JPH09331604A - Motor control equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily enable operation suitable for traveling situation, by making it possible for a driver to select the corresponding relation between the opening degree of accelerator and the vehicle acceleration. SOLUTION: Positions corresponding to three modes, i.e., a normal mode, a slow mode and a quick mode are set in a mode selection switch 11. When a driver operates the switch and selects one out of the three modes, a selection command signal is outputted to a PCU 7, which is provided with an ECU 31 and an inverter 33. The ECU 31 is provided with an adjustable speed function storing means, and three kinds of adjustable speed functions are stored, which determine the demand value of vehicle adjustable speed on the basis of operation of accelerator by a driver. A motor 1 is so controlled that the actual adjustable speed of a vehicle becomes equal to the demand value. Thereby, a mode capable of obtaining a vehicle adjustable speed most suitable for the operation amount of accelerator can be selected in response to the traveling situation, so that operation is facilitated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device, and more particularly to a motor control device that controls a current adjusting means connected to a motor to adjust a motor torque based on an accelerator operation of a vehicle driver.

[0002]

2. Description of the Related Art A motor control device generally used conventionally controls current adjusting means (for example, an inverter) to adjust a current flowing between a motor and a battery. Under the control of this device, when the electric power of the battery is supplied to the motor, the motor generates an output torque (a positive value) for driving the wheels. Further, during regenerative braking in which a regenerative torque (negative value) is generated in the motor, the electric power generated in the motor is stored in the battery. In the following, the output torque and the regenerative torque generated in the motor will be collectively referred to as the motor torque.

In the conventional control device, as shown in FIG. 14 (a), the amount of current supplied to the motor is controlled so that an output torque corresponding to the accelerator opening A% is generated. In the figure, the horizontal axis represents the accelerator opening A% and the vertical axis represents the output torque T. The accelerator opening A% is set to 100% when the accelerator operation amount is maximum and 0% when the accelerator operation amount is 0. In the figure, the accelerator opening is 0.
%, The motor torque becomes 0 and the accelerator opening is 1
The maximum torque Tmax is generated at the time of 00%. The maximum torque Tmax is the maximum torque that can be generated based on the specifications of the motor. The relationship between the accelerator opening degree A% and the output torque T in FIG. 14A is expressed by the following equation (1).

[0004]

## EQU1 ## T = Tmax × A / 100 (1) Japanese Patent Application Laid-Open No. 5-191904 describes a control device that generates output torque and regenerative torque based on accelerator operation. As shown in FIG. 14 (b),
This control device is similar to FIG. 14A in that the maximum torque Tmax is generated when the accelerator opening is 100%. The output torque is generated when the accelerator opening A% is larger than the reference accelerator opening, and the regenerative torque is generated when the accelerator opening A% is smaller than the reference accelerator opening.

[0005]

In FIG. 14, the accelerator opening and the motor torque have a one-to-one correspondence. Therefore,
When the gear ratio between the motor and the wheels is fixed to one, the accelerator opening and the vehicle acceleration / deceleration also have a one-to-one correspondence.
(Vehicle acceleration / deceleration is a differential value of vehicle speed, and is positive when it is acceleration and negative when it is deceleration.) As a result, the vehicle is uniformly operated according to the accelerator operation regardless of the driving situation. Since there is only acceleration and deceleration, it is not easy for the driver to drive smoothly according to the driving situation. For example, it is desired that the amount of change in vehicle acceleration / deceleration with respect to the accelerator operation amount is large at the time of starting acceleration or on a curved slope road, but the above setting does not meet such a requirement. Therefore, unless the driver considerably increases the accelerator operation amount, the desired acceleration / deceleration cannot be obtained. Further, for example, it is desired that the amount of change in the vehicle acceleration / deceleration with respect to the accelerator operation amount is small during high-speed traveling, but the above setting does not meet such a requirement. Therefore, unless the driver considerably reduces the accelerator operation, the vehicle acceleration / deceleration changes more than required and the vehicle runs jarringly. From the above, it is desired to be able to adjust the correspondence between the accelerator opening and the vehicle acceleration / deceleration.

Conventionally, in order to make it possible to adjust the correspondence between the accelerator operation amount and the vehicle acceleration / deceleration, the above-mentioned Japanese Patent Laid-Open No. 5-19 has been proposed.
As seen in the electric vehicle of the 1904 publication, a multi-gear transmission is provided. Thereby, different gear ratios can be set according to the gear stages. Therefore, even if the accelerator opening and the motor torque have a one-to-one correspondence, the drive torque of the wheels can be set to different values according to the gear ratio. For example, even with a small accelerator opening, the gear ratio can be increased to increase the driving torque of the wheels. However, when a sufficient vehicle speed range can be obtained even when the gear ratio is fixed, it is not preferable to provide a transmission having a plurality of gear stages in terms of vehicle weight and complexity of structure.

