JP7458220B2 - Vehicle control device - Google Patents

Description

The present disclosure relates to a vehicle control device.

Conventionally, as a control device for suppressing slip of drive wheels of a vehicle, there is a device described in Patent Document 1 below. The control device described in Patent Document 1 includes an electric motor that transmits driving force to drive wheels of a vehicle, and a control device that controls the electric motor. When the control device detects that the drive wheels are slipping, the control device sets a target drive wheel speed that can reduce the slip of the drive wheels, and also sets the actual drive wheel rotational speed and the target drive wheel speed. The output torque of the electric motor is controlled by executing feedback control based on the deviation from the speed.

Japanese Patent Application Publication No. 2007-6681

In a vehicle such as that described in Patent Document 1, there is a correlation between the rotational speed of the drive wheels and the rotational speed of the electric motor. Therefore, it is also possible to suppress slipping of the driving wheels by performing feedback control of the rotational speed of the electric motor when it is detected that the driving wheels are slipping. The inventors are considering a control device that uses feedback control of the rotational speed of an electric motor. Specifically, when it is detected that the drive wheels are slipping, a target rotational speed corresponding to a predetermined target slip rate is set, and the rotational speed of the electric motor is made to follow the target rotational speed. The output torque of the electric motor is controlled by executing rotational speed feedback control.

By the way, feedback control has a characteristic that the rotational speed of the electric motor, which is a control value, tends to resonate at a specific frequency due to a response delay or the like. Furthermore, a plurality of resonance systems exist in the power transmission element that transmits the output torque of the electric motor to the drive wheels. Therefore, there is a possibility that the rotational speed, output torque, etc. of the electric motor may hunt due to disturbances or sudden changes in torque due to control switching or the like.

The present disclosure has been made in view of these circumstances, and an object thereof is to provide a vehicle control device that can suppress hunting of an electric motor.

A control device that solves the above problem includes an electric motor (20) that applies driving force or braking force to drive wheels (11, 12) of a vehicle, and controls the output torque of the electric motor when the drive wheels slip. This is a vehicle control device that suppresses slippage of the drive wheels. The control device includes a slip detection section (510), a rotational speed detection section (200), a motor control section (520), a hunting suppression section (525, 527) , and a hunting detection section (526) . The slip detection section detects slip of the driving wheels. The rotational speed detection section detects the rotational speed of the electric motor. The motor control unit controls the electric motor, and when it detects that the drive wheels are slipping, the motor control unit controls the electric motor by executing rotational speed feedback control that causes the rotational speed of the electric motor to follow the target rotational speed. The torque command value is calculated, and the output torque of the electric motor is controlled based on the torque command value. The hunting suppression unit executes hunting suppression control for suppressing hunting of the electric motor based on resonance of a power transmission element from the electric motor to the drive wheels when executing the rotational speed feedback control. The hunting detection section detects whether or not the electric motor is hunting. The hunting suppression section executes hunting suppression control based on the detection of hunting of the electric motor by the hunting detection section. The hunting detection section includes a bandpass filter section (526a) that performs filtering processing based on a bandpass filter on the rotational speed or output torque of the electric motor, and a differential value of the calculated value that has been filtered through the bandpass filter section. It has a differential calculation processing unit (526b) that calculates the absolute value of the differential value, and a hunting variable calculation unit (526c) that calculates the interval integral value or moving average value of the absolute value of the differential value as a hunting variable. Hunting of the electric motor is detected based on the fact that the hunting variable is greater than or equal to a predetermined determination value.
Another control device that solves the above problem includes an electric motor (20) that applies driving force or braking force to the drive wheels (11, 12) of the vehicle, and controls the output torque of the electric motor when the drive wheels slip. This is a vehicle control device that suppresses slippage of drive wheels through control. The control device includes a slip detection section (510), a rotational speed detection section (200), a motor control section (520), a hunting suppression section (525, 527), and a hunting detection section (526). The slip detection section detects slip of the driving wheels. The rotational speed detection section detects the rotational speed of the electric motor. The motor control unit controls the electric motor, and when it detects that the drive wheels are slipping, the motor control unit controls the electric motor by executing rotational speed feedback control that causes the rotational speed of the electric motor to follow the target rotational speed. The torque command value is calculated, and the output torque of the electric motor is controlled based on the torque command value. The hunting suppression unit executes hunting suppression control for suppressing hunting of the electric motor based on resonance of a power transmission element from the electric motor to the drive wheels when executing the rotational speed feedback control. The hunting detection section detects whether or not the electric motor is hunting. When hunting of the electric motor is detected by the hunting detection section, the hunting suppression section performs hunting suppression control by reducing the gain of the torque command value of rotational speed feedback control compared to when hunting is not detected. suppress hunting.
Another control device that solves the above problem includes an electric motor (20) that applies driving force or braking force to the drive wheels (11, 12) of the vehicle, and controls the output torque of the electric motor when the drive wheels slip. This is a vehicle control device that suppresses slippage of drive wheels through control. The control device includes a slip detection section (510), a rotational speed detection section (200), a motor control section (520), a hunting suppression section (525, 527), and a hunting detection section (526). The slip detection section detects slip of the driving wheels. The rotational speed detection section detects the rotational speed of the electric motor. The motor control unit controls the electric motor, and when it detects that the drive wheels are slipping, the motor control unit controls the electric motor by executing rotational speed feedback control that causes the rotational speed of the electric motor to follow the target rotational speed. The torque command value is calculated, and the output torque of the electric motor is controlled based on the torque command value. The hunting suppression unit executes hunting suppression control for suppressing hunting of the electric motor based on resonance of a power transmission element from the electric motor to the drive wheels when executing the rotational speed feedback control. The hunting detection section detects whether or not the electric motor is hunting. The motor control unit executes torque control that performs feedforward control of the output torque of the electric motor when it is not detected that the drive wheels are slipping. The hunting suppression section suppresses hunting of the electric motor by switching control of the electric motor from rotational speed feedback control to torque control as hunting suppression control when hunting of the electric motor is detected by the hunting detection section.

According to this configuration, when the electric motor hunts, the hunting suppressing section can suppress the hunting of the electric motor.
Note that the above-mentioned means and the reference numerals in parentheses described in the claims are examples showing correspondences with specific means described in the embodiments to be described later.

According to the vehicle control device of the present disclosure, hunting of the electric motor can be suppressed.

