JP5832094B2 - Electric vehicle control device - Google Patents

Description

  The present invention relates to a control device for an electric vehicle, and more specifically to a control device for an electric vehicle including a transmission from which a clutch is removed.

  The motor mounted on the vehicle is controlled based on the torque command value calculated according to the accelerator opening, and connected to the transmission via the clutch. When the clutch is operated, the torque command is equivalent to the motor friction. There is known a control apparatus for an electric vehicle in which the clutch is connected after the value is reduced and the number of revolutions of the motor is reduced, and as an example, a technique described in Patent Document 1 below can be cited. it can.

  In the technique described in Patent Document 1, when the motor is driven at a speed higher than the speed specified for the vehicle speed, the torque command value is controlled to be equal to or lower than a predetermined value to connect the clutch. It is configured to be performed.

JP-A-5-227610

  In the technique described in Patent Literature 1, the clutch and the motor are protected by avoiding connection of the clutch in a state where the output torque and the rotational speed of the motor are high by being configured as described above. In addition, since the clutch that connects the motor and the transmission is provided, the configuration is complicated, and the weight and cost are increased.

  SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems, and in an electric vehicle equipped with a motor and a transmission, a clutch for connecting the motor and the transmission is not required and the configuration is simplified, and an increase in weight and cost is suppressed. An object of the present invention is to provide a control device for an electric vehicle.

In order to solve the above-described problem, in claim 1, a motor output control that controls the output of the motor according to the opening degree of the motor mounted on the vehicle and at least the accelerator pedal operated by the driver. And a transmission having a meshing clutch for switching a plurality of shift gears arranged between an input shaft connected to the motor and an output shaft connected to the drive wheel when a shift instruction is given. In the control apparatus for an electric vehicle provided, the motor output control means sets the output of the motor to zero or its output before the meshing clutch switches the plurality of gears when the shift instruction is given. controls the value obtained by adding a value corresponding to a friction torque of the rotor and the input shaft of said motor to a predetermined value which is from the vicinity, the friction torque The corresponding value increases as the oil temperature of the transmission is reduced, and the rotational speed of the input shaft is composed as to change based on the set characteristic to increase as it rises.

  In the control apparatus for an electric vehicle according to claim 2, after the output of the motor is controlled to a predetermined value when the shift instruction is given by the motor output control means, the meshing clutch is released. Then, after the motor output control means controls the differential rotation between the input shaft and the output shaft to be within a predetermined range, the meshing clutch is engaged.

In the control apparatus for an electric vehicle according to claim 3 , the plurality of shift gears are configured so that the gear ratio is generated in a region where a noise peak on the high speed side of the motor exceeds a set maximum vehicle speed of the vehicle. Is configured to be set.

According to the first aspect of the present invention, the motor output control means for controlling the output of the motor mounted on the vehicle according to the opening degree of the accelerator pedal operated by the driver, and when the gear shift instruction is issued, the motor output control means is connected to the motor. In the control apparatus for an electric vehicle, the motor output control means includes: a transmission having a meshing clutch that switches a plurality of shift gears arranged between the input shaft and the output shaft connected to the drive wheel. when the shift instruction is given, before the meshing clutch switches the shift stage gear, the output of the motor, it adds a value corresponding to a friction torque of the rotor and the input shaft of the motor to a predetermined value consisting of zero or near the Owing to this arrangement is controlled to a value obtained, cluster for connecting the motor and the transmission by controlling the output of the motor zero or a predetermined value consisting vicinity depending on the shift instruction Chi a possible unnecessary, thus it is possible to simply constructed, it is possible to suppress an increase in weight and cost. Moreover, since the possible load on the mesh viewed each other clutches in pseudo-zero, it is possible to improve the durability of the meshing clutch. In addition, since the value corresponding to the friction torque is increased based on the characteristic set to increase as the oil temperature of the transmission decreases and increases as the rotational speed of the input shaft increases, the friction torque is further changed. The load acting on the meshing clutch can be reliably reduced to zero.

  In the control apparatus for an electric vehicle according to claim 2, after the motor output is controlled to a predetermined value when a gear shift instruction is given by the motor output control means, the meshing clutch is released, and the motor output control is performed. Since the engagement type clutch is engaged after the differential rotation of the input shaft and the output shaft is controlled to be within a predetermined range by the means, in addition to the above-described effect, the shift gear can be switched more smoothly. It is possible to reduce noise during engagement of the meshing clutch and improve durability of the meshing clutch.

In the control apparatus for an electric vehicle according to claim 3 , the gear ratio of the plurality of gears is set so that the noise peak on the high speed side of the motor occurs in a region where the maximum vehicle speed set in the vehicle is exceeded. In addition to the effects described above, for example, when the vehicle traveling speed is low, the gear ratio is switched to a gear with a small gear ratio to narrow the vehicle speed range of the noise peak on the low speed side, and when the traveling speed is high, the gear ratio is large. It is possible to shift to a higher speed noise peak (beyond the set maximum vehicle speed) by switching to a higher gear, thus reducing NV (Noise Vibration) in the normal operation range.

