JP6842285B2 - ハイブリッド車の能動型振動低減制御装置及び方法 - Google Patents
ハイブリッド車の能動型振動低減制御装置及び方法 Download PDFInfo
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Description
これを克服するため、エコカーなどの電気モータを備えた電動化(Electrification)された自動車の場合、駆動系に発生する振動を、モータを利用して能動的(Active)に低減する方法を用い、特に、内燃機関エンジンの爆発行程時に駆動系を介して伝えられる振動成分を測定し、駆動系に取り付けられたモータに振動に対する逆位相トルクを印加することにより振動を低減する方法が用いられる。このとき、逆位相トルクの基準になる基準信号は主にサイン(Sin)波が用いられ、発生した振動と基準サイン波の誤差が最小になるように能動型フィルターの係数が決定される。このとき、逆位相トルクの基準になる基準信号(図1の110を参照)が実際のエンジン爆発による振動の形状(図1の120を参照)と相違するので、実際の振動のピークと基準サイン波のピークとの間に位相差が存在することになり、これは振動低減制御の性能を低下させるという問題点がある。
また、FIR(Finite Impulse Response)、IIR(Infinite Impulse Response)形式などの適応フィルター(Adaptive Filter)を利用して目標信号と基準信号の間の誤差が最小になるように最適に近いフィルター係数を決めることにより、実際の振動と基準信号の間の位相同期性能を向上させることができ、エンジンの爆発によって発生する振動を効果的に低減することができる。
図2に示すように、本発明が適用されるハイブリッド車は、エンジン114と第1モータ112がトーショナルダンパ(torsional damper)113を介して連結されているTMED(Transmission−Mounted Electric Device)方式のハイブリッド車であって、このようなハイブリッド車の駆動系は、変速機111、第1モータ112、トーショナルダンパ113、エンジン114、ベルトプーリ(Belt−Pulley)115、第2モータ116、変速機制御器(Transmission Control Unit、TCU)117、エンジン制御器(Engine Control Unit、ECU)118、モータ制御器(Motor Control Unit、MCU)(インバータを含む)119、第1バッテリー120、第1バッテリー制御器(Battery Management System、BMS)121、第2バッテリー122、電圧制御器(Voltage Converter)123及びハイブリッド制御器(Hybrid Control Unit、HCU)124などを含む。
本発明に係るハイブリッド車の能動型振動低減制御のための核心的な技術である逆位相の把握は、駆動系の周波数応答特性を利用して達成される。駆動系に加振力が作用して振動が発生することはシステム伝達関数にモデリング可能であり、入力と出力振動の間の振幅及び位相関係は伝達関数の周波数応答で表すことができる。
エンジン114から発生した加振力は、駆動系に連結されている変速機111、第2モータ116(またはHSG(Hybrid Starter Generator))、DS(駆動軸、Drive Shaft)158、WH(Wheel House)159などの各要素へ伝えられて車体160の各部位に振動が発生することになり、伝達経路ごとに別途の伝達関数が存在して各部位の振動の振幅及び位相差は加振源と互いに異なることになり、その値は慣性モーメント、剛性、ダンピング係数などの機械システムのパラメーターによって決まる。エンジン加振力が低減目標部位(例えば、第1モータ112)に伝えられるとき、第2モータ116に基づいて測定された速度振動信号を利用して位相と振幅を調整し、エンジン加振力に逆位相となる補償力を目標部位に適用すれば、目標部位に振動が相殺されて振動を低減することができる。
先ず、振動抽出部210は、動作中の第2モータ116から振動信号(振動成分)を抽出する(501)。本発明は、振動を低減する主体である第1モータ112と振動を発生させるエンジン114との間にトーショナルダンパ113が位置する場合、エンジンの爆発によって発生した振動がトーショナルダンパ113を通過しながら大幅に減殺され、第1モータ112からの振動信号の抽出が困難であるため、第2モータ116からエンジンの爆発によって発生する振動信号を抽出する。
図6は、本発明の一実施形態に係る同期信号生成部260を説明するための図である。
本発明において、基準信号生成部220で第1モータ112の位相情報に従ってエンジンの爆発周期の倍数を適用した変更位相(θ1m2)を生成すれば、位相合成器610は、位相(θ1m2)と幾多の補償位相(θd、θp/θv)を反映するために前記位相等を適宜合成した信号を生成し、逆位相信号生成器620は、当該位相合成信号の逆位相(例えば、180度の位相差)信号を生成する(図3を参照)。
220 基準信号生成部
230 係数決定部
240 位相決定部
250 位相偏移量検出部
260 同期信号生成部
270 トルク生成部
610 位相合成器
620 逆位相信号生成器
Claims (14)
- エンジンの一側に結合されている第1モータの回転角に基づいて基準信号及び第1位相を生成する基準信号生成部と、
前記エンジンの他側に結合されている第2モータから振動信号を抽出する振動抽出部と、
前記基準信号と前記振動信号との間の位相差が最小になるようにするフィルター係数を決める係数決定部と、
前記第1モータの速度信号と前記フィルター係数とを利用して前記基準信号と前記振動信号との間の位相差に該当する第2位相を検出する位相決定部と、
前記第1モータの速度信号を利用して位相遅延を補償するための第3位相を検出する位相偏移量検出部と、
