JP6335955B2 - 車両の制御装置及び車両の制御方法 - Google Patents
車両の制御装置及び車両の制御方法 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0061—Disposition of motor in, or adjacent to, traction wheel the motor axle being parallel to the wheel axle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
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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
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- B60L2240/12—Speed
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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
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B60L2240/42—Drive Train control parameters related to electric machines
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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
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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- 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
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- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Description
102 ドライバー要求トルク算出部
104 フィードバック(F/B)信号切換部
106 スリップ判定部
108 回転数フィードバック(F/B)制御部
110 トルク制限部
Claims (8)
- 車輪を駆動するモータに要求される要求トルクを取得する要求トルク取得部と、
前記要求トルクに基づいて、制御対象として車輪速とモータ回転数のいずれか一方を指定する制御対象指定部と、
前記制御対象指定部により指定された制御対象が目標値と一致するようにフィードバック制御を行う制御部と、
を備え、
前記制御対象指定部は、前記要求トルクが所定の閾値以上の場合は前記モータ回転数を制御対象として指定し、前記要求トルクが前記閾値未満の場合は前記車輪速を制御対象として指定することを特徴とする、車両の制御装置。 - 前記制御対象指定部により指定された制御対象と前記目標値とを比較した結果に基づいて車輪のスリップを判定するスリップ判定部を備え、
前記制御部は、前記スリップ判定部によりスリップが発生していると判定された場合に、前記フィードバック制御を行うことを特徴とする、請求項1に記載の車両の制御装置。 - 前記制御部は、前記スリップ判定部によりスリップが発生していると判定されている最中は、前記制御対象指定部の指定に応じた制御対象の切り換えは行わないことを特徴とする、請求項2に記載の車両の制御装置。
- 前記制御部は、前記制御対象指定部により指定された制御対象に応じた制御ゲインに基づいて、前記フィードバック制御を行うことを特徴とする、請求項1〜3のいずれかに記載の車両の制御装置。
- 前記制御部は、前記制御対象指定部により指定された制御対象を目標値に一致させるため、前記モータのトルクダウン量を算出し、
前記トルクダウン量を要求トルクに基づいて制限するトルク制限部を備えることを特徴とする、請求項1〜4のいずれかに記載の車両の制御装置。 - 前記トルク制限部は、前記要求トルクが小さくなる程、前記トルクダウン量が小さくなるように前記トルクダウン量を制限することを特徴とする、請求項5に記載の車両の制御装置。
- 前記トルク制限部は、前記要求トルクが所定値以下の場合は、前記要求トルクによらず前記トルクダウン量を一定値とすることを特徴とする、請求項6に記載の車両の制御装置。
- ドライバーの要求トルクを取得するステップと、
前記要求トルクに基づいて、制御対象として車輪速とモータ回転数のいずれか一方を指定するステップであって、前記要求トルクが所定の閾値以上の場合は前記モータ回転数を制御対象として指定し、前記要求トルクが前記閾値未満の場合は前記車輪速を制御対象として指定するステップと、
指定された前記制御対象が目標値と一致するようにフィードバック制御を行うステップと、
を備えることを特徴とする、車両の制御方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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JP2016038097A JP6335955B2 (ja) | 2016-02-29 | 2016-02-29 | 車両の制御装置及び車両の制御方法 |
US15/392,535 US10358137B2 (en) | 2016-02-29 | 2016-12-28 | Vehicle control device and vehicle control method |
DE102017100703.2A DE102017100703A1 (de) | 2016-02-29 | 2017-01-16 | Fahrzeug-Steuerungsvorrichtung und Fahrzeug-Steuerungsverfahren |
CN201710045978.3A CN107128212B (zh) | 2016-02-29 | 2017-01-20 | 车辆的控制装置以及车辆的控制方法 |
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JP2016038097A JP6335955B2 (ja) | 2016-02-29 | 2016-02-29 | 車両の制御装置及び車両の制御方法 |
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JP2017158261A JP2017158261A (ja) | 2017-09-07 |
JP6335955B2 true JP6335955B2 (ja) | 2018-05-30 |
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JP (1) | JP6335955B2 (ja) |
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DE (1) | DE102017100703A1 (ja) |
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DE102017216020A1 (de) * | 2017-09-12 | 2019-03-14 | Audi Ag | Verfahren und Vorrichtung zur Bestimmung einer Radschlupfinformation eines elektrisch angetriebenen Rades eines Kraftfahrzeugs |
JP7172675B2 (ja) * | 2019-02-04 | 2022-11-16 | トヨタ自動車株式会社 | 電動車両の制御装置 |
JP7461260B2 (ja) | 2020-09-24 | 2024-04-03 | 株式会社Subaru | モータ制御装置 |
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JPH08182119A (ja) * | 1994-12-22 | 1996-07-12 | Toyota Motor Corp | 電気自動車用走行用モータの制御方法 |
JP2003065135A (ja) * | 2001-08-29 | 2003-03-05 | Denso Corp | 車載制御装置 |
US6806667B1 (en) * | 2003-05-23 | 2004-10-19 | Toyota Jidosha Kabushiki Kaisha | Control unit and control method for controlling vibration of an electric vehicle |
JP2006136174A (ja) * | 2004-11-09 | 2006-05-25 | Nissan Motor Co Ltd | 車両のモータトラクション制御装置 |
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