1 is a schematic diagram showing an overall control apparatus for an electric vehicle according to a first embodiment of the present invention. FIG. 2 is a skeleton diagram of the transmission shown in FIG. 1. FIG. 2 is a skeleton diagram of the transmission shown in FIG. 1. FIG. 2 is a block diagram functionally showing a control value calculation operation of the MOT / ECU of FIG. 1. FIG. 5 is an explanatory diagram illustrating a voltage command value calculation process of FIG. 4. FIG. 5 is a block diagram showing the operation of the output voltage monitoring unit of FIG. 4 in more detail. It is a flowchart explaining operation | movement of the control apparatus of the electric vehicle shown in FIG. It is explanatory drawing explaining the process of FIG. It is explanatory drawing explaining the effect of the control apparatus of the electric vehicle shown in FIG. Similarly, it is explanatory drawing explaining the effect of the control apparatus of the electric vehicle shown in FIG. It is a block diagram of the output voltage monitoring part similar to FIG. 6 which shows the structure of the control apparatus of the electric vehicle which concerns on 2nd Example of this invention. It is explanatory drawing which shows the characteristic of the friction torque controlled by 2nd Example of FIG. It is explanatory drawing explaining the map data value of the friction torque of FIG. It is explanatory drawing explaining control of 2nd Example. FIG. 4 is a schematic view similar to FIG. 1, generally showing a control device for an electric vehicle according to a third embodiment of the present invention. FIG. 8 is a flowchart similar to FIG. 7 for explaining the operation of the control apparatus for an electric vehicle according to the third embodiment. It is description which shows the shift pattern of the modification of 3rd Example. It is a flowchart explaining the operation | movement of the modification of 3rd Example.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, embodiments for implementing a vehicle control apparatus according to the invention will be described with reference to the accompanying drawings.

  FIG. 1 is a schematic diagram generally showing a control apparatus for an electric vehicle according to a first embodiment of the present invention, and FIGS. 2 and 3 are skeleton diagrams of the transmission shown in FIG.

  In FIG. 1, reference numeral 10 schematically represents an electric vehicle (hereinafter referred to as “vehicle”) 10, and a motor (electric motor; indicated as “MOT” in the drawing) 12 is mounted on the vehicle 10. Specifically, the motor 12 is a DC brushless motor, and operates by energizing three-phase currents of U, V, and W, as will be described later.

  The motor 12 is connected via a drive shaft 14 to a transmission (shown as “MT”) 16 similar to a manual transmission. The transmission 16 changes the output of the motor 12 and transmits it to the drive wheels (wheels) 20.

  When the motor 12 is energized, it rotates to drive the drive wheels 20 and cause the vehicle 10 to travel. On the other hand, when the motor 12 is not energized, the motor 12 idles, and when driven from the drive wheel 20, a generator (generator) having a regenerative function that converts the kinetic energy generated by the rotation of the drive shaft 14 into electric energy and outputs it. Function as.

  The motor 12 is connected to a battery (BATT) 24 through a power drive unit (PDU) 22. The PDU 22 includes an inverter, converts direct current (electric power) supplied (discharged) from the battery 24 into alternating current and supplies the alternating current to the motor 12, and converts alternating current generated by the regenerative operation of the motor 12 into direct current. To supply.

  As shown in FIG. 2, the transmission 16 includes an input shaft 16a connected to the motor 12 (via the drive shaft 14), an output shaft 16b connected to the drive wheels 20, and a plurality of shifts arranged therebetween. A step gear 16c, a shift actuator 16d composed of a motor or the like, and a plurality of meshing clutches 16e connected to the shift actuator 16d are provided.

  Specifically, the speed gear 16c includes first, second, and third gears 16c1, 16c2, and 16c3. Of the input shaft 16a, drive-side first speed, second speed, and third speed drive gears 16c1a, 16c2a, and 16c3a are disposed so as to be relatively rotatable, while the output shaft 16b is driven first speed that meshes with them. Second-speed and third-speed driven gears 16c1b, 16c2b, and 16c3b are fixed so that they cannot rotate relative to each other.

  The gear stage gear 16c is configured such that the gear ratio is set so that the noise peak on the high speed side of the motor 12 occurs in a region where the maximum vehicle speed (for example, 180 km / h) of the vehicle 10 is exceeded. This will be described later.

  A final drive gear 16b1 is fixed to the output shaft 16b. The final drive gear 16b1 is connected to the drive wheel 20 via a gear group such as a final driven gear and a differential mechanism (all not shown).

  The plurality of meshing clutches 16e are composed of first and second meshing clutches 16e1 and 16e2 disposed between the gears 16c. Each of the meshing clutches 16e is spline-coupled to the input shaft 16a so as not to be rotatable relative to the input shaft 16a. And a dog clutch provided on the first, second, and third speed drive gears 16c1a, 16c2a, and 16c3a on both sides thereof, and a synchronization mechanism that synchronizes rotation.

  The sleeve dog clutch is attached to the shift actuator 16d. When the shift actuator 16d is energized and driven in the axial direction of the input shaft 16a, the sleeve dog clutch moves from the neutral position shown in the figure and the corresponding gear 16c is fixed to the input shaft 16a. To do. The first meshing clutch 16e1 is configured to be movable only with respect to the first speed drive gear 16c1a.