前記第1モータの補償力の決定のため、前記第1位相、前記第2位相、又は前記第3位相を利用して、正弦波ではなく実際の振動形状の逆位相信号を生成する同期信号生成部と、を備え、
前記同期信号生成部は、エンジン始動後の実際の振動波形に基づいて所定の位相値別の信号の大きさが予め格納されたルックアップテーブルを用いて、前記第1位相、前記第2位相、又は前記第3位相を利用して決定された位相に対する前記実際の振動形状の逆位相信号を生成することを特徴とするハイブリッド車の能動型振動低減制御装置。 - 前記逆位相信号に基準トルクを掛けて逆位相トルクを生成した後、指令トルクと合算して振動低減用トルクを生成するトルク生成部を更に含むことを特徴とする請求項1に記載のハイブリッド車の能動型振動低減制御装置。
- 前記同期信号生成部は、
前記第1位相から前記第2位相を引いた結果に前記第3位相を足した位相に基づき、実際の振動の形状に対応する位相合成信号を生成する位相合成器と、 前記位相合成信号の逆位相信号を生成する逆位相信号生成器と、を含むことを特徴とする請求項1に記載のハイブリッド車の能動型振動低減制御装置。 - 前記振動抽出部は、
前記第2モータの回転角を測定する位置測定器と、
前記位置測定器によって測定された回転角を微分して速度信号を算出する速度算出器と、
前記速度算出器により算出された速度信号をフィルタリングして振動信号を抽出する振動抽出器と、を含むことを特徴とする請求項1に記載のハイブリッド車の能動型振動低減制御装置。 - 前記基準信号生成部は、
前記第1モータの回転角を測定する位置測定器と、
前記位置測定器により測定された第1モータの回転角に2を掛けて2倍回転角を前記第2位相として算出する算出器と、
前記算出器により算出された2倍回転角を利用して基準信号を生成する基準信号生成器と、を含むことを特徴とする請求項1に記載のハイブリッド車の能動型振動低減制御装置。 - 前記位相決定部は、
前記位置測定器により測定された回転角を微分して速度信号を算出する速度算出器と、
前記速度算出器により算出された速度信号と前記決定されたフィルター係数とを利用して前記基準信号と前記振動信号との間の位相差を前記第2位相として検出する位相決定器と、を含むことを特徴とする請求項5に記載のハイブリッド車の能動型振動低減制御装置。 - 前記係数決定部は、
フィルター係数更新器と、
前記フィルター係数更新器により更新されたフィルター係数を利用して前記基準信号生成部により生成された基準信号をフィルタリングする可変フィルターと、
前記基準信号生成部により生成された基準信号と前記振動抽出部により抽出された振動信号との間の位相差を算出する位相差算出器と、を含み、
前記フィルター係数更新器は、前記位相差算出器により算出された位相差が最小になるように前記フィルター係数を更新計算することを特徴とする請求項1に記載のハイブリッド車の能動型振動低減制御装置。 - エンジンの一側に結合されている第1モータの回転角に基づいて基準信号及び第1位相を生成する段階と、
前記エンジンの他側に結合されている第2モータから振動信号を抽出する段階と、
前記基準信号と前記振動信号との間の位相差が最小になるようにするフィルター係数を決める段階と、
前記第1モータの速度信号と前記フィルター係数とを利用して前記基準信号と前記振動信号との間の位相差に該当する第2位相を検出する段階と、
前記第1モータの速度信号を利用して位相遅延を補償するための第3位相を検出する段階と、
前記第1モータの補償力の決定のため、前記第1位相、前記第2位相、又は前記第3位相を利用して、正弦波ではなく実際の振動形状の逆位相信号を生成する段階と、を有し、
前記逆位相信号を生成する段階は、エンジン始動後の実際の振動波形に基づいて所定の位相値別の信号の大きさが予め格納されたルックアップテーブルを用いて、前記第1位相、前記第2位相、又は前記第3位相を利用して決定された位相に対する前記実際の振動形状の逆位相信号を生成する段階を含むことを特徴とするハイブリッド車の能動型振動低減制御方法。 - 前記逆位相信号に基準トルクを掛けて逆位相トルクを生成した後、指令トルクと合算して振動低減用トルクを生成する段階を更に含むことを特徴とする請求項8に記載のハイブリッド車の能動型振動低減制御方法。
- 前記逆位相信号を生成する段階は、
前記第1位相から前記第2位相を引いた結果に前記第3位相を足した位相に基づき、実際の振動の形状に対応する位相合成信号を生成する段階と、
前記位相合成信号の逆位相信号を生成する段階と、を含むことを特徴とする請求項8に記載のハイブリッド車の能動型振動低減制御方法。 - 前記振動信号を抽出する段階は、
前記第2モータの回転角を測定する段階と、
前記回転角を微分して速度信号を算出する段階と、
前記速度信号をフィルタリングして振動信号を抽出する段階と、を含むことを特徴とする請求項8に記載のハイブリッド車の能動型振動低減制御方法。 - 前記基準信号及び第1位相を生成する段階は、
前記第1モータの回転角を測定する段階と、
前記第1モータの回転角に2を掛けて2倍回転角を前記第2位相として算出する段階と、
前記2倍回転角を利用して前記基準信号を生成する段階と、を含むことを特徴とする請求項8に記載のハイブリッド車の能動型振動低減制御方法。 - 前記第2位相を検出する段階は、
前記第1モータの回転角を微分して速度信号を算出する段階と、
前記速度信号と前記フィルター係数とを利用して前記基準信号と前記振動信号との間の位相差を前記第2位相として検出する段階と、を含むことを特徴とする請求項12に記載のハイブリッド車の能動型振動低減制御方法。 - 前記フィルター係数を決める段階は、
可変フィルターに前記フィルター係数を利用して前記基準信号をフィルタリングする段階と、
前記基準信号と前記振動信号との間の位相差を算出する段階と、
前記基準信号と前記振動信号との間の位相差が最小になるように、前記可変フィルターに提供する前記フィルター係数を更新する段階と、を含むことを特徴とする請求項8に記載のハイブリッド車の能動型振動低減制御方法。
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