FIG. 1 is a block diagram schematically showing a schematic configuration of a vehicle according to a first embodiment. FIG. 2 is a block diagram showing the electrical configuration of the vehicle according to the first embodiment. FIG. 3 is a block diagram showing a procedure for calculating a torque command value by the motor control section of the first embodiment. FIGS. 4A and 4B are timing charts showing changes in the output torque Tm of the motor generator 20, the driver's requested torque Td, the reference rotational speed ωmb, and the rotational speed ωm in the control device of the comparative example. FIG. 5 is a flowchart showing a processing procedure of the hunting detection unit and the hunting suppression unit of the first embodiment. FIG. 6 is a flowchart showing the processing procedure of the hunting detection section of the first embodiment. FIGS. 7A to 7D are timing charts showing changes in the rotational speed ωm of the motor generator, the rotational speed ωmf after filtering processing, the absolute value of the differential value |dωmf/dt|, and the hunting variable Xh. FIG. 8 is a timing chart showing changes in the output torque Tm of the motor generator 20, the driver's requested torque Td, the reference rotational speed ωmb, and the rotational speed ωm in the control device of the first embodiment. FIG. 9 is a timing chart showing changes in the output torque Tm of the motor generator 20, the driver's requested torque Td, the reference rotational speed ωmb, and the rotational speed ωm in the control device of the first embodiment. FIG. 10 is a block diagram illustrating a procedure for calculating a torque command value by a motor control unit according to the second embodiment. FIG. 11 is a block diagram showing the procedure for calculating a torque command value by the motor control section of the third embodiment. FIG. 12 is a block diagram illustrating a procedure for calculating a torque command value by a motor control unit according to the fourth embodiment. 13(A) and (B) are timing charts showing changes in the output torque Tm of the motor generator 20, the driver's requested torque Td, the reference rotational speed ωmb, and the rotational speed ωm in the control device of the fourth embodiment. be. 14A and 14B are timing charts showing changes in the output torque Tm of the motor generator 20, the driver's required torque Td, the reference rotation speed ωmb, and the rotation speed ωm in the control device of the fifth embodiment.

Hereinafter, one embodiment of a vehicle control device will be described with reference to the drawings. In order to facilitate understanding of the description, the same components in each drawing are denoted by the same reference numerals as much as possible, and redundant description will be omitted.
<First embodiment>
First, a vehicle control device according to a first embodiment will be described. First, a schematic configuration of a vehicle in which the control device of this embodiment is mounted will be described.

A vehicle 10 according to the present embodiment shown in FIG. 1 includes a motor generator 20, an inverter device 21, a battery 22, and a differential device 23. Vehicle 10 is a so-called electric vehicle that travels based on the power of motor generator 20.
Inverter device 21 converts DC power stored in battery 22 into three-phase AC power, and supplies the converted three-phase AC power to motor generator 20 .

Motor generator 20 operates as an electric motor and a generator. When operating as an electric motor, motor generator 20 is driven based on three-phase AC power supplied from inverter device 21 . The driving force of the motor generator 20 is transmitted to the right front wheel 11 and the left front wheel 12 of the vehicle 10 via the differential device 23 and the drive shaft 24, so that the right front wheel 11 and the left front wheel 12 rotate, and the vehicle 10 rotates. Run. In the vehicle 10, the right front wheel 11 and the left front wheel 12 function as driving wheels, and the right rear wheel 13 and the left rear wheel 14 function as driven wheels. Therefore, in this embodiment, the right front wheel 11 corresponds to the right driving wheel, and the left front wheel 12 corresponds to the left driving wheel. Further, motor generator 20 corresponds to an electric motor.

Motor generator 20 operates as a generator when braking the vehicle. Specifically, when braking the vehicle 10 , the braking force applied to the front right wheel 11 and the front left wheel 12 is input to the motor generator 20 via the drive shaft 24 and the differential gear 23 . The motor generator 20 generates electricity based on the power reversely input from the front right wheel 11 and the front left wheel 12. Three-phase AC power generated by motor generator 20 is converted into DC power by inverter device 21 and charged into battery 22 .

The differential device 23 is configured by a combination of a plurality of rotating elements, and when a difference occurs between the rotational speeds of the front right wheel 11 and the front left wheel 12, the differential device 23 absorbs the difference in rotational speed, and The driving force transmitted from the motor generator 20 is divided and transmitted to the front right wheel 11 and the front left wheel 12.

The wheels 11 to 14 of the vehicle 10 are provided with friction brake devices 31 to 34, respectively. The friction brake devices 31 to 34 are devices that apply braking force to each wheel 11 to 14 by applying friction force to a rotating body that rotates together with each wheel 11 to 14.
Next, the electrical configuration of the vehicle 10 will be explained.

As shown in FIG. 2, the vehicle 10 includes wheel speed sensors 41 to 44, an acceleration sensor 45, a yaw rate sensor 46, an accelerator opening sensor 47, and an ESC-ECU (Electronic Stability Control-Electronic Control Unit) 51. , an EV-ECU (Electric Vehicle-Electronic Control Unit) 52, and an MG-ECU (Motor Generator-Electronic Control Unit) 53. Each of the ECUs 51 to 53 is mainly composed of a microcomputer having a CPU, memory, and the like.

As shown in FIG. 1, wheel speed sensors 41-44 are provided on wheels 11-14, respectively. The wheel speed sensors 41 to 44 detect wheel speeds ωw11 to ωw14, which are the rotational speeds of the wheels 11 to 14, respectively, and send signals corresponding to the detected wheel speeds ωw11 to ωw14 to the ESC-ECU 51 shown in FIG. Output to.

The acceleration sensor 45 detects the lateral acceleration of the vehicle 10 and outputs a signal corresponding to the detected lateral acceleration to the ESC-ECU 51.
The yaw rate sensor 46 detects the yaw rate, which is the angular velocity of the vehicle 10 around the vertical axis, and outputs a signal corresponding to the detected yaw rate to the ESC-ECU 51.

The accelerator opening sensor 47 detects an accelerator opening corresponding to the amount of depression of the accelerator pedal of the vehicle 10, and outputs a signal corresponding to the detected accelerator opening to the EV-ECU 52.
The ESC-ECU 51 executes vehicle behavior control to stabilize the attitude of the vehicle 10 by executing a program stored in advance in its memory. The vehicle behavior control is, for example, skid prevention control that suppresses skidding of the vehicle 10. Specifically, the ESC-ECU 51 includes a slip detection section 510 and a brake control section 511. The slip detection unit 510 determines whether oversteer or understeer is occurring in the vehicle 10 based on the lateral acceleration of the vehicle 10 detected by the acceleration sensor 45 and the yaw rate of the vehicle 10 detected by the yaw rate sensor 46. do. When oversteer or understeer is detected by the slip detection unit 510, the brake control unit 511 applies braking force to each wheel 11 to 14 using the friction brake devices 31 to 34 so as to bring the vehicle closer to the ideal driving state. The attitude of the vehicle 10 is automatically controlled.