  The establishment of the gear position will be described. When the first meshing clutch 16e1 is moved to the right in FIG. 2 via the shift actuator 16d, the first-speed drive gear 16c1a is engaged with the input shaft 16a, and the motor 12 The rotational driving force (input torque) input to 16a rotates the first speed drive gear 16c1a.

  As shown in FIG. 3, the rotation of the first-speed drive gear 16c1a is transmitted to the first-speed driven gear 16c1b meshing with the first-speed drive gear 16c1a, and the first-speed (shift stage) is established by rotating the output shaft 16b. The rotation of the output shaft 16b is transmitted from the final drive gear 16b1 to a final driven gear, a differential mechanism, and the like, and further transmitted to the drive wheels 20 to cause the vehicle 10 to travel forward at the first speed.

  Further, if the rotation direction of the motor 12 is reversed in this state, the rotation of the motor 12 is transmitted to the first speed drive gear 16c1a and the first speed driven gear 16c1b, and the output shaft 16b is rotated in the reverse direction to reverse the first speed (speed change). Stage) is established.

  When the second meshing clutch 16e2 is moved to the right in FIG. 2 and the second speed drive gear 16c2a is engaged with the input shaft 16a, the rotational driving force of the input shaft 16a is similarly the second speed drive gear 16c2a and the second speed driven gear 16c2b. The second speed (speed stage) is established by rotating the output shaft 16b via the.

  When the second meshing clutch 16e2 is moved to the left in FIG. 2 to engage the third speed drive gear 16c3a with the input shaft 16a, the rotational driving force of the input shaft 16a is transmitted via the third speed drive gear 16c3a and the third speed driven gear 16c3b. Then, the third speed (speed stage) is established by rotating the output shaft 16b.

  Thus, in this embodiment, the transmission 16 is configured as an AMT (Automated Manual Transmission), that is, an automated manual transmission (manual transmission).

  Returning to the description of FIG. 1, a shift (range select) lever 30 is disposed in the driver's seat of the vehicle 10. The shift lever 30 is configured to be able to move (select) a shift pattern 30a as shown in the figure by manual operation of the driver. The shift pattern 30a includes a main range 30a1 composed of P, R, N, and D and a sub-range 30a2 composed of +/− branched from the D range.

  In the sub-range 30a2, + indicates a shift up from the current gear, and-indicates a shift down from the current gear. The subrange 30a2 is configured to be usable only when the driver selects the D range in the main range 30a1. When the driver places the shift lever 30 in the + of the sub-range 30a2, it means that a shift-up (shift) instruction is given, and when the driver places the shift lever 30 in the-, it means that a shift-down (shift) instruction is given.

  In addition, when the D range is selected by the driver, in addition to the shift according to the shift instruction by the shift lever operation in the sub-range 30a2, the shift map is searched from the vehicle speed and the accelerator opening to change from the first speed to the third speed. It is automatically shifted between.

  A shift lever position sensor 32 is disposed in the vicinity of the shift lever 30 and generates an output indicating the position of the shift lever 30 in the main range or sub-range selected by the driver.

  An oil temperature sensor 34 is provided in an ATF (Automatic Transmission Fluid) hydraulic oil reservoir on the bottom of the case of the transmission 16 to generate an output indicating the oil temperature TATF (ATF temperature).

  A brake 36 such as a disc brake is provided in the vicinity of the drive wheel 20, and a brake unit 40 is connected to the brake 36. Further, a brake pedal 42 is provided at the driver's seat of the vehicle 10 so that the driver can operate it.

  The brake unit 40 includes a hydraulic booster and an electric servo. When operating, the brake unit 40 brakes the vehicle 10 by operating the brake 36 independently of the driver's operation by the brake pedal 42. A brake opening sensor 44 is provided in the vicinity of the brake pedal 42, and generates an output corresponding to the brake opening, that is, the depression amount of the brake pedal 42 by the driver.

  Similarly, an accelerator pedal 46 is provided in the driver's seat of the vehicle 10 so that the driver can operate it, and an accelerator opening sensor 48 is provided in the vicinity thereof, and the accelerator opening, that is, the accelerator pedal 46 is depressed by the driver. Produces output according to quantity. A vehicle speed sensor 50 is provided in the vicinity of the drive shaft of the driving wheel 20 and outputs a signal indicating the traveling speed (vehicle speed) of the vehicle 10.

  The outputs of the brake opening sensor 44 and the accelerator opening sensor 48 are sent to the MOT / ECU 52, and the outputs of the shift lever position sensor 32, the oil temperature sensor 34, and the vehicle speed sensor 50 are sent to the AMT / ECU 54.

  Further, a BRK / ECU 56 for controlling the operation of the brake unit 40 is also provided. The BRK / ECU 56 sends a brake instruction (operation instruction) as necessary to operate the brake unit 40.

  Each of the MOT / ECU 52, the AMT / ECU 54, and the BRK / ECU 56 includes a microcomputer having a CPU, a ROM, a RAM, and the like. These ECUs 52, 54, and 56 are connected by a signal line 60, and are configured to be able to communicate with each other to acquire information.