In the above, the case where the gear ratio in the transmission is fixed (one gear) is described as a prominent example, but the same applies to an electric vehicle equipped with a transmission having a small number of gears. Is. Furthermore, even in an electric vehicle equipped with a transmission having a large number of gears or a continuously variable transmission, it is desired to further finely adjust the correspondence between the accelerator opening and the vehicle acceleration / deceleration to make the vehicle travel smoothly. Further, it is desired to facilitate the driving by making it possible to adjust the correspondence between the accelerator opening and the vehicle acceleration / deceleration according to the driver's preference.

The present invention has been made to solve the above problems. An object of the present invention is to make it possible to more easily perform driving adapted to the driving situation. To achieve this object, the motor is adjusted so as to adjust the correspondence between the accelerator opening and the vehicle acceleration / deceleration. Provided is a motor control device capable of controlling torque.

The present invention provides a motor control device that achieves the above-mentioned object, and provides a device by which the driver can select the correspondence between the accelerator opening and the vehicle acceleration / deceleration. To facilitate.

Further, the present invention provides a motor control device capable of detecting a traveling condition and adjusting the correspondence between the accelerator opening and the vehicle acceleration / deceleration so as to adapt to the traveling condition. This reduces the operation load on the driver.

Another object of the present invention is to provide a motor control device having the following advantages: (1) The driver's operation load of adjusting the accelerator operation amount in accordance with changes in road gradient. (2) Reduce the driver's operation burden of adjusting the accelerator operation amount so that the wheel lock does not occur because the regenerative torque becomes too large. (3) The output torque becomes too large and the wheel The driver's operation burden of adjusting the accelerator operation amount so that idling does not occur is reduced.

[0012]

SUMMARY OF THE INVENTION The present invention relates to a motor control device for controlling a motor torque by controlling a current adjusting means connected to a motor based on an accelerator operation by a vehicle driver. Acceleration / deceleration function storage means for storing a plurality of acceleration / deceleration functions for determining a required speed value, selection means for selecting a control acceleration / deceleration function from the plurality of acceleration / deceleration functions, and accelerator operation for detecting an accelerator operation amount. The acceleration / deceleration determining means for determining the required value of the vehicle acceleration / deceleration according to the control acceleration / deceleration function selected by the selecting means based on the detected value of the accelerator operation amount, and the acceleration / deceleration for the vehicle acceleration / deceleration. Control means for controlling the current adjusting means so that a motor torque necessary to obtain the required value determined by the speed determining means is generated.

Here, the vehicle acceleration / deceleration is a differential value of the vehicle speed, which is acceleration when positive and deceleration when negative. According to the above configuration, a plurality of acceleration / deceleration functions are stored in the acceleration / deceleration function storage means, and the control acceleration / deceleration function is selected from the plurality of acceleration / deceleration functions. Then, based on the detected value of the accelerator operation amount, the required value of the vehicle acceleration / deceleration is determined according to the control acceleration / deceleration function, and the control means controls the motor torque required to set the vehicle acceleration / deceleration to this required value. Controls the current adjusting means. In the above configuration, the vehicle acceleration / deceleration with respect to the accelerator operation amount has different magnitudes depending on the selected control acceleration / deceleration function. Therefore, the magnitude of the vehicle acceleration / deceleration with respect to the accelerator operation amount can be changed without changing the gear ratio between the motor and the wheels.

In one aspect of the present invention, the input / output unit is operated by a driver to input a selection instruction for designating the control acceleration / deceleration function, and the selection unit has the control acceleration / deceleration according to the selection instruction. Select a speed function. With this configuration, the driver can specify the control acceleration / deceleration function by operating the input means, so that the driver can travel according to the acceleration / deceleration function selected by the driver.

Further, according to one aspect of the present invention, it includes a vehicle speed detecting means for detecting a vehicle speed and an accelerator operating acceleration detecting means for detecting an accelerator operating acceleration, and the selecting means includes an accelerator operating amount, a vehicle speed and an accelerator operating acceleration. The acceleration / deceleration function for control is selected based on With this configuration,
Since the control acceleration / deceleration function is selected based on the accelerator operation amount, the vehicle speed, and the accelerator operation acceleration, the driver's burden of selecting the control acceleration function is reduced, and driving becomes easier.

Still further, the present invention includes a gradient detecting means for detecting a road gradient, wherein the control means determines the vehicle acceleration / deceleration to the acceleration / deceleration determining means based on the road gradient detected by the gradient detecting means. The motor torque required to obtain the required value determined as above is determined, and the current adjusting means is controlled so that this motor torque is generated. On graded roads, gravity acts to accelerate or decelerate the vehicle. Therefore, the motor torque required to produce the required value for vehicle acceleration / deceleration differs by the amount of gravity. In consideration of this, in the above-described configuration, the road gradient is taken into consideration when determining the motor torque required to make the vehicle acceleration / deceleration the required value. Therefore, the driver can drive on a road having a different road gradient by the same accelerator operation.