MG-ECU 53 centrally controls motor generator 20 by executing a program stored in advance in its memory. For example, the MG-ECU 53 controls the motor generator 20 by driving the inverter device 21 based on a request from the EV-ECU 52. For example, when the MG-ECU 53 receives a torque command value, which is a command value of the output torque of the motor generator 20, from the EV-ECU 52, the MG-ECU 53 controls the inverter device 21 so that the motor generator 20 outputs power according to the torque command value. drive. Furthermore, when braking the vehicle 10, the MG-ECU 53 drives the inverter device 21 so that the battery 22 is charged with the electric power generated by regenerative power generation of the motor generator 20.

The motor generator 20 is provided with a rotation sensor 200 that detects its rotation speed. The rotation sensor 200 detects the rotation speed ωm of the motor generator 20 and outputs a signal corresponding to the detected rotation speed ωm to the MG-ECU 53. The MG-ECU 53 can obtain information on the rotation speed ωm of the motor generator 20 based on the output signal of the rotation sensor 200. In this embodiment, the rotation sensor 200 corresponds to the rotation speed detection unit.

The EV-ECU 52 comprehensively controls the running of the vehicle 10 by executing a program stored in advance in its memory. The EV-ECU 52 includes a motor control section 520. The motor control unit 520 sets a torque command value, which is a target value of the output torque of the motor generator 20, based on, for example, the accelerator opening detected by the accelerator opening sensor 47, and also controls the set torque command value. Send to MG-ECU53. Thereby, the MG-ECU 53 drives the inverter device 21 so that the motor generator 20 outputs a torque corresponding to the torque command value. Through such torque control of the motor generator 20, the vehicle 10 can run in accordance with the driver's driving request. Hereinafter, control in which motor control unit 520 sets a torque command value based on various state quantities of vehicle 10 and then drives motor generator 20 based on this torque command value will be referred to as "torque control." Torque control is basically feedforward control.

A slip detection unit 510 of the ESC-ECU 51 monitors whether or not the drive wheels 11 and 12 of the vehicle 10 are slipping. The motor control unit 520 of the EV-ECU 52 performs slip suppression control to suppress the slip when the slip detection unit 510 detects slip of the driving wheels 11 and 12 when the vehicle 10 starts, accelerates, or decelerates. It is executed through the MG-ECU53. As described above, in this embodiment, the control device 50 that suppresses the slip of the vehicle 10 is configured by the ECUs 51 to 53.

Next, a slip detection procedure executed by the slip detection section 510 and a slip suppression control procedure executed by the motor control section 520 will be specifically described.
The slip detection unit 510 determines whether or not the driving wheels 11 and 12 are slipping at a predetermined period. The slip determination can be performed using, for example, the rotational speed of the motor generator 20 or the slip ratio of the drive wheels 11 and 12.

When performing a slip determination using the rotational speed of the motor generator 20, the slip detection unit 510 acquires information on the wheel speeds ωw11 to ωw14 of the wheels 11 to 14 based on the output signals of the wheel speed sensors 41 to 44, respectively. do. The slip detection unit 510 estimates the vehicle body speed Vb, which is the traveling speed of the vehicle 10, from the obtained wheel speeds ωw11 to ωw14 of the respective wheels 11 to 14 using an arithmetic expression or the like. The slip detection unit 510 calculates the slip determination rotational speed of the driving wheels 11 and 12 corresponding to the slip determination value Sth from the estimated current vehicle body speed Vb and a predetermined slip determination value Sth. The slip detection unit 510 determines the slip determination rotation of the motor generator 20 by using the reduction ratio of the power transmission system from the motor generator 20 to the drive wheels 11 and 12 based on the calculated slip determination rotation speed of the drive wheels 11 and 12. Calculate the speed ωmths. Slip detection unit 510 acquires information on the actual rotational speed ωm of motor generator 20 from MG-ECU 53 via EV-ECU 52, and determines whether the acquired actual rotational speed ωm of motor generator 20 exceeds slip determination rotational speed ωmths. Based on this, it is determined that the drive wheels 11 and 12 are slipping.

Further, when performing a slip determination using the slip ratio, the slip detection unit 510 calculates the wheel speed Vω of the driving wheels by calculating the average value of the wheel speeds ωw11 and ωw12 of the driving wheels 11 and 12, respectively. The slip detection unit 510 calculates a slip rate S from the vehicle speed Vb and the wheel speed Vω of the drive wheels 11 and 12 based on the following equation f1.

S = (Vb - Vω) / MAX (Vb, Vω) × 100 (f1)
The slip detection unit 510 determines that the drive wheels 11, 12 are slipping when the slip ratio S calculated by the formula f1 exceeds a predetermined slip determination value Sth.

When the slip detection unit 510 detects that the driving wheels 11 and 12 are slipping, it notifies the EV-ECU 52 of this fact. The motor control unit 520 of the EV-ECU 52 executes the above-described torque control when the slip detection unit 510 does not detect slip of the drive wheels 11, 12. On the other hand, when the slip detection section 510 detects the slip of the driving wheels 11 and 12, the motor control section 520 executes rotation speed feedback control to cause the rotation speed of the motor generator 20 to follow the target rotation speed.

Specifically, as shown in FIG. 3 , the motor control unit 520 has a basic torque command value calculation unit 521 , a target rotational speed calculation unit 522 , a rotational speed feedback control unit 523 , a switching determination unit 524 , and a switching unit 525 .
The base torque command value calculation unit 521 calculates a first torque command value Tb* which is a torque command value according to the above-mentioned torque control. That is, the base torque command value calculation unit 521 calculates the first torque command value Tb* based on the accelerator opening detected by the accelerator opening sensor 47 and the like. The base torque command value calculation unit 521 outputs the calculated first torque command value Tb* to the switching unit 525. The first torque command value Tb* is a torque command value according to a request from the driver of the vehicle 10. In this embodiment, the first torque command value Tb* corresponds to the torque command value of the torque control.

