JP6402783B2 - 電動車両の制御装置および電動車両の制御方法 - Google Patents
電動車両の制御装置および電動車両の制御方法 Download PDFInfo
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- B60W30/18—Propelling the vehicle
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- B60W30/18—Propelling the vehicle
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- B60L2240/00—Control parameters of input or output; Target parameters
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- B60L2250/00—Driver interactions
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- B60L2260/00—Operating Modes
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- B60—VEHICLES IN GENERAL
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- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/58—Combined or convertible systems
- B60T13/585—Combined or convertible systems comprising friction brakes and retarders
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- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
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- B60T2270/00—Further aspects of brake control systems not otherwise provided for
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- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D61/00—Brakes with means for making the energy absorbed available for use
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Description
図1は、第1の実施形態における電動車両の制御装置を備えた電気自動車の主要構成を示すブロック図である。本発明の電動車両の制御装置は、車両の駆動源の一部または全部として電動モータ4を備え、電動モータの駆動力により走行可能な電動車両に適用可能である。電動車両には、電気自動車だけでなく、ハイブリッド自動車や燃料電池自動車も含まれる。特に、本実施形態における電動車両の制御装置は、アクセルペダルの操作のみで車両の加減速や停止を制御することができる車両に適用することができる。この車両ではドライバは、加速時にアクセルペダルを踏み込み、減速時や停止時には、踏み込んでいるアクセルペダルの踏み込み量を減らすか、または、アクセルペダルの踏み込み量をゼロとする。なお、登坂路においては、車両の後退を防ぐためにアクセルペダルを踏み込みつつ停止状態に近づく場合もある。
Jm:電動モータのイナーシャ
Jw:駆動輪のイナーシャ
M:車両の質量
KD:駆動系の捻り剛性
Kt:タイヤと路面の摩擦に関する係数
N:オーバーオールギヤ比
r:タイヤの過重半径
ωm:電動モータの角速度
Tm:トルク目標値Tm*
TD:駆動輪のトルク
F:車両に加えられる力
V:車両の速度
ωw:駆動輪の角速度
そして、図4、図5より、以下の運動方程式を導くことができる。ただし、次式(1)〜(3)中の符号の右上に付されているアスタリスク(*)は、時間微分を表している。
rb:摩擦ブレーキ力が作用する作用点までの半径
F/B:摩擦ブレーキの作用点におけるブレーキ制動量
B:ブレーキ制動量
そして、図6より、以下の運動方程式を導くことができる。
ωw>0 : F/B >0
ωw=0 : F/B =0
ωw<0 : F/B <0
そして、図4、図5、図6より、以下の運動方程式を導くことができる。
第2の実施形態の電動車両の制御装置は、これまで説明した第1の実施形態に加えて、制振制御を併用する。以下、本実施形態における電動車両の制御装置について、特に、制振制御併用の態様について説明する。
Claims (9)
- モータを走行駆動源とし、前記モータの回生制動力により減速する電動車両の制御装置であって、
アクセル操作量を検出するアクセル操作量検出手段と、
外乱トルク推定値を算出する外乱トルク推定手段と、
車両に制動力を加えるブレーキ制動量を車両状態から検出または推定する手段と、
前記ブレーキ制動量に応じて前記外乱トルク推定値を補正する外乱トルク推定値補正手段と、
モータトルク指令値を算出するモータトルク指令値算出手段と、
前記モータトルク指令値に基づいて、前記モータを制御するモータ制御手段と、
を備え、
前記外乱トルク推定値補正手段は、前記ブレーキ制動量からブレーキトルク推定値を算出するブレーキトルク推定手段を備え、前記ブレーキトルク推定値に基づいて前記外乱トルク推定値を補正し、
前記モータトルク指令値算出手段は、前記アクセル操作量が所定値以下であり、かつ、電動車両が停車間際になると、前記モータの回転速度に比例する速度パラメータの低下とともに前記モータトルク指令値を補正後の外乱トルク推定値に収束させる、
電動車両の制御装置。 - 運転者のブレーキ操作量を検出するブレーキ操作量検出手段をさらに備え、
前記ブレーキ制動量は、前記ブレーキ操作量検出手段が検出したブレーキ操作量に基づいて決定される、
請求項1に記載の電動車両の制御装置。 - 前記ブレーキ制動量は、ブレーキの操作に関わる指令値に基づいて決定される、
請求項1に記載の電動車両の制御装置。 - 前記ブレーキ制動量は、車両へのブレーキ制動量の入力から車両に制動力が作用するまでの応答性を考慮して決定される、
請求項2または3に記載の電動車両の制御装置。 - 前記ブレーキトルク推定値は、車両の進行方向に応じて符号が異なる、
請求項1から4のいずれかに記載の電動車両の制御装置。 - 前記ブレーキトルク推定手段は、車両へのブレーキ制動量の入力とモータの回転速度の伝達特性のモデルGb(s)を含むフィルタを用いて前記ブレーキトルク推定値を算出する、
請求項1から5のいずれかに記載の電動車両の制御装置。 - 前記ブレーキトルク推定手段は、ローパスフィルタH(s)と、車両へのトルク入力とモータの回転速度の伝達特性のモデルGp(s)の逆系とから構成されるH(s)/Gp(s)なる伝達特性を有するフィルタをさらに用いて前記ブレーキトルク推定値を算出する、
請求項6に記載の電動車両の制御装置。 - 前記電動車両にドライブシャフトの捩じり振動を抑制する制振制御を適用する場合に、
前記ブレーキトルク推定手段は、前記制振制御を考慮した伝達特性のモデルを用いて前記ブレーキトルク推定値を算出する、
請求項6または7に記載の電動車両の制御装置。 - モータを走行駆動源とし、前記モータの回生制動力により減速する電動車両の制御方法であって、
アクセル操作量を検出し、
外乱トルク推定値を算出し、
車両に制動力を加えるブレーキ制動量を車両状態から検出または推定し、
前記ブレーキ制動量からブレーキトルク推定値を算出し、前記ブレーキトルク推定値に基づいて前記外乱トルク推定値を補正し、
前記アクセル操作量が所定値以下であり、かつ、電動車両が停車間際になると、前記モータの回転速度に比例する速度パラメータの低下とともに補正後の外乱トルク推定値に収束するようなモータトルク指令値を算出し、
前記モータトルク指令値に基づいて、前記モータを制御する、
電動車両の制御方法。
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