Still further, the present invention includes a traveling condition detecting means for detecting a traveling condition and a lower limit value setting means for setting a lower limit value of the vehicle acceleration / deceleration based on the traveling condition, wherein the acceleration / deceleration determining means. The required value of vehicle acceleration / deceleration is determined to be equal to or higher than the lower limit value set by the lower limit value setting means. In this configuration, for example, in a traveling situation such as traveling on a snowy road or in rainy weather, a situation in which the wheels are locked because the required value of the vehicle acceleration / deceleration is too low and the regenerative torque becomes too large, is avoided. Driving becomes easier.

On the other hand, the present invention includes a traveling condition detecting means for detecting a traveling condition, and an upper limit value setting means for setting an upper limit value of the vehicle acceleration / deceleration based on the traveling condition. Determines the required value of vehicle acceleration / deceleration to be equal to or lower than the upper limit value set by the upper limit value setting means. With this configuration, it is possible to avoid a situation in which wheels are idling due to excessive acceleration and deceleration of the vehicle and output torque that is too large due to a sudden accelerator operation at the time of starting, so that driving becomes easier.

In the above invention, the running condition detecting means detects the operating state of the wiper and the running vehicle weight as the running conditions. In this configuration, the presence or absence of rain and the wetness of the road surface are determined as the traveling condition based on the operating state of the wiper, and the traveling vehicle weight is determined as another traveling condition. Then, based on these conditions, the upper limit value and the lower limit value of the vehicle acceleration / deceleration are set.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION A motor controller according to an embodiment of the present invention will be described below with reference to the drawings.

[Embodiment 1] FIG. 1 is a block diagram showing a system of an electric vehicle provided with a motor control device of the present embodiment. In the figure, the motor 1 is an AC type,
A transmission 3 is connected to the motor 1, and further connected to wheels 5 via a rotary shaft, a differential gear, and the like. Transmission 3
Has only one gear, and therefore the gear ratio between the output rotation of the motor 1 and the rotation of the wheels 5 is fixed.

A battery 9 is connected to the motor 1 via a power control unit (PCU) 7.
The PCU 7 has a mode selection switch 11, an accelerator opening sensor 13, a vehicle speed sensor 15, and a road gradient sensor 1.
7, a wiper switch 19 and a vehicle weight sensor 21 are connected.

The mode selection switch 11 is set to positions corresponding to three modes: normal mode, slow mode, and quick mode. When the driver operates a switch to select one of these three modes,
A selection instruction signal indicating the selected mode is output to PCU 7. Further, the accelerator opening sensor 13 detects the accelerator opening A (%) as a driver's accelerator operation amount, and the
Output to U7. As mentioned above, the accelerator opening is
It is set to 100% when the accelerator operation amount is the maximum and 0% when the accelerator operation amount is 0. Further, the vehicle speed sensor 15 detects the vehicle traveling speed (vehicle speed) and outputs it to the PCU 7. In the present embodiment, the vehicle speed sensor 15 is provided so as to detect the rotation speed of the wheels 5. Further, the road gradient sensor 17 detects the road gradient of the traveling road and outputs it to the PCU 7. The position of the switch operated by the driver is output from the wiper switch 19 to the PCU 7. In the present embodiment, the wiper switch 19 includes OFF, ON (LOW), and ON.
Three positions (HI) are provided. Also,
The vehicle weight sensor 21 detects the vehicle weight during traveling and detects
Output to CU7. The vehicle weight varies depending on the number of passengers, the weight of luggage, and the remaining fuel amount. Vehicle weight sensor 21
Is provided so as to detect the vehicle weight as one of the three ranks of "light", "standard", and "heavy".

The PCU 7 controls the current flowing between the motor 1 and the battery 9 based on the input information.
To generate output torque, the DC current from the battery 9 is converted into an AC current and supplied to the motor 1, and during regenerative braking where a regenerative torque is generated in the motor 1, the AC current from the motor 1 is converted into a DC current. Then, it is stored in the battery 9. The PCU 7 includes an electronic control unit (ECU) 31 and an inverter 33, and the ECU 31 further includes an acceleration / deceleration function storage means 35, a selection means 37, an acceleration / deceleration determination means 39, a lower limit value setting means 41, as shown in FIG. An upper limit value setting means 43 and a control means 45 are provided.

The acceleration / deceleration function storage means 35 stores three types of acceleration / deceleration functions. This acceleration / deceleration function is
It is a function for determining the required value of vehicle acceleration / deceleration based on the accelerator operation by the driver. Here, the required value of the vehicle acceleration / deceleration is a value that is a control target of the present control apparatus, that is, the present control apparatus controls the motor 1 so that the actual acceleration / deceleration of the vehicle becomes the above required value. Hereinafter, this vehicle acceleration / deceleration required value is referred to as "acceleration / deceleration required value".
The actual vehicle acceleration / deceleration is called "actual acceleration / deceleration". And
The above three types of acceleration / deceleration functions are functions for normal mode,
It is composed of a quick mode function and a slow mode function, which correspond to the respective modes designated by the mode selection switch 11. FIG. 3 shows a driving situation in which the respective functions are preferably used.