Target rotational speed calculation unit 522 calculates target rotational speed ωm* of motor generator 20 that can suppress slip of drive wheels 11 and 12. Specifically, the target rotational speed calculation unit 522 calculates the target wheel speed Vω* of the driving wheels 11 and 12 corresponding to the target slip ratio from the current vehicle speed Vb and a predetermined target slip ratio Sta. do. The target rotation speed calculation unit 522 calculates the speed of the motor generator 20 by using the reduction ratio of the power transmission system from the motor generator 20 to the drive wheels 11, 12 based on the calculated target wheel speed Vω* of the drive wheels 11, 12. Calculate target rotational speed ωm*. The target rotational speed calculation unit 522 outputs the calculated target rotational speed ωm* to the rotational speed feedback control unit 523.

The rotational speed feedback control unit 523 causes the rotational speed ωm to follow the target rotational speed ωm* based on the target rotational speed ωm* calculated by the target rotational speed calculation unit 522 and the actual rotational speed ωm of the motor generator 20. The second torque command value Tω* is calculated by executing the feedback control. Hereinafter, this feedback control will be referred to as "rotation speed feedback control." The rotational speed feedback control is executed as, for example, PID control. The rotational speed feedback control section 523 outputs the calculated second torque command value Tω* to the switching section 525. In this embodiment, the second torque command value Tω* corresponds to the torque command value for rotational speed feedback control.

The switching unit 525 is a part that switches between the first torque command value Tb* and the second torque command value Tω* to be used as the final torque command value T* to be notified to the MG-ECU 53. The switching of the switching unit 525 is executed by the switching determination unit 524. When the switching determination unit 524 determines that the drive wheels 11, 12 are not slipping based on the detection result of the slip detection unit 510, the switching determination unit 524 operates the switching unit 525 so that the final torque command value T* is set to the first torque command value Tb*. On the other hand, when the switching determination unit 524 determines that the drive wheels 11, 12 are slipping based on the detection result of the slip detection unit 510, the switching determination unit 524 operates the switching unit 525 so that the final torque command value T* is set to the second torque command value Tω*.

EV-ECU 52 controls motor generator 20 by transmitting final torque command value T* output from switching unit 525 to MG-ECU 53. As a result, the motor generator 20 is controlled by torque control when slip of the drive wheels 11 and 12 is not detected, and the motor generator 20 is controlled by rotational speed feedback control when slip of the drive wheels 11 and 12 is detected. 20 is controlled.

However, when rotation speed feedback control is performed when slippage of the drive wheels 11, 12 is detected, there is a risk that the motor generator 20 will hunt due to an external disturbance or a sudden change in torque when switching control.
For example, consider a case where the road surface on which the vehicle 10 is traveling changes from an icy road to a dry road. When the vehicle 10 is traveling on an icy road, the driving wheels 11, 12 are in contact with the ground on a low μ road with a low road friction coefficient, so the driving wheels 11, 12 slip. Therefore, the final torque command value T* is set to the second torque command value Tω* that is set based on the rotation speed feedback control. Therefore, the output torque of the motor generator 20 is controlled to be the second torque command value Tω*. The second torque command value Tω* is a value smaller than the first torque command value Tb*, in other words, a value smaller than the torque according to the driver's request. Therefore, as shown by the solid line and the dashed line in FIG. 4A, the output torque Tm of the motor generator 20 changes at a value smaller than the torque Td according to the driver's request. At this time, the rotation speed ωm of the motor generator 20 is controlled to a rotation speed determined based on the vehicle speed Vb and the target slip ratio Sta. Therefore, if the rotation speed of motor generator 20 corresponding to the rotation speed of non-slip drive wheels 11, 12 is defined as reference rotation speed ωmb, then as shown in Fig. 4B, rotation speed ωm of motor generator 20 remains at a value slightly higher than reference rotation speed ωmb. Note that even if drive wheels 11, 12 are slipping, driven wheels 13, 14 are not slipping, so reference rotation speed ωmb corresponds to the rotation speed of motor generator 20 corresponding to the rotation speed of driven wheels 13, 14.

After that, if the road surface on which the vehicle 10 is traveling changes from a frozen road to a dry road at time t10, the driving wheels 11 and 12 rapidly recover from the slip state, so that the rotational speed ωm of the motor generator 20 reaches the reference rotational speed ωmb. It changes as it approaches. At this time, since the rotational speed ωm of the motor generator 20 changes from the control value corresponding to the frozen road immediately before it to approach the reference rotational speed ωmb, the twisting according to the difference in these rotational speeds causes the motor generator 20 to This occurs in the power transmission elements from to the drive wheels 11 and 12. The power transmission elements include the drive shaft 24 and the like. As a result of the torsion occurring in the power transmission element such as the drive shaft 24, the power transmission element vibrates, and as a result, the output shaft of the motor generator 20 and the like vibrate. Therefore, as shown by the solid line in FIG. 4(B), after time t10, the rotational speed ωm of the motor generator 20 oscillates, and as shown by the solid line in FIG. 4(A), the output torque Tm of the motor generator 20 There is a concern that it may vibrate. At this point, the final torque command value T* remains set to the second torque command value Tω* of the rotational speed feedback control. That is, rotational speed feedback control is being continuously executed. When the resonance frequency of this rotational speed feedback control matches the resonance frequency of the power transmission element such as the drive shaft 24, the rotational speed ωm of the motor generator 20 and the output There is a possibility that the torque Tm may lead to hunting.

Therefore, as shown in FIG. 2, the EV-ECU 52 of this embodiment includes a hunting detection section 526 that detects whether or not the motor generator 20 is hunting, and a hunting suppression section 527 that suppresses hunting of the motor generator 20. It also has the following.
Next, with reference to FIG. 5, the processing procedure of the hunting detection section 526 and the hunting suppression section 527 will be specifically described. Note that the hunting detecting section 526 and the hunting suppressing section 527 repeatedly execute the process shown in FIG. 5 at a predetermined period when the slip detecting section 510 detects the slip of the drive wheels 11 and 12.

As shown in FIG. 5, hunting detection unit 526 first determines whether or not hunting of motor generator 20 needs to be suppressed in step S10. Specifically, hunting detection unit 526 calculates hunting variable Xh according to the procedure shown in FIG. 6, and then uses calculated hunting variable Xh to determine whether or not it is necessary to suppress hunting of motor generator 20. to judge. As shown in FIG. 6, the hunting detection section 526 includes a bandpass filter section 526a, a differential calculation processing section 526b, and a hunting variable calculation section 526c.

