を行う前記電動車両のピッチング制御装置において、
前記電動車両の加減速要求に基づき算出される制駆動トルクを算出する駆動装置と、
前記制駆動トルクが、前記電動車両が停止時において勾配を有する路面に対して前記電動車両が停止状態を保つために必要な力を前記駆動用モータのトルクに換算した値である走行抵抗相当トルクとなるように、前記制駆動トルクに対するトルク補正値を算出するトルク補正値算出器と、を備え、
前記走行抵抗相当トルクは、運転者のペダル操作量による前記電動車両の加減速要求に基づき算出された制駆動トルクと、前記電動車両の速度である車両速度の時間微分値から算出した車体慣性相当トルクとの差分から求められること、
前記駆動装置は、前記トルク補正値算出器において算出されたトルク補正値に基づいて前記制駆動トルクの補正を行い、前記補正された制駆動トルクを出力することを特徴とする電動車両のピッチング制御装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010133502A JP5455802B2 (ja) | 2010-06-11 | 2010-06-11 | 電動車両のピッチング制御装置 |
US13/703,397 US8862300B2 (en) | 2010-06-11 | 2011-06-10 | Pitch control device for electric vehicle |
CN201180028734.5A CN102933421B (zh) | 2010-06-11 | 2011-06-10 | 电动车辆的俯仰控制装置 |
PCT/JP2011/063411 WO2011155612A1 (ja) | 2010-06-11 | 2011-06-10 | 電動車両のピッチング制御装置 |
EP11792569.3A EP2581259B1 (en) | 2010-06-11 | 2011-06-10 | Pitching control device for electric vehicle |
AU2011262763A AU2011262763B2 (en) | 2010-06-11 | 2011-06-10 | Pitch control device for electric vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010133502A JP5455802B2 (ja) | 2010-06-11 | 2010-06-11 | 電動車両のピッチング制御装置 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013165735A Division JP2013226052A (ja) | 2013-08-09 | 2013-08-09 | 電動車両のピッチング制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011259645A JP2011259645A (ja) | 2011-12-22 |
JP5455802B2 true JP5455802B2 (ja) | 2014-03-26 |
Family
ID=45098214
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2010133502A Active JP5455802B2 (ja) | 2010-06-11 | 2010-06-11 | 電動車両のピッチング制御装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8862300B2 (ja) |
EP (1) | EP2581259B1 (ja) |
JP (1) | JP5455802B2 (ja) |
CN (1) | CN102933421B (ja) |
AU (1) | AU2011262763B2 (ja) |
WO (1) | WO2011155612A1 (ja) |
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-
2010
- 2010-06-11 JP JP2010133502A patent/JP5455802B2/ja active Active
-
2011
- 2011-06-10 AU AU2011262763A patent/AU2011262763B2/en active Active
- 2011-06-10 EP EP11792569.3A patent/EP2581259B1/en active Active
- 2011-06-10 US US13/703,397 patent/US8862300B2/en active Active
- 2011-06-10 WO PCT/JP2011/063411 patent/WO2011155612A1/ja active Application Filing
- 2011-06-10 CN CN201180028734.5A patent/CN102933421B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
WO2011155612A1 (ja) | 2011-12-15 |
CN102933421A (zh) | 2013-02-13 |
US20130116874A1 (en) | 2013-05-09 |
AU2011262763B2 (en) | 2014-07-24 |
EP2581259A4 (en) | 2017-04-19 |
CN102933421B (zh) | 2015-07-29 |
US8862300B2 (en) | 2014-10-14 |
EP2581259A1 (en) | 2013-04-17 |
EP2581259B1 (en) | 2019-04-03 |
JP2011259645A (ja) | 2011-12-22 |
AU2011262763A1 (en) | 2013-01-10 |
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