FIG. 4 shows a function for normal mode in which the horizontal axis represents the accelerator opening and the vertical axis represents the acceleration / deceleration request value. In the figure, the reference accelerator opening is 0 when the vehicle speed is 0, and is a straight line in which the accelerator opening is proportional to the acceleration / deceleration required value. Here, the reference accelerator opening degree means an accelerator opening degree at which the vehicle acceleration / deceleration is zero. Then, as the vehicle speed increases, the reference accelerator opening degree increases. The normal mode function is expressed by the following equation (2);

## EQU00002 ## a = 0.04.times. (A-kV) (2) In equation (2), 0.04 corresponds to the slope of the straight line in FIG.
The unit is (m / s ² ) /% (% is accelerator opening).
V is the vehicle speed (km / hr). The unit of k is% /
It is a constant of (km / s ² ), and is set so that kV = 50% at V = 50 km / hr and kV = 0 at V = 0. In the operation according to this normal mode function,
For example, when the driver starts from the stopped state with the accelerator opening of 50% and maintains the accelerator opening, the required acceleration / deceleration value at the start is 2 m / s ² . And vehicle speed 30
The acceleration / deceleration required value is 0.8 m / s ² at km / hr,
When the vehicle speed is 50 km / hr, the speed becomes 0 m / s ² , and thereafter, the vehicle runs at a constant speed at a vehicle speed of 50 km / hr. From this state, when the accelerator opening is larger than 50%, the acceleration / deceleration required value becomes positive (acceleration), and when the accelerator opening is smaller than 50%, the acceleration / deceleration required value becomes negative (deceleration).

FIG. 5 shows the function for normal mode (solid line), the function for slow mode (dashed line) and the function for quick mode (dotted line). As shown in the figure, the acceleration / deceleration request value differs for each mode even if the accelerator opening is the same. The slow mode function is represented by the following equation (3), and the quick mode function is represented by the following equation (4).

[0028]

## EQU3 ## a = 0.06 × (A-kV) (3)

## EQU00004 ## a = 0.03.times. (A-kV) (4) The selection unit 37 is based on the selection instruction signal input from the mode selection switch 11, and the acceleration / deceleration function storage unit 35.
The acceleration / deceleration function corresponding to the mode selected by the driver is selected from the above-described three types of acceleration / deceleration functions stored in (3) as a function to be used for actual control.

The acceleration / deceleration determining means 39 determines the acceleration / deceleration request value using the acceleration / deceleration function selected by the selecting means 37. That is, for example, when the function for normal mode is selected, when the accelerator opening degree sensor 13 inputs 50% of the accelerator opening degree and the vehicle speed sensor 15 inputs the vehicle speed of 30 km / hr, both detected values are detected. Is substituted into the equation (1) to obtain a vehicle acceleration / deceleration of 0.8 m / s ² .
A map for obtaining the acceleration / deceleration required value from the accelerator opening and the vehicle speed may be set without performing such calculation.

The lower limit value setting means 41 uses the maximum vehicle deceleration automatic setting map 51 connected to the PCU 7 to set the maximum vehicle deceleration as the lower limit value of the acceleration / deceleration request value. This map is shown in FIG. 6, and the maximum vehicle deceleration is set according to the operating state of the wiper and the vehicle weight. Here, the purpose of setting the maximum vehicle deceleration is to prevent the wheels from being locked due to the vehicle deceleration becoming too large. Therefore, in the map of FIG. 6, the maximum vehicle deceleration is set to be smaller as the wheels are more likely to lock. That is, the maximum vehicle deceleration is set to a small value in a situation where it is estimated that the vehicle is running in the rain from the operating state of the wiper and the road surface is estimated to be wet and slippery.
The smaller the vehicle weight is, the smaller the maximum vehicle deceleration is set.

The setting of the maximum vehicle deceleration in the lower limit value setting means 41 is performed according to the map of FIG. 6 based on the inputs from the wiper switch 19 and the vehicle weight sensor 21. Then, the acceleration / deceleration determining means 39 includes the lower limit value setting means 4
The maximum vehicle deceleration set in 1 is reflected, and the acceleration / deceleration request value is determined to be a value equal to or higher than the maximum vehicle deceleration. For example, the position of the wiper switch 19 is ON (LO
W) and the rank of the vehicle weight is “heavy”, the maximum vehicle deceleration is set to −1 m / s ² , as shown in FIG. 6. In FIG. 7, originally, the acceleration / deceleration required value becomes lower than -1 m / s ^{2 as} shown by the dotted line (minimum value -3 m / s ² ), and the minimum value as shown by the dashed line-
1 m / s ²

Further, the upper limit value setting means 43 sets the maximum vehicle acceleration as the upper limit value of the acceleration / deceleration request value by using the maximum vehicle acceleration automatic setting map 53 connected to the PCU 7. This map is shown in FIG. 8, and similarly to FIG. 6, the maximum vehicle acceleration is determined according to the operating state of the wiper and the vehicle weight. Here, the purpose of setting the maximum vehicle acceleration is to prevent the wheels from idling due to the vehicle acceleration becoming too large. Therefore, in the map of FIG. 8, the maximum vehicle acceleration is set to be smaller in a situation in which the wheels are more likely to idle. That is,
If the road surface is estimated to be slippery due to the wiper operating condition, set the maximum vehicle acceleration to a small value, and
The smaller the vehicle weight, the smaller the maximum vehicle acceleration is set.