The bandpass filter unit 526a acquires information on the actual rotation speed ωm of the motor generator 20 from the MG-ECU 53, and performs filtering processing on the acquired rotation speed ωm based on a bandpass filter. This makes it possible to obtain the rotation speed ωmf after filtering processing as shown in FIG. 7(B) from the rotation speed ωm of the motor generator 20 as shown in FIG. 7(A), for example.

As shown in FIG. 6, the differential calculation processing unit 526b calculates the absolute value |dωmf/dt| of the differential value of the rotation speed ωmf after the filtering process, which is the calculation value of the bandpass filter unit 526a. Thereby, the absolute value of the differential value |dωmf/dt| as shown in FIG. 7(C) can be obtained from the rotational speed ωmf after the filtering process as shown in FIG. 7(B).

As shown in FIG. 6, the hunting variable calculation unit 526c calculates the hunting variable Xh from the absolute value |dωmf/dt| of the differential value calculated by the differential calculation processing unit 526b. Specifically, the hunting variable calculation unit 526c calculates the interval integral value Int based on the following equation f2. Note that in formula f2, "a" is a predetermined value.

The hunting variable calculation unit 526c uses the interval integral value Int calculated based on equation f2 as the hunting variable Xh. Thereby, the hunting variable Xh as shown in FIG. 7(D) can be obtained from the absolute value |dωmf/dt| of the differential value as shown in FIG. 7(C).

Hunting detection unit 526 determines that hunting of motor generator 20 needs to be suppressed based on hunting variable Xh becoming equal to or greater than determination value Xtha at time t20, as shown in FIG. 7(D). Further, hunting detection unit 526 determines that motor generator 20 has returned from hunting based on the fact that hunting variable Xh becomes equal to or less than determination value Xthb at time t21.

As shown in FIG. 5, when hunting detection section 526 makes a negative determination in the process of step S10, that is, when determining that there is no need to suppress hunting of motor generator 20, hunting detection section 526 performs step Normal control is executed as the process of S12. In the normal control, the rotational speed feedback control is executed using the second torque command value Tω* calculated by the rotational speed feedback control section 523 as is.

On the other hand, if the hunting detection unit 526 makes a positive determination in the process of step S10, that is, if it determines that hunting of the motor generator 20 needs to be suppressed, it executes hunting suppression control as the process of step S12. In the hunting suppression control, a filtering process based on a band-stop filter is performed on the second torque command value Tω* calculated by the rotation speed feedback control unit 523, and rotation speed feedback control is executed based on the second torque command value Tω* that has been subjected to the filtering process. The filtering process based on the band-stop filter is a process that selectively attenuates frequency components corresponding to the resonant frequency from among the frequency components contained in the second torque command value Tω*.

Next, an example of the operation of the control device 50 of this embodiment will be described.
In the control device 50 of this embodiment, when the hunting detection unit 526 determines that it is necessary to suppress hunting of the motor generator 20 during acceleration of the vehicle 10, the hunting suppression unit 527 performs filtering on the second torque command value Tω*. Apply processing. As a result, the vibration of the second torque command value Tω* is suppressed, so that the vibration of the output torque Tm of the motor generator 20 is suppressed as shown by the solid line in FIG. As shown by the solid line, vibrations in the rotational speed ωm of the motor generator 20 are suppressed. Further, as shown in FIGS. 9A and 9B, since the vibration of the output torque Tm of the motor generator 20 is similarly suppressed when the vehicle 10 is decelerated, the vibration of the rotational speed ωm of the motor generator 20 is suppressed. can be suppressed.

According to the control device 50 of the present embodiment described above, the following actions and effects (1) to (4) can be obtained.
(1) When rotation speed feedback control is performed, the hunting suppression unit 527 executes hunting suppression control to suppress hunting of the motor generator 20 that is caused by resonance of power transmission elements from the motor generator 20 to the drive wheels 11, 12. With this configuration, hunting of the motor generator 20 can be suppressed.

(2) If hunting suppression control is executed while torque control is being executed, filtering processing based on a band-stop filter is applied to the first torque command value Tb*. In this case, among the frequency components contained in the first torque command value Tb*, the frequency components corresponding to the resonant frequency are selectively attenuated, which may lead to concerns such as a decrease in the responsiveness of torque control. In this regard, the hunting suppression unit 527 of this embodiment executes hunting suppression control only when rotation speed feedback control is being executed. With this configuration, since filtering processing is not applied to the first torque command value Tb*, hunting of the motor generator 20 can be suppressed without affecting the responsiveness of torque control.

(3) The control device 50 includes a hunting detection section 526 that detects whether or not the motor generator 20 is hunting. Hunting suppression section 527 executes hunting suppression control based on hunting detection section 526 detecting hunting of motor generator 20 . According to this configuration, since the hunting suppression control is executed only when the motor generator 20 is hunting, the responsiveness of the torque control executed in a situation where hunting is not occurring is not affected.

(4) The hunting detection unit 526 includes a bandpass filter unit 526a, a differential calculation processing unit 526b, and a hunting variable calculation unit 526c. The hunting detection unit 526 detects hunting of the motor generator 20 based on the hunting variable Xh calculated by the hunting variable calculation unit 526c being equal to or greater than a predetermined judgment value Xtha. With this configuration, hunting of the motor generator 20 can be easily detected.

(First modification)
Next, a first modification of the control device 50 of the first embodiment will be described.
Hunting detection unit 526 of this modification detects hunting of motor generator 20 based on the fact that positive/negative reversal period ΔTω of rotational speed ωm of motor generator 20 is within a predetermined range. The positive/negative reversal period ΔTω of the rotational speed ωm is, for example, as shown in FIG. It can be determined as the period up to the time of detection. The hunting detection unit 526 uses the first predetermined value T1 and the second predetermined value T2, which is larger than the first predetermined value, so that the reversal period ΔTω satisfies the relationship “T1<ΔTω<T2”, so that the hunting detection unit 526 detects the motor. It is determined that the generator 20 is hunting.

Even with such a configuration, hunting of motor generator 20 can be easily detected.
Note that the hunting detection unit 526 may use the output torque of the motor generator 20 instead of the rotational speed ωm of the motor generator 20.

