JP6787410B2 - 電動車両の制御方法、及び、制御装置 - Google Patents
電動車両の制御方法、及び、制御装置 Download PDFInfo
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- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/3205—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration acceleration
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- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
- H02P3/14—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor by regenerative braking
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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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- B60—VEHICLES IN GENERAL
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- B60L2240/00—Control parameters of input or output; Target parameters
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- B60L2240/14—Acceleration
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- B60—VEHICLES IN GENERAL
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
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- B60L2240/423—Torque
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- B60—VEHICLES IN GENERAL
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Description
図1は、一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:車両の重量
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:タイヤの荷重半径
ωm:モータ回転速度
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6より、以下の運動方程式を導くことができる。
図9は、本実施形態における減速度低減処理の流れを示すフローチャートである。該フローは、モータコントローラ2において、一定のサイクルで繰り返し実行されるようにプログラムされている。
Claims (5)
- アクセル操作量に応じた制動力又は駆動力を車両に与えるモータを備え、前記アクセル操作量が所定値未満の時は前記制動力を制御し、前記アクセル操作量が所定値以上の時は前記駆動力を制御する電動車両の制御方法において、
勾配に関連する抵抗成分として前記モータに作用する外乱トルクを推定し、
前記制動力を前記外乱トルク推定値に応じて前記抵抗成分を打ち消すように増減させる補正を実行し、
所定勾配以上の降坂路では、前記制動力の補正量を低減し、
前記所定勾配において前記アクセル操作量が0の場合に車両の停車状態を維持するトルク値に基づいて、前記補正量の上限値を算出する、
電動車両の制御方法。 - 請求項1に記載の電動車両の制御方法において、
前記補正量の上限値が設定される場合は、
前記所定勾配は、前記アクセル操作量が0の場合に車両に発生する前記制動力に前記上限値の補正量を加算して得られる制動トルクにより停車可能な勾配の最大値が設定される、
電動車両の制御方法。 - 請求項1又は2に記載の電動車両の制御方法において、
前記所定勾配よりも急な所定急勾配以上の降坂路では、前記補正量を、前記アクセル操作量が0の場合に車両に発生する制動力により車両の加速度が0以下になるように設定する、
電動車両の制御方法。 - 請求項3に記載の電動車両の制御方法において、
前記所定急勾配は、前記アクセル操作量が0の場合に車両に発生する制動力により車両の加速度が0となる勾配に設定される、
電動車両の制御方法。 - アクセル操作量に応じた制動力又は駆動力を車両に与えるモータと、前記アクセル操作量が所定値未満の時は前記制動力を制御し、前記アクセル操作量が所定値以上の時は前記駆動力を制御するコントローラと、を備える電動車両の制御装置において、
前記コントローラは、
勾配に関連する抵抗成分として前記モータに作用する外乱トルクを推定し、
前記制動力を前記外乱トルク推定値に応じて前記抵抗成分を打ち消すように増減させる補正を実行し、
所定勾配以上の降坂路では、前記制動力の前記補正量を低減し、
前記所定勾配において前記アクセル操作量が0の場合に車両の停車状態を維持するトルク値に基づいて、前記補正量の上限値を算出する、
電動車両の制御装置。
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