The setting of the maximum vehicle acceleration in the upper limit value setting means 43 is performed according to the map of FIG. 8 based on the input from the wiper switch 19 and the vehicle weight sensor 21. The acceleration / deceleration determining means 39 is the upper limit value setting means 4
The maximum vehicle acceleration set in 3 is reflected, and the required value of vehicle acceleration / deceleration is determined to be a value less than or equal to this maximum vehicle acceleration. For example, the position of the wiper switch 19 is ON
(HI) and the rank of the vehicle weight is “light”, the maximum vehicle deceleration is set to ² m / s ² as shown in FIG. 8. In FIG. 7, the vehicle acceleration / deceleration is originally higher than 2 m / s ^{2 as} indicated by the dotted line (maximum value 4 m / s ² ), and the maximum value is 2 m / s ² as indicated by the solid line.
And

The maximum vehicle deceleration automatic setting map 5
1 and the maximum vehicle acceleration automatic setting map 53 may be provided inside the ECU 31 as appropriate.

Based on the acceleration / deceleration required value determined by the acceleration / deceleration determining means 39, the control means 45 generates the motor torque necessary to achieve this required value,
The inverter 33 is controlled.

The control means 45 first determines the acceleration / deceleration determining means 3
G × sin θ is added to the acceleration / deceleration request value determined in 9 as a correction value for the road gradient θ. Here, the road gradient θ is the angle of the road surface with respect to the horizontal plane, and is 0 on a flat road, positive on an uphill road, negative on a downhill road, and the road gradient θ
Is input from the road gradient sensor 17. Further, g is the acceleration of gravity. The above-mentioned correction provides the following advantages. The actual acceleration / deceleration increases or decreases according to the road gradient due to the influence of gravity on the gradient road. Therefore, if the motor torque is determined from the acceleration demand value without considering the influence of gravity, the acceleration / deceleration demand value and the actual acceleration / deceleration will deviate. On the other hand, as a result of the effect of gravity being eliminated by the above correction, the actual acceleration / deceleration with respect to the accelerator operation by the driver is the same on a flat road and a slope road. As a driver, it is not necessary to pay attention to the road gradient.

Further, the control means 45 multiplies the corrected acceleration / deceleration demand value by the reciprocal of the vehicle weight, the tire radius, and the gear ratio. As a result, the motor torque required to bring the actual acceleration / deceleration to the required value (after correction) is calculated.
Then, the switching signal for generating the motor torque obtained here is generated and output to the inverter 33. That is, when the calculated value of the motor torque is positive,
By vector control / PWM control using this value as the torque command value, a switching signal is generated and output so that the amount of current supplied to the motor 1 becomes a value corresponding to the motor torque calculated value. Similarly, when the calculated value of the motor torque is negative, a switching signal that causes the regenerative torque of this calculated value to be generated in the motor 1 is generated.

The inverter 33 has a plurality of switching elements, and the switching operation of the inverter 33 in accordance with the switching signal from the control means 45 adjusts the current flowing between the motor 1 and the battery 9. As a result, the motor torque becomes the value calculated by the control means 45, and the acceleration / deceleration required value determined by the acceleration / deceleration determination means 39 is achieved.

The configuration of the motor control device of this embodiment has been described above. Next, the operation of the motor control device will be described with reference to the flowchart of FIG. This control device is started by the driver's key operation, and first the PCU 7
The various input data described above are input to (S1). Then, the selecting means 37 determines which mode of acceleration / deceleration function for quick, normal or slow is selected (S3), and the acceleration / deceleration determining means 39 determines the acceleration / deceleration according to the selected control function. The required value is determined (S5-
S9). Further, the acceleration / deceleration determining means 39 adjusts the acceleration / deceleration request value using the maximum vehicle deceleration set by the lower limit value setting means 41 (S11). Furthermore, the acceleration / deceleration determining means 39 adjusts the acceleration / deceleration request value using the maximum vehicle acceleration set by the upper limit value setting means 43 (S1).
3). Then, based on the acceleration / deceleration request value finally determined by the acceleration / deceleration determining means 39, the control means 45 outputs a switching signal to the inverter 33 to control the motor 1 (S15). Here, the influence of the road gradient is considered as described above. After step S15, step S1
Return to and repeat the same control.

According to the motor control device of the present embodiment described above, the driver can select one of the normal, quick, and slow modes according to the running condition of the vehicle and his / her preference. Then, for example, it is possible to set the quick mode at the time of starting acceleration, the slow mode during high-speed traveling, or the quick mode at a curved road having a slope and the slow mode at a congested road. In this way, it is possible to select a mode in which the most appropriate vehicle acceleration / deceleration for the accelerator operation amount is obtained according to the traveling situation, and therefore the driving becomes easy.