(Second Modification)
Next, a second modification of the control device 50 of the first embodiment will be described.
The hunting detection unit 526 of this modification detects hunting of the motor generator 20 based on a determination that the amplitude Am of the rotation speed ωm of the motor generator 20 shows a tendency to diverge or based on a determination that the rotation speed ωm of the motor generator 20 has not converged. The amplitude Am of the rotation speed ωm of the motor generator 20 can be obtained as a deviation between a value of a peak portion and a value of a valley portion in the rotation speed ωm that changes in a wave-like manner, as shown in FIG. 7A, for example. The hunting detection unit 526 determines that the amplitude Am of the rotation speed ωm of the motor generator 20 shows a tendency to diverge or that the rotation speed ωm of the motor generator 20 has not converged based on a gradual increase in the amplitude Am of the rotation speed ωm of the motor generator 20. When the hunting detection unit 526 determines that the amplitude Am of the rotation speed ωm of the motor generator 20 shows a tendency to diverge or when the hunting detection unit 526 determines that the motor generator 20 is hunting.

Even with this configuration, hunting of the motor generator 20 can be easily detected.
Second Embodiment
Next, a second embodiment of the control device 50 will be described. The following mainly describes the differences from the control device 50 of the first embodiment.

The control device 50 of this embodiment differs from the control device 50 of the first embodiment in that it does not include the hunting detection unit 526 shown in FIG. 2. That is, the control device 50 does not detect whether the motor generator 20 is hunting or not. Furthermore, the control device 50 of this embodiment suppresses hunting of the motor generator 20 by constantly performing a filtering process on the second torque command value Tω* using the hunting suppression unit 527.

Specifically, as shown in FIG. 10, the motor control section 520 of this embodiment further includes a hunting suppression section 527 and a reset determination section 528.
The reset determination unit 528 is notified of the slip information of the drive wheels 11 and 12 from the switching determination unit 524 . The reset determination unit 528 transmits a reset signal to the hunting suppression unit 527 when the driving wheels 11 and 12 switch from a non-slip state to a slip state based on the notification from the switching determination unit 524. do.

The second torque command value Tω* calculated by the rotational speed feedback control unit 523 and the reset signal transmitted from the reset determination unit 528 are input to the hunting suppression unit 527. The hunting suppressing unit 527 calculates a second torque command value Tωf* after the filtering process by performing a filtering process on the second torque command value Tω* based on a bandstop filter. In this embodiment, the hunting suppression section 527 corresponds to a bandstop filter section.

Specifically, upon receiving the reset signal transmitted from the reset determination unit 528, the hunting suppression unit 527 initializes the second torque command value Tωf* after the filtering process, and at the same time performs rotational speed feedback. The second torque command value Tω* calculated by the control unit 523 is output to the switching unit 525 as the second torque command value Tωf* after the filtering process. Thereafter, the hunting suppressing unit 527 performs filtering processing based on a bandstop filter on the second torque command value Tω* calculated by the rotational speed feedback control unit 523, and the second torque command value Tωf after the filtering processing. * is output to the switching unit 525.

According to the control device 50 of the present embodiment described above, in addition to the action and effect shown in (1) above, it is possible to obtain the action and effect shown in (5) and (6) below.
(5) The hunting suppressing unit 527 attenuates the second torque command value Tω* by performing filtering processing based on a band stop filter on the second torque command value Tω*. According to this configuration, the filtering process by the hunting suppressing unit 527 is effective only on the resonance frequency that causes hunting in the motor generator 20, among the frequency components included in the second torque command value Tω*. Therefore, even if the configuration is such that filtering processing is always performed on the second torque command value Tω* during execution of rotational speed feedback control, there is little effect on other frequency bands included in the second torque command value Tω*. do not have.

(6) At the time when the motor control is switched from torque control to rotational speed feedback control, the hunting suppression unit 527 uses the second torque command value Tω* as it is as the second torque command value Tωf* after the filtering process, and After that, filtering processing for the second torque command value Tω* is enabled. According to this configuration, the final torque command value T* can be immediately changed to the second torque command value Tω* at the time when the motor control is switched from torque control to rotational speed feedback control, which improves control responsiveness. can be improved.

<Third embodiment>
Next, a third embodiment of the control device 50 will be described. Hereinafter, differences from the control device 50 of the first embodiment will be mainly explained.
The control device 50 of this embodiment differs from the control device 50 of the first embodiment in that it does not include a hunting detection section 526, similar to the control device 50 of the second embodiment. Furthermore, when switching the control of the motor from torque control to rotational speed feedback control, the control device 50 of the present embodiment uses the first torque command value Tb* that was set immediately before switching to the second torque command value Tω. Start filtering processing for *.

Specifically, as shown in FIG. 11, the hunting suppressing section 527 includes the first torque command value Tb* calculated by the basic torque command value calculating section 521 and the first torque command value Tb* calculated by the rotational speed feedback control section 523. The second torque command value Tω* and the notification from the switching determination unit 524 are input.

The switching determination unit 524 transmits a reset signal to the hunting suppression unit 527 when the drive wheels 11 and 12 are not slipping. The switching determination unit 524 does not transmit a reset signal to the hunting suppression unit 527 when the drive wheels 11 and 12 are slipping.
When the reset signal is transmitted from the switching determination section 524, that is, when the driving wheels 11 and 12 are not slipping, the hunting suppression section 527 calculates the first torque command value Tb transmitted from the basic torque command value calculation section 521. * is output as is as the final torque command value T*.

The hunting suppressing unit 527 detects when the switching determining unit 524 switches from a state where a reset signal is being transmitted to a state where a reset signal is not being transmitted, that is, when the driving wheels 11 and 12 are not slipping to slipping. When the state is switched to, the first torque command value Tb* at that time is set as an initial value, and filtering processing based on a bandstop filter is started for the second torque command value Tω*. Thereafter, the hunting suppressing unit 527 controls the second torque command value Tω* during a period when the reset signal is not transmitted from the switching determining unit 524, that is, during a period when the driving wheels 11 and 12 continue to slip. Then, the second torque command value Tωf* after the filtering process is output to the switching unit 525.

According to the control device 50 of this embodiment described above, in addition to the action and effect shown in (1) above, it is possible to obtain the action and effect shown in (7) below.
(7) When the control of the motor generator 20 is switched from torque control to rotational speed feedback control, the hunting suppression unit 527 uses the first torque command value Tb* that was set immediately before to issue a second torque command. A filtering process based on a bandstop filter is started for the value Tω*. According to this configuration, when slip of the driving wheels 11, 12 is detected, the final torque command value T* gradually switches from the first torque command value Tb* to the second torque command value Tωf* after filtering processing. Therefore, sudden changes in the final torque command value T* can be suppressed. As a result, the occurrence of hunting in motor generator 20 can be further suppressed.