  Further, the MOT / ECU 52 is supplied with information on the phase of the rotor (ROT) and the number of rotations via a resolver disposed in the motor 12, etc., and is supplied with an energized current (and a voltage / current sensor disposed in the PDU 22). Information indicating the energization voltage) is sent.

  The MOT / ECU 52 controls the output of the motor 12 by calculating a control value based on these sensor outputs, that is, so that a desired torque is generated according to at least the opening of the accelerator pedal 46 operated by the driver.

  FIG. 4 is a block diagram functionally showing the control value calculation operation of the MOT / ECU 52.

  As will be described below, the current of any two phases (for example, the U phase and the W phase) of the motor 12 is converted into real phase currents id and iq on the dq axis by the three-phase / 2-axis conversion unit 52a, and the current control calculation unit 52b. Here, dq is a dq conversion in the known motor vector control.

  The current control calculation unit 52b obtains target current command values Id and Iq based on the motor torque command calculated from the accelerator opening, the detected rotation speed of the motor 12 and the input / output voltage of the battery 24, and The current deviations Δid and Δiq from the actual phase currents id and iq are calculated, and the voltage command values VD and VQ are calculated according to the following formulas 1 and 2 using the PI control law.

VD = Kp × Δid + Ki × (∫Δid · dt) + C1 Equation 1
VQ = Kp × Δiq + Ki × (∫Δiq · dt) + C2 Equation 2
In the above, Kp: proportional gain, Ki: integral gain, C1, C2: d, a feedforward term for removing interference components between the q axes.

  FIG. 5 is an explanatory diagram for explaining the voltage command value calculation process of FIG. If the calculation of the voltage command values VD and VQ is considered with reference to FIG. 5, the voltage command values VD and VQ on the desired operating point are calculated as follows.

  That is, from the resistance R of each phase of the motor 12 and the d-axis components Id of the current command values Id and Iq, the point a (ωke, 0) obtained from the back electromotive force ωke represented by the electrical angular velocity ω of the motor 12 is obtained. The b-point (ωke + R × Id, 0) is calculated by adding the obtained d-axis component R × Id.

  Next, the q-axis component (ω × Ld × Id) obtained from the electrical angular velocity ω of the motor 12, the inductance component Ld in the d-axis direction, and the d-axis component Id of the current command values Id and Iq is added, and the point c (ωke + R × Id, ω × Ld × Id) is calculated.

  Next, the q-axis component R × Iq obtained from the resistance component R of each phase of the motor 12 and the q-axis component Iq of the current command values Id and Iq is added to obtain a d point (ωke + R × Id, ω × Ld × Id + R × Iq). ) Is calculated.

  Next, the q-axis component (ω × Lq × Iq) obtained from the electrical angular velocity ω of the motor 12, the inductance component Lq in the q-axis direction, and the q-axis component Iq of the current command values Id and Iq is added. This makes it possible to obtain the e point (ωke + R × Id−ω × Lq × Iq, ω × Ld × Id + R × Iq), which is a desired operating point.

In this way, the voltage command value can be calculated. The calculated voltage command values VD and VQ are input to the output voltage monitoring unit 52c , where the output voltage is monitored so that inconvenience such as motor over-rotation does not occur.

  FIG. 6 is a block diagram showing the operation of the output voltage monitoring unit 52c in more detail.

In the following description, the voltage command values VD and VQ calculated by the current control calculation unit 52b (FIG. 4) in the output voltage monitoring unit 52c are input to the control system abnormality determination unit 52c1, where the calculated value exceeds the applied voltage limit. It is determined whether or not.

  The calculated value is input to the phase detector 52c2, where the phase is detected, and the phase of the previous value of the calculated value is output as the initial phase φ_init. When the control system abnormality determination unit 52c1 determines that the applied voltage limit is exceeded, the phase of the current value of the calculated value is output as the initial phase φ_init.

Phase control unit 52c3 is the voltage command value does not generate a torque on the motor 12 VD, with a zero torque phase memory 52c4 you previously memorize a phase of VQ as zero torque phase Fai_com, to approach the zero torque phase Fai_com outputted therefrom For example, the output change Δφ is calculated using a PI control law.

  The phase subtraction unit 52c5 subtracts the integrated value ∫Δφ corresponding to the output change from the initial φ_init output from the phase detection unit 52c2, and calculates the current phase φ_now and inputs it to the phase control unit 52c3. Thus, in the phase control unit 52c3 or the like, the above process is repeated until the difference between the zero torque phase and the current phase becomes a predetermined value or less.

The output φ + Δφ of the phase control unit 52c3 is sent to the output voltage calculation unit 52c6, where a voltage command value is finally calculated according to the following formula and output from the output voltage switching unit 52c.
VD = VP × cos (φ + Δφ) Equation 3
VQ = VP × sin (φ + Δφ) Equation 4
In the above, VP is amplitude.

  Returning to the description of FIG. 4, the output of the output voltage monitoring unit 52c is sent to the 2-axis / 3-phase conversion unit 52d, where it is converted into a three-phase voltage command value composed of U, V, and W-phase voltages and output to the PDU 22 Is done.