In this embodiment, the lower limit value setting means 41 sets the maximum vehicle deceleration based on the input information from the wiper switch 19 and the vehicle weight sensor 21. On the other hand, a sensor for measuring the humidity or temperature of the road surface may be provided, and the wet condition of the road surface may be estimated or the lock of the tire may be detected based on the detection value of the sensor.

Similarly, the upper limit value setting means 43 also
A sensor for measuring the humidity and temperature of the road surface may be provided to estimate the wetness of the road surface. Further, the drive wheel and the driven wheel may be provided with a rotation sensor, and the idling of the drive wheel may be detected based on the difference in the detected rotational speeds of the both.

Further, in this embodiment, as shown in FIGS. 4 and 5, the acceleration / deceleration function is defined by a straight line. On the other hand, the acceleration / deceleration function may be defined by an arbitrary curve instead of a straight line. Further, the setting of the reference accelerator opening may be different from the above, for example, the reference accelerator opening may be fixed at 0%. In this case, the acceleration / deceleration demand value for the accelerator operation is always positive.

Furthermore, in this embodiment, only three types of acceleration / deceleration functions are stored in the acceleration / deceleration function storage means, but the number of types of acceleration / deceleration functions may be changed. Alternatively, the mode selection switch 11 may be a stepless switch so that the acceleration / deceleration function changes smoothly according to the operation amount of the switch.

Furthermore, in the present embodiment, the case where the motor control device of the present invention is applied to an electric vehicle equipped with a transmission having only one gear stage has been described. Of course, it can be applied to an electric vehicle equipped with a machine. The motor control device of the present embodiment can also be applied to the motor control of a hybrid vehicle (vehicle having an engine and a motor as a prime mover). Various modifications as described above are also possible in the second embodiment described below.

[Second Embodiment] In the first embodiment, the driver is configured to select the acceleration / deceleration function for control with the mode selection switch 11, and accordingly, the driver selects the vehicle equipped with the manual transmission. Drive with similar operation.
On the other hand, in the second embodiment, the acceleration / deceleration function for control is automatically selected without the driver's operation, and the operation is performed by an operation similar to that of the vehicle equipped with the automatic transmission.

FIG. 10 is a block diagram showing a system of an electric vehicle equipped with the motor control device of the second embodiment.
The difference from the first embodiment is that the mode selection switch 11
Is not provided, and the accelerator opening / closing acceleration sensor 23 is connected. The accelerator opening / closing acceleration sensor 23 detects the accelerator opening / closing acceleration as the accelerator operating acceleration, and P
Output to CU7. The accelerator opening / closing acceleration is a differential value of the accelerator opening / closing speed, and its unit is% / s ² .

In addition, Embodiment 2 is the same as Embodiment 1 described above.
On the other hand, the configuration of the selection means 37 provided in the ECU 31 of the PCU 7 is different. The selection means 37 is shown in FIG.
As shown in FIG. 13, a map for selecting a control function from the three types of acceleration / deceleration functions stored in the acceleration / deceleration function storage means 35 is provided. In each map, the horizontal axis represents the accelerator opening and the vertical axis represents the accelerator opening acceleration. Of the maps shown in FIGS. 11 to 13, FIG.
FIG. 12 is used during medium speed running, and FIG. 13 is used during high speed running. Then, the selection means 37 includes the vehicle speed sensor 15, the accelerator opening sensor 13, and the accelerator opening / closing acceleration sensor 23.
A function for normal mode, a function for slow mode, or a function for quick mode is selected according to the corresponding map based on the vehicle speed, the accelerator opening, and the accelerator opening / closing acceleration respectively input from.

That is, at low speed running (FIG. 11), the accelerator opening is 50% or less, and the accelerator opening / closing acceleration is -100 to
The slow mode function is selected in the 100% / s ² region, and the quick mode is used in the region where the accelerator opening is 50% or more and the accelerator opening / closing acceleration is 200% / s ² or more or -200% / s ² or less. A function is selected, and a function for normal mode is selected in other areas.

When the vehicle is running at medium speed (FIG. 12), the accelerator opening is 65% or less, and the accelerator opening / closing acceleration is -200 to 15
In the 0% / s ² area, the slow mode function is selected,
In addition, the quick mode function is selected in the region where the accelerator opening is 65% or more and the accelerator opening / closing acceleration is 250% / s ² or more or -300% / s ² or less, and the normal mode function is selected in other regions. It

During high speed running (FIG. 13), the accelerator opening is 80% or less, and the accelerator opening / closing acceleration is -250 to 20.
In the 0% / s ² area, the slow mode function is selected,
In other areas, the normal mode function is selected.

As is clear from FIGS. 11 to 13, the region where the quick mode function is selected is wider when the vehicle runs at a lower speed, and the region where the slow mode function is selected is set wider when the vehicle runs at a higher speed.

The other structure of the second embodiment is the same as that of the first embodiment, and the description thereof will be omitted. Hereinafter, the operation of the second embodiment will be described using a specific example.