<Fourth embodiment>
Next, a fourth embodiment of the control device 50 will be described. Hereinafter, differences from the control device 50 of the first embodiment will be mainly explained.
The control device 50 of the present embodiment suppresses hunting of the motor generator 20 by reducing the gain of the second torque command value Tω* of rotational speed feedback control when hunting of the motor generator 20 is detected.

Specifically, as shown in FIG. 12, the first gain Ga, the second gain Gb, and the detection result of the hunting detection section 526 are input to the hunting suppression section 527 of this embodiment. The second gain Gb is set to a smaller value than the first gain Ga.
When hunting suppression section 527 determines that hunting has not occurred in motor generator 20 based on the detection result of hunting detection section 526, hunting suppression section 527 inputs the first gain Ga to rotational speed feedback control section 523. In this case, the rotation speed feedback control unit 523 uses the first gain Ga to calculate the second torque command value Tω*.

When hunting suppression section 527 determines that hunting has occurred in motor generator 20 based on the detection result of hunting detection section 526, hunting suppression section 527 inputs second gain Gb to rotation speed feedback control section 523. In this case, the rotation speed feedback control unit 523 calculates the second torque command value Tω* using the second gain Gb.

Next, an example of the operation of the control device 50 of this embodiment will be described.
As shown in FIGS. 13A and 13B, for example, if hunting of the motor generator 20 is detected at time t11 after the road surface on which the vehicle 10 is traveling changes from a frozen road to a dry road at time t10, the rotation The gain of the second torque command value Tω* used by the speed feedback control unit 523 is switched from the first gain Ga to the second gain Gb. As a result, the value of the second torque command value Tω* becomes smaller, so that fluctuations in the output torque Tm of the motor generator 20 become smaller, as shown by the solid line in FIG. 13(A). As a result, as shown in FIG. 13(B), the hunting in the rotational speed ωm of the motor generator 20 converges before it becomes large. Therefore, hunting of motor generator 20 is suppressed.

According to the control device 50 of this embodiment described above, in addition to the action and effect shown in (1) above, it is possible to obtain the action and effect shown in (8) below.
(8) Hunting suppressing section 527 makes the gain of second torque command value Tω* smaller when hunting of motor generator 20 is detected than when hunting is not detected. According to this configuration, hunting of motor generator 20 can be suppressed more accurately.

Fifth Embodiment
Next, a fifth embodiment of the control device 50 will be described. The following mainly describes the differences from the control device 50 of the first embodiment.
The control device 50 of this embodiment suppresses hunting of the motor-generator 20 by switching the final torque command value T* from the second torque command value Tω* to the first torque command value Tb* when hunting of the motor-generator 20 is detected during execution of rotational speed feedback control.

Specifically, the motor control unit 520 of this embodiment has a similar configuration to the motor control unit 520 of the first embodiment shown in FIG. 3. When the switching determination unit 524 determines that the drive wheels 11, 12 are slipping based on the detection result of the slip detection unit 510, the switching determination unit 524 operates the switching unit 525 to set the final torque command value T* to the second torque command value Tω*. After that, when the drive wheels 11, 12 continue to slip and the hunting detection unit 526 detects hunting of the motor generator 20, the switching determination unit 524 operates the switching unit 525 to switch the final torque command value T* from the second torque command value Tω* to the first torque command value Tb*.

Note that the switching unit 525 uses a preset value in order to suppress sudden changes in the final torque command value T* when switching the final torque command value T* from the second torque command value Tω* to the first torque command value Tb*. The final torque command value T* may be gradually changed from the second torque command value Tω* toward the first torque command value Tb* by the amount of change over time.

Next, an example of the operation of the control device 50 of this embodiment will be described.
As shown in FIGS. 14A and 14B, for example, if hunting of the motor generator 20 is detected at time t11 after the road surface on which the vehicle 10 is traveling changes from a frozen road to a dry road at time t10, then After t11, the final torque command value T* gradually changes from the second torque command value Tω* toward the first torque command value Tb*. Therefore, as shown by the solid line in FIG. 14(A), the output torque Tm of the motor generator 20 gradually changes from time t11 toward the torque Td that corresponds to the driver's request. As a result, as shown in FIG. 14(B), the hunting in the rotational speed ωm of the motor generator 20 converges before it becomes large. That is, hunting of motor generator 20 is suppressed.

According to the control device 50 of the present embodiment described above, in addition to the action and effect shown in (1) above, it is possible to obtain the action and effect shown in (9) below.
(9) When hunting of the motor generator 20 is detected, the switching unit 525 switches the final torque command value T* from the second torque command value Tω* to the first torque command value Tb*. In other words, when hunting of motor generator 20 is detected, switching unit 525 switches control of motor generator 20 from rotational speed feedback control to torque control. According to this configuration, hunting of motor generator 20 can be suppressed more accurately. Note that in this embodiment, the switching unit 525 operates as a hunting suppressing unit.

Sixth Embodiment
Next, a sixth embodiment of the control device 50 will be described. The following mainly describes the differences from the control device 50 of the first embodiment.
The hunting suppression unit 527 of the present embodiment suppresses hunting of the motor generator 20 by applying a braking force to the drive wheels 11, 12 instead of performing a filtering process on the second torque command value Tω*.

Specifically, when hunting of the motor generator 20 is detected by the hunting detection unit 526, the hunting suppression unit 527 of this embodiment controls the friction brake devices 31, 32 so that a braking force having a phase opposite to the phase of the vibration is applied to the drive wheels 11, 12. The friction brake devices 31, 32 indirectly apply torque to the drive shaft 24 by applying a braking force to the drive wheels 11, 12. This makes it possible to shift the resonance frequency of the drive shaft 24, thereby suppressing hunting of the motor generator 20. In this embodiment, the friction brake devices 31, 32 correspond to the braking unit.

Alternatively, if the vehicle 10 is equipped with another motor that can apply torque to the drive shaft 24 in addition to the motor generator 20, the hunting suppression section 527 A motor may be used instead of the friction brake devices 31, 32. Specifically, hunting suppressing section 527 may control another motor so that torque is applied to drive shaft 24 when hunting detecting section 526 detects hunting of motor generator 20 . Even with this configuration, hunting of the motor generator 20 can be suppressed because the resonance frequency of the drive shaft 24 can be shifted. In this case, another motor corresponds to the drive section.