  Next, returning to FIG. 1, the operation of the AMT / ECU 54 will be described. The AMT / ECU 54 gives a shift instruction based on the sensor output such as the shift lever position sensor 32 and information such as the accelerator opening obtained by communicating with the MOT / ECU 52. Then, the shift actuator 16d is operated.

  That is, the AMT / ECU 54 operates the shift actuator 16d and inputs the meshing clutch 16e when a shift instruction is issued by a shift map search as described later, or when a shift instruction is issued from the driver through the shift lever 30. By moving along the shaft 16a, the three gears 16c are switched from, for example, 1st speed to 2nd speed, 3rd speed to 2nd speed, and the like.

  Based on the above, the operation of the electric vehicle according to this embodiment will be described.

  FIG. 7 is a flowchart showing the operation. The illustrated program is executed by the AMT / ECU 54.

  In the following description, in S (step) 10, whether or not a shift instruction has been issued by the shift map search, that is, when the D range is selected, the shift control unit (not shown) searches the shift map from the vehicle speed and the accelerator opening, It is determined whether or not a shift instruction has been issued.

  When the result in S10 is negative, the process proceeds to S12, where it is determined whether or not a driver shift instruction, that is, a shift instruction from the driver has been made by operating the shift lever in the subrange 30a2, and when the result is negative, the process proceeds to S14. The gear position (speed) is maintained and the subsequent processing is skipped.

  On the other hand, when the result in S12 is affirmative, the program proceeds to S16, in which it is determined whether or not shifting is possible. Specifically, this determination is based on a motor in which the required motor torque calculated from the accelerator opening is less than the maximum motor torque required in the shift destination gear, and the required motor rotational speed is required in the shift destination gear. This is done by judging whether it is less than the maximum speed.

  When the result in S16 is negative, the process proceeds to S14. When the result is positive, the process proceeds to S18, and MOT zero torque control is executed. This is the same when the determination in S10 is affirmative. In other words, when a shift instruction is issued, the process proceeds to S18 and MOT zero torque control is executed.

  The MOT zero torque control in S18 communicates with the MOT / ECU 52, and calculates the voltage command values VD and VQ so that the difference between the zero torque phase and the current phase is equal to or less than a predetermined value in the phase control unit 52c3 of the output voltage monitoring unit 52c. It is done by making it output.

  FIG. 8 is an explanatory diagram showing the processing. In the figure, the directions of the d and q axes are different from those in FIG. As shown in the figure, when the phase is in an orthogonal region that is 90 degrees different, the torque Tq of the motor 12 is controlled to 0 [Nm] by the expression at the end of the lower left column.

  On the other hand, when it is in the field weakening region as the vehicle speed increases, Id exceeds 0 [A] (effective value), but Iq is 0 as shown in the last expression in the lower right column. As a result, the torque Tq is controlled to 0 [Nm].

  Returning to the description of the flow chart of FIG. 7, the process then proceeds to S20 to release the dog clutch. That is, the shift actuator 16d is operated to return the sleeve dog clutch of the meshing clutch 16e to the neutral position, and the process proceeds to S22 to execute the rotation speed adjustment after the motor shift. This is to avoid damage to the meshing clutch 16e, and is performed when the motor inertia and the differential rotation are equal to or higher than the synchronous rotation speed.

  Next, in S24, the dog clutch is engaged with a desired gear, that is, the shift actuator 16d is operated, and the sleeve dog clutch of the meshing clutch 16e is engaged with the dog clutch of the shift gear of the shift destination. Next, in S26, it is determined that the shift has been completed, and the subsequent processing is skipped.

  As described above, in the control apparatus for an electric vehicle according to this embodiment, when a gear shift instruction is given, the output of the motor 12 is set to a predetermined value of zero or the vicinity thereof, specifically before the shift gear is switched. Is configured to be controlled to zero torque, the clutch for connecting the motor 12 and the transmission 16 can be eliminated to switch the gear stage gear 16c, thereby simplifying the configuration and suppressing an increase in weight and cost. Can do.

  Furthermore, by providing the three shift gears 16c, the motor 12 can be further downsized in addition to the effects described above. Referring to FIG. 9, when the transmission 16 is not connected to the motor 12, in other words, when the transmission ratio is fixed, the vehicle speed and the maximum axle driving force are contradictory as shown in FIG. It becomes.

  On the other hand, in this embodiment, since the transmission 16 having the three gears 16c is provided, the maximum speed, the axle torque, and the axle torque can be changed by changing the gear ratio as shown in FIG. Can be improved. In other words, the maximum axle driving force that achieves the same maximum speed and axle torque can be reduced, and the motor 12 can be further miniaturized.

  Furthermore, by providing the three gears 16c, noise (NV (Noise Vibration)) can be reduced as compared with the case where the gear ratio is fixed, in addition to the above-described effects.

  Further, the plurality of shift gears 16 c are configured such that the gear ratio is set so that the noise peak on the high speed side of the motor 12 occurs in a region where the maximum vehicle speed set for the vehicle 10 is exceeded. As a result, assuming that the noise of the vehicle 10 according to the embodiment has characteristics as shown in FIG. 10 (a), as shown in FIG. 10 (b), when the vehicle speed is low, a small gear ratio (Low ratio) is obtained. Switch to a gear to narrow the vehicle speed range of the low-speed noise peak, and switch to a gear with a high gear ratio (Hi ratio) when the vehicle speed is high to set the high-speed noise peak (as indicated by the imaginary line) Maximum vehicle speed Can be shifted to a higher speed side, so that noise in the normal operation region can be reduced.