For example, if the driver sets the accelerator opening to 60% and maintains the accelerator opening when starting, the accelerator opening / closing acceleration becomes zero. While the vehicle is running from the start to the low speed, the selecting means 37 selects the function for normal mode according to FIG. 11, and the control using this function for normal mode is performed. When the medium speed range is reached, the slow mode function is selected according to FIG. 12, and the slow mode function is selected even in the high speed range. As described above, in the second embodiment, when the vehicle speed increases, the normal mode is changed to the slow mode. That is, as the vehicle speed becomes higher, the absolute value of the acceleration / deceleration with respect to the accelerator opening becomes smaller. Therefore, traveling similar to that of a vehicle equipped with an automatic transmission that reduces the gear ratio according to the vehicle speed is performed.

Further, for example, when the driver depresses the accelerator at low speed to set the accelerator opening to 80% and the accelerator opening / closing acceleration to 100% / s ² , the normal mode function is selected. On the other hand, the same accelerator opening 80%
When the accelerator opening / closing acceleration is 300% / s ² , the function for quick mode is selected. In this way, when the accelerator opening / closing acceleration is large, the quick mode function is selected. Therefore, the acceleration / deceleration of the vehicle can be adjusted by the strength with which the accelerator is depressed. That is, the driver strongly depresses the accelerator to increase the accelerator opening / closing acceleration to greatly change the vehicle acceleration / deceleration (quick mode), and depresses the accelerator weakly to change the vehicle acceleration / deceleration to a small amount (slow mode). In the above-mentioned driving, the driver can easily reflect the request for the magnitude of the acceleration / deceleration in the control, and thus the driving becomes easier.

Furthermore, during high speed running, the normal mode function is selected even when the accelerator opening is 80% and the accelerator opening / closing acceleration is 300% / s ² . That is, even if the accelerator opening / closing acceleration is the same, the quick mode is selected when the vehicle is traveling at low speed rather than when traveling at high speed. The amount of change in the vehicle acceleration / deceleration with respect to the strength with which the accelerator is depressed is preferably larger during high-speed traveling than during low-speed traveling. That is, it is desired to obtain a large acceleration in the quick mode when the accelerator is strongly depressed during low speed traveling, but such a large acceleration is not desired during high speed traveling. The maps of FIGS. 11 to 13 are set to reflect the above points.

[0057]

According to the motor control device of the present invention, since the control acceleration / deceleration function is selected from the plurality of acceleration / deceleration functions stored in the acceleration / deceleration function storage means, the vehicle acceleration / deceleration function is selected according to the selected acceleration / deceleration function. The speed comes in different sizes.
That is, the magnitude of the vehicle acceleration / deceleration with respect to the accelerator operation amount can be adjusted without changing the gear ratio between the motor and the wheels. As a result, it is possible to easily perform driving adapted to the traveling situation.

Further, according to the present invention, the driver can select the acceleration / deceleration function according to the traveling situation and his / her preference by configuring the driver to specify the acceleration / deceleration function for control himself / herself by using the input means. Will be easier.

Further, in the present invention, the selecting means is configured to select the control acceleration / deceleration function based on the accelerator operation amount, the vehicle speed and the accelerator operation acceleration, so that the driver manually selects the control acceleration / deceleration function. No need to choose. Therefore, the burden on the driver of selecting an acceleration / deceleration function suitable for the traveling situation is reduced, and driving becomes easier.

Further, according to the present invention, the control means determines the motor torque necessary for setting the vehicle acceleration / deceleration to the required value determined by the acceleration / deceleration determination means based on the road gradient, and this motor torque is generated. To control the current adjusting means. Therefore, even if the road gradient is different, the increase / decrease in acceleration / deceleration due to gravity is considered, and the motor torque is controlled so as to achieve the required value of the vehicle acceleration / deceleration. Since the driver can obtain the same vehicle acceleration / deceleration for the accelerator operation even on roads with different road gradients, the driver's burden of adjusting the accelerator operation amount to adapt to the road gradient is reduced, and driving is more efficient. It will be easier.

Further, according to the present invention, since the required value of the vehicle acceleration / deceleration is determined to be equal to or higher than the lower limit value set by the lower limit value setting means, the required value of the vehicle acceleration / deceleration is too low and the regenerative torque becomes too large. The situation that the wheels are locked is avoided. Therefore, the driver's burden of considering the accelerator operation amount so that the wheels do not lock is reduced,
Driving becomes easier.

Further, in the present invention, the required value of the vehicle acceleration / deceleration is determined to be less than or equal to the upper limit value set by the upper limit value setting means, so that the required value of the vehicle acceleration / deceleration is too high and the output torque becomes too large. The situation that the wheels are idling is avoided. Therefore, the burden on the driver who considers the accelerator operation amount so that the wheels do not run idle is reduced, and driving becomes easier.

Further, according to the present invention, the running condition detecting means is configured to detect the operating state of the wiper and the vehicle weight during running as the running conditions, so that a situation in which the wheels are easily locked or idling easily occurs. It becomes possible.