According to the control device 50 of the present embodiment described above, in addition to the action and effect shown in (1) above, it is possible to obtain the action and effect shown in (10) below.
(10) Hunting suppressing section 527 suppresses hunting of motor generator 20 by applying torque to drive shaft 24 from friction brake devices 31 and 32 or another motor. According to this configuration, hunting of motor generator 20 can be suppressed more accurately.

<Other embodiments>
Note that each embodiment can also be implemented in the following forms.
- The hunting detection unit 526 of the first embodiment uses the output torque Tm of the motor generator 20 instead of the rotational speed ωm of the motor generator 20 to determine whether or not hunting of the motor generator 20 needs to be suppressed. It may be something to judge. In this case, the bandpass filter section 526a performs filtering processing based on a bandpass filter on the output torque Tm of the motor generator 20.

The hunting variable calculation unit 526c in the first embodiment may calculate the moving average value of the absolute value of the differential value |dωmf/dt| as the hunting variable Xh instead of the interval integral value of the absolute value of the differential value |dωmf/dt| calculated by the differential calculation processing unit 526b.
Each of the ECUs 51 to 53 and the control method thereof described in the present disclosure may be realized by one or more dedicated computers provided by configuring a processor and a memory programmed to execute one or more functions embodied in a computer program. The ECUs 51 to 53 and the control method thereof described in the present disclosure may be realized by a dedicated computer provided by configuring a processor including one or more dedicated hardware logic circuits. The ECUs 51 to 53 and the control method thereof described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor including one or more hardware logic circuits. The computer program may be stored in a computer-readable non-transient tangible recording medium as instructions executed by a computer. The dedicated hardware logic circuit and the hardware logic circuit may be realized by a digital circuit including a plurality of logic circuits, or an analog circuit.

- This disclosure is not limited to the specific examples above. Design modifications to the specific examples above made by a person skilled in the art are also included within the scope of this disclosure as long as they have the features of this disclosure. The elements of each of the specific examples described above, as well as their arrangement, conditions, shapes, etc., are not limited to those exemplified and can be modified as appropriate. The elements of each of the specific examples described above can be combined in different ways as appropriate, as long as no technical contradictions arise.

10: Vehicle 11: Right front wheel (drive wheel)
12: Left front wheel (drive wheel)
20: Motor generator (electric motor)
31, 32: Friction brake device (braking part)
50: Control device 200: Rotation sensor (rotation speed detection section)
510: Slip detection section 520: Motor control section 525: Switching section (hunting suppression section)
526: Hunting detection unit 526a: Band pass filter unit 526b: Differential calculation processing unit 526c: Hunting variable calculation unit 527; Hunting suppression unit

Claims (3)

The vehicle (10) includes an electric motor (20) that applies driving force or braking force to the drive wheels (11, 12), and when the drive wheels slip, the drive is controlled by controlling the output torque of the electric motor. A vehicle control device that suppresses wheel slip,
a slip detection unit (510) that detects slip of the drive wheel;
a rotational speed detection unit (200) that detects the rotational speed of the electric motor;
The electric motor is controlled by executing rotational speed feedback control that causes the rotational speed of the electric motor to follow a target rotational speed when it is detected that the driving wheel is slipping. a motor control unit (520) that calculates a torque command value and controls the output torque of the electric motor based on the torque command value;
a hunting suppression unit (5 27) that executes hunting suppression control for suppressing hunting of the electric motor based on resonance of a power transmission element from the electric motor to the drive wheels when executing the rotational speed feedback control; and,
a hunting detection unit (526) that detects whether the electric motor is hunting ;
The hunting suppressing part is
Executing the hunting suppression control based on detection of hunting of the electric motor by the hunting detection unit,
The hunting detection section includes:
a bandpass filter section (526a) that performs filtering processing based on a bandpass filter on the rotational speed or output torque of the electric motor;
a differential calculation processing unit (526b) that calculates the absolute value of the differential value of the calculation value subjected to the filtering process through the band-pass filter unit;
a hunting variable calculation unit (526c) that calculates an interval integral value or a moving average value of the absolute value of the differential value as a hunting variable;
Hunting of the electric motor is detected based on the fact that the hunting variable is greater than or equal to a predetermined determination value.
Vehicle control device. The vehicle (10) includes an electric motor (20) that applies driving force or braking force to the drive wheels (11, 12), and when the drive wheels slip, the drive is controlled by controlling the output torque of the electric motor. A vehicle control device that suppresses wheel slip,
a slip detection unit (510) that detects slip of the drive wheel;
a rotational speed detection unit (200) that detects the rotational speed of the electric motor;
The electric motor is controlled by executing rotational speed feedback control that causes the rotational speed of the electric motor to follow a target rotational speed when it is detected that the driving wheel is slipping. a motor control unit (520) that calculates a torque command value and controls the output torque of the electric motor based on the torque command value;
a hunting suppression unit (527) that executes hunting suppression control for suppressing hunting of the electric motor based on resonance of a power transmission element from the electric motor to the drive wheels when executing the rotational speed feedback control; ,
a hunting detection unit (526) that detects whether the electric motor is hunting;
The hunting suppressing part is
When hunting of the electric motor is detected by the hunting detection section, the hunting suppression control is performed by reducing the gain of the torque command value of the rotational speed feedback control smaller than when hunting is not detected. suppress hunting of
Vehicle control device. The vehicle (10) includes an electric motor (20) that applies driving force or braking force to the drive wheels (11, 12), and when the drive wheels slip, the drive is controlled by controlling the output torque of the electric motor. A vehicle control device that suppresses wheel slip,
a slip detection unit (510) that detects slip of the drive wheel;
a rotational speed detection unit (200) that detects the rotational speed of the electric motor;
The electric motor is controlled by executing rotational speed feedback control that causes the rotational speed of the electric motor to follow a target rotational speed when it is detected that the driving wheel is slipping. a motor control unit (520) that calculates a torque command value and controls the output torque of the electric motor based on the torque command value;
a hunting suppression unit (525) that executes hunting suppression control for suppressing hunting of the electric motor based on resonance of a power transmission element from the electric motor to the drive wheels when executing the rotational speed feedback control; ,
a hunting detection unit (526) that detects whether the electric motor is hunting;
The motor control section includes:
If slipping of the driving wheels is not detected, torque control is performed to perform feedforward control of the output torque of the electric motor,
The hunting suppressing part is
When hunting of the electric motor is detected by the hunting detection unit, the hunting suppression control includes suppressing hunting of the electric motor by switching control of the electric motor from the rotational speed feedback control to the torque control.
Vehicle control device.

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