  Also, after the output of the motor is controlled to a predetermined value when a shift instruction is given, the meshing clutch 16e is released, and then the differential rotation between the input shaft and the output shaft is controlled to be within a predetermined range. Since the meshing clutch 16e is configured to be engaged, in addition to the above-described effects, the shift gear 16c can be switched more smoothly, and noise generated when the meshing clutch is engaged can be reduced. The durability of 16e can be improved.

  FIG. 11 is a block diagram of an output voltage monitoring unit 52c similar to FIG. 6 showing the configuration of the control apparatus for an electric vehicle according to the second embodiment of the present invention.

  The description will focus on the differences from the first embodiment. In the second embodiment, when a gear shift instruction is issued, the output of the motor 12 is rotated to the above-described zero torque (predetermined value). It was configured to control to a value obtained by adding a value corresponding to the friction torque of the child and the input shaft 16a. This process is performed in S18 of the flowchart of FIG.

  That is, the clutch between the motor 12 and the transmission 16 can be made unnecessary by controlling the output of the motor 12 to zero torque when a shift instruction is given, but even in this case, the clutch engages with the sleeve dog clutch of the meshing clutch 16e. The friction torque of the rotor of the motor 12 and the input shaft 16a acts on the dog clutch on the drive gear side. The second embodiment is designed to take measures against it.

  FIG. 12 is an explanatory diagram showing the characteristics of the friction torque. As illustrated, the friction torque increases as the rotational speed of the input shaft 16a increases, and increases as the oil temperature TATF decreases.

  Therefore, in the second embodiment, the friction torque (additional torque) whose characteristics are shown in FIG. 12 can be retrieved from the rotation speed of the input shaft 16a and the oil temperature TATF, as shown in FIG. ) Is stored in the ROM of the MOT / ECU 52.

  More specifically, as shown in FIG. 11, an additional torque calculation unit 52c8 is provided in the output voltage monitoring unit 52c, where the additional torque is searched and sent to the output voltage calculation unit 52c6 and added to the calculated values VD and VQ. I made it. The added value is output to the PDU 22 through the 2-axis / 3-phase conversion process, as shown in FIG. 4 of the first embodiment.

  FIG. 14 shows the zero torque control of the second embodiment. As shown in the figure, the motor 12 is controlled to a torque obtained by adding a friction torque (additional torque) that differs depending on the vehicle speed (rotation speed) and the oil temperature to a predetermined value (zero torque).

  In the control apparatus for an electric vehicle according to the second embodiment, as described above, when a shift instruction is issued, the output of the motor 12 is set to zero torque (predetermined value) and the input of the rotor of the motor 12 and the transmission 16. Since the control is made to a value obtained by adding a value corresponding to the friction torque (additional torque) of the shaft 16a (S18), in addition to the above effect, the load acting on the meshing clutch 16e is pseudo zero Therefore, the durability of the meshing clutch mechanism 16e can be further improved.

  Furthermore, since the responsiveness of the meshing clutch 16e is also improved, it is possible to improve the shift speed, and it is also possible to reduce the capacity of the shift actuator 16d made of a motor or the like.

Further, since the value corresponding to the above-described friction torque (additional torque) is searched based on the oil temperature TATF of the transmission 16 and the rotation speed of the input shaft 16a of the transmission 16, in other words, it is configured to be changed. it is a child to zero the load acting on the meshing clutch 16e in a pseudo manner. The remaining configuration and effects are not different from those of the first embodiment.

  FIG. 15 is a schematic view similar to FIG. 1 showing the overall control apparatus for an electric vehicle according to the third embodiment of the present invention.

  The description will focus on the differences from the first and second embodiments. In the third embodiment, a shift pattern similar to that of a manual transmission of three forward speeds and one reverse speed (R) as shown in the figure. 30b, and the driver can manually operate the shift lever 30 to select one of them.

  In the third embodiment, a change mechanism 16f is provided instead of the shift actuator 16d, and the operation of the shift lever 30 by the driver is connected to the change mechanism 16f via the shift wire 62 in the same manner as the conventional manual transmission. The gear stage selected by the driver's operation of the shift lever 30 is mechanically selected (established).

  In addition, a clutch pedal 64 is provided on the vehicle driver's seat floor, and a clutch pedal switch 66 is provided in the vicinity thereof, and an output indicating a depression operation of the clutch pedal 64 by the driver is generated and sent to the AMT / ECU 54.

  FIG. 16 is a flowchart showing the operation of the control apparatus for an electric vehicle according to the third embodiment. The illustrated program is similarly executed by the AMT / ECU 54.

  In the following description, it is judged from the output of the clutch pedal switch 66 whether or not the clutch is depressed in S100, that is, whether or not the clutch pedal 64 is depressed by the driver. As a control of the motor 12, normal control other than zero torque control is maintained, and subsequent processing is skipped.