[Brief description of drawings]

FIG. 1 is a block diagram showing a system of an electric vehicle including a motor control device according to a first embodiment of the present invention.

2 is a block diagram showing a configuration of an ECU of the motor control device of FIG. 1. FIG.

FIG. 3 is an explanatory diagram showing a traveling situation suitable for each acceleration / deceleration function stored in an acceleration / deceleration function storage means.

FIG. 4 is an explanatory diagram showing normal mode functions stored in an acceleration / deceleration function storage means.

FIG. 5 is an explanatory diagram showing a normal mode function, a quick mode function, and a slow mode function.

FIG. 6 is an explanatory diagram showing the contents of a maximum vehicle deceleration automatic setting map.

FIG. 7 is an explanatory diagram showing required values of vehicle acceleration / deceleration adjusted according to settings of maximum vehicle deceleration and maximum vehicle acceleration.

FIG. 8 is an explanatory diagram showing the contents of a maximum vehicle acceleration automatic setting map.

9 is a flowchart showing an operation of the motor control device of FIG.

FIG. 10 is a block diagram showing a system of an electric vehicle including a motor control device according to a second embodiment of the present invention.

FIG. 11 is an explanatory diagram showing a map used during low-speed traveling in order to select a control function from the acceleration / deceleration functions stored in the acceleration / deceleration function storage means.

FIG. 12 is an explanatory diagram showing a map used during medium-speed traveling in order to select a control function from the acceleration / deceleration functions stored in the acceleration / deceleration function storage means.

FIG. 13 is an explanatory diagram showing a map used during high-speed traveling in order to select a control function from the acceleration / deceleration functions stored in the acceleration / deceleration function storage means.

FIG. 14 is an explanatory diagram showing a control value of a motor torque corresponding to an accelerator opening degree in a conventional motor control device.

[Explanation of symbols]

1 motor, 7 power control unit (PC
U), 9 battery, 11 mode selection switch, 13
Accelerator opening sensor, 15 vehicle speed sensor, 17 road gradient sensor, 19 wiper switch, 21 vehicle weight sensor, 23 accelerator opening / closing acceleration sensor, 31 electronic control unit (ECU), 33 inverter, 35 acceleration / deceleration function storage means, 37 selection means , 39 acceleration / deceleration determining means, 41 lower limit value setting means, 43 upper limit value setting means, 45
Control means.

Claims (7)

[Claims] 1. A motor control device for adjusting a motor torque by controlling a current adjusting means connected to a motor based on an accelerator operation of a vehicle driver, for determining a required value of vehicle acceleration / deceleration from an accelerator operation amount. Acceleration / deceleration function storage means for storing a plurality of acceleration / deceleration functions, selection means for selecting a control acceleration / deceleration function from the plurality of acceleration / deceleration functions, accelerator operation amount detection means for detecting an accelerator operation amount, and accelerator operation amount The acceleration / deceleration determining means for determining the required value of the vehicle acceleration / deceleration in accordance with the control acceleration / deceleration function selected by the selecting means based on the detected value of, and the request for determining the vehicle acceleration / deceleration by the acceleration / deceleration determining means. To generate the motor torque required to obtain the value,
A motor control device comprising: a control unit that controls the current adjusting unit. 2. The motor control device according to claim 1, further comprising an input unit operated by a driver to input a selection instruction for designating the control acceleration / deceleration function, wherein the selection unit includes the selection. A motor control device, wherein the control acceleration / deceleration function is selected according to an instruction. 3. The motor control device according to claim 1, further comprising a vehicle speed detecting means for detecting a vehicle speed and an accelerator operating acceleration detecting means for detecting an accelerator operating acceleration, wherein the selecting means includes an accelerator operating amount, a vehicle speed. A motor control device, wherein the control acceleration / deceleration function is selected on the basis of an accelerator operation acceleration. 4. The motor control device according to claim 1, further comprising: a slope detection unit that detects a road slope, wherein the control unit is based on the road slope detected by the slope detection unit. A motor torque required to set the vehicle acceleration / deceleration to the required value determined by the acceleration / deceleration determining means, and the current adjusting means is controlled so that the motor torque is generated. Control device. 5. The motor control device according to any one of claims 1 to 4, wherein a traveling condition detecting means for detecting a traveling condition, and a lower limit value for setting a lower limit value of the vehicle acceleration / deceleration based on the traveling condition. A motor control device, comprising: setting means, wherein the acceleration / deceleration determining means determines the required value of vehicle acceleration / deceleration to be equal to or higher than the lower limit value set by the lower limit value setting means. 6. The motor control device according to claim 1, wherein a traveling condition detecting means for detecting a traveling condition, and an upper limit value for setting an upper limit value of the vehicle acceleration / deceleration based on the traveling condition. A motor control device comprising: setting means, wherein the acceleration / deceleration determining means determines a required value of vehicle acceleration / deceleration to be equal to or less than the upper limit value set by the upper limit value setting means. 7. The motor control device according to claim 5, wherein the traveling condition detecting means detects an operating state of a wiper and a vehicle weight during traveling as the traveling condition. Motor control device.