  On the other hand, when the result in S100 is affirmative, the program proceeds to S104, and MOT zero torque control is executed as in the first embodiment. That is, when a gear shift instruction is issued, the output of the motor 12 is controlled to a predetermined value consisting of zero or the vicinity thereof, specifically, zero torque before the shift gear is switched.

  At this time, as described in the second embodiment, a value corresponding to the friction torque of the rotor of the motor 12 and the input shaft 16a may be added to the predetermined value and controlled to that value.

  In accordance with the above processing, the dog clutch before the shift selected by the change mechanism 16f is released in accordance with the driver's operation of the shift lever 30 (S106), and the dog clutch is engaged with the gear stage gear 16c of the shift destination (S108). ), It is determined that the shift is complete (S110), and the process ends.

  As shown by broken lines in FIG. 15, two shift lever position sensors 32a and 32b are arranged in the shift pattern 30b, and an output indicating the operation position of the shift lever 30 by the driver of these sensors is input to the AMT / ECU 54. The AMT / ECU 54 may predict whether the shift is up-shifted or down-shifted from the accelerator opening and the like, and the same rotation speed adjustment as in the first embodiment may be executed between S106 and S108.

  FIG. 17 is an explanatory diagram showing a shift pattern 30c according to a modification of the third embodiment, and FIG. 18 is a flowchart showing the operation thereof. As shown in the figure, in the case of the modified example, a shift pattern 30c composed of 6 forward speeds and 1 reverse speed (R) is provided. Further, in the shift pattern 30c, a total of three shift lever position sensors 32a, 32b, 32c are arranged on the N (neutral) position and both sides thereof to detect the position of the shift lever 30.

  That is, in the case of a modified example having a large number of gears, the gear shift clutch 16e may be damaged due to the magnitude of the differential rotation even when the gears are shifted by skipping a plurality of gears. The number of revolutions is controlled in coordination with the position of the lever 30.

  Explaining in the following, in S200, it is determined from the output of the clutch pedal switch 66 whether or not the clutch is depressed. If the result is NO, the process proceeds to S202, the normal motor operation control is maintained, and the subsequent processing is skipped.

  On the other hand, when the result in S200 is affirmative, the routine proceeds to S204, where motor zero torque control is executed, and the routine proceeds to S206, where the dog clutch is released to the neutral position.

  Next, in S208, based on the outputs of the first, second, and third shift lever position sensors 32a, 32b, and 32c (hereinafter referred to as “first sensor 32a, second sensor 32b, and third sensor 32c”), FIG. In the shift pattern 30c shown, the shift lever 30 has reached the arrangement position (N position) of the second sensor 32b from the right (change from the position of the third sensor 32c to the position of the second sensor 32b), that is, the fifth speed or the sixth speed. Judge whether or not to shift down from speed.

  In the description of the flowchart of FIG. 18, “left” or “right” means the operation direction of the shift lever 30 with respect to the arrangement position (N position) of the second sensor 32b. "Or" right ".

  When the result in S208 is affirmative, it is determined whether the gear is shifted down from the fifth speed or the sixth speed, and the process proceeds to S210. It is determined whether or not the position of the sensor 32b has changed to the position of the first sensor 32a). If the result is affirmative, it is determined that the shift is down to the 2nd speed or the 1st speed, and the process proceeds to S214. Increase to speed equivalent. When the result in S212 is negative, the process of S214 is skipped.

  Note that the dog clutch of the meshing clutch 16e of the shift speed gear 16c selected by the change mechanism 16f according to the operation of the shift lever 30 by the driver is engaged (S216), and it is determined that the shift is completed. (S218) ends.

  On the other hand, when the result in S208 is negative, it is determined that the shift is up from the first speed or the second speed, and the process proceeds to S220, where it is reached from the left (change from the position of the first sensor 32a to the position of the second sensor 32b). If it is determined and affirmed, the process proceeds to S222, and the rotational speed of the motor 12 is reduced to the third speed.

  Next, the process proceeds to S224, and then it is determined whether or not it has moved to the right (change from the position of the second sensor 32b to the position of the third sensor 32c). If the result is affirmative, the process proceeds to S226 and the number of rotations of the motor 12 is increased to 5. The speed is reduced to a speed equivalent and the process proceeds to S216 and thereafter. If the determination at S224 is No, the process at S226 is skipped.

  On the other hand, when the result in S220 is negative, it is determined that the shift is from the 3rd speed or the 4th speed, the process proceeds to S228, and then moved to the left (change from the position of the second sensor 32b to the position of the first sensor 32a). If the answer is affirmative, the process proceeds to S230, the number of rotations of the motor 12 is reduced to the second speed, and the process proceeds to S216 and thereafter.

  When the result in S228 is negative, the process proceeds to S232, and then it is determined whether or not it has moved to the right (change from the position of the second sensor 32b to the position of the third sensor 32c). The number of revolutions of 12 is reduced to the equivalent of the fifth speed, and the process proceeds to S216 and thereafter. If the determination at S232 is No, the process at S234 is skipped.

  As described above, also in the control apparatus for an electric vehicle according to the third embodiment, when a gear shift instruction is given, the output of the motor 12 is set to a predetermined value, such as zero or near, before the shift gear 16c is switched. Since it is configured to be controlled to zero torque, the clutch for connecting the motor 12 and the transmission 16 can be made unnecessary even when the gear stage gear 16c is switched, as in the first embodiment. Increase in weight and cost can be suppressed.

  In addition, when the speed is changed by skipping a plurality of stages, such as from 2nd speed to 4th speed, or from 5th speed to 3rd speed, the rotational speed of the motor 12 is controlled in cooperation with the detected position of the shift lever 30. Therefore, damage to the meshing clutch 16e can be avoided.

As described above, in the first, second, and third embodiments, the motor (electric motor) 12 mounted on the vehicle 10 and the motor according to at least the opening degree of the accelerator pedal 46 operated by the driver. Motor output control means (MOT / ECU 52) for controlling the output of the motor, and a plurality of components arranged between the input shaft 16a connected to the motor and the output shaft 16b connected to the drive wheels 20 when a shift instruction is given. In the control apparatus for an electric vehicle provided with a transmission 16 having a meshing clutch 16e for switching the individual gears 16c, the motor output control means is configured to execute the shift instruction (S10, S12, S100, S200). ) Before the meshing clutch 16e switches the plurality of gears (S20 to S26, S106 to S110, S206 to S). 34), controls the output of the motor 12, zero or a value obtained by adding the corresponding values to the friction torque of the rotor and the input shaft 16a of the motor 12 (additional torque) to a predetermined value consisting vicinity At the same time (S18, S104, S204), a value corresponding to the friction torque is set to increase as the oil temperature TATF of the transmission 16 decreases and to increase as the rotational speed of the input shaft 16a increases. It changed so that it might change based on the characteristic (S18, S104, S204).

  Further, after the output of the motor 12 is controlled to a predetermined value when the shift instruction is given by the motor output control means, the meshing clutch 16e is released (S18, S20, S104, S106, S204, S206) After the motor output control means controls the differential rotation between the input shaft 16a and the output shaft 16b to be within a predetermined range (S22, S210, S214, S222, S226, S230, S234), the meshing type The clutch 16e is engaged (S24, S108, S216).

  In the first embodiment, the plurality of shift gears 16c have a gear ratio such that a noise peak on the high speed side of the motor 12 occurs in a region where the maximum vehicle speed set for the vehicle 10 is exceeded. It was configured as set (FIG. 10).

  In the above description, the parallel shaft type transmission is shown as an example of the transmission. However, the present invention is not limited to this, and other types of transmissions may be used.

  Further, in the third embodiment, the minimum number of shift position sensors is mounted so as not to place a burden on the synchro mechanism, but the number of shift position sensors is increased and arranged for each shift stage. The rotation speed after shifting may be adjusted more precisely.

 In addition, when the number of shift position sensors is increased and arranged at each gear position, a shift actuator is connected to the change mechanism 16f (not shown), and a shift lever by the driver as shown by a broken line in FIG. 30 operations may be input to the AMT / ECU 54 to electrically control the operation of the change mechanism 16f.

  DESCRIPTION OF SYMBOLS 10 Vehicle (electric vehicle), 12 Motor (electric motor), 16 Transmission, 16a Input shaft, 16b Output shaft, 16c Shift gear, 16d Shift actuator (actuator), 16e Engagement type clutch, 20 Drive wheel, 22 PDU, 24 Battery (BATT), 30 shift lever, 30a, 30b, 30c shift pattern, 30a2 subrange, 32 shift lever position sensor, 34 oil temperature sensor, 46 accelerator pedal, 48 accelerator opening sensor, 50 vehicle speed sensor, 52 MOT / ECU ( Motor output control means), 54 AMT / ECU, 64 clutch pedal, 66 clutch pedal switch

Claims (3)

A motor mounted on the vehicle; motor output control means for controlling the output of the motor in accordance with at least an opening degree of an accelerator pedal operated by a driver; and an input connected to the motor when a shift instruction is given In a control apparatus for an electric vehicle comprising a transmission having a meshing clutch for switching a plurality of shift gears arranged between a shaft and an output shaft connected to a drive wheel, the motor output control means includes the motor output control means, when the shift instruction is given, before the meshing clutch switches the plurality of shift stage gear, the output of the motor, zero or friction of the rotor and the input shaft of said motor to a predetermined value consisting vicinity The value corresponding to the torque is controlled to a value obtained by adding, and the value corresponding to the friction torque is increased as the oil temperature of the transmission decreases. And, and the control device for an electric vehicle and changes based on the set characteristics such that the rotational speed of the input shaft increases as increases.   The motor output is controlled to a predetermined value when the shift instruction is given by the motor output control means, then the meshing clutch is released, and the difference between the input shaft and the output shaft is released by the motor output control means. 2. The control apparatus for an electric vehicle according to claim 1, wherein the meshing clutch is engaged after the rotation is controlled to be within a predetermined range.   The gear ratio of the plurality of gears is set so that a noise peak on the high speed side of the motor occurs in a region where the maximum vehicle speed of the vehicle is exceeded. Electric vehicle control device.

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