JPWO2019049344A1 - Electric vehicle control device, electric vehicle control method, electric vehicle control program, and electric vehicle - Google Patents

Abstract

The electric vehicle control device 1 includes a reception unit 11 that receives a plurality of signals output from a plurality of sensors 4u, 4v, 4w provided corresponding to each phase of the motor 3 of the electric vehicle 100, and the reception unit 11 The grasping unit 12 that grasps the rotor stage based on the combination of the plurality of signals received by the determining unit 13, the determining unit 13 that determines whether or not the rotor stage is in the hunting state, and the determining unit 13 that is in the hunting state In this case, the calculation unit 14 that calculates the instantaneous rotation speed of the motor 3 based on the elapsed time after the determination unit 13 determines that the motor is in the hunting state, and the three motors based on the instantaneous rotation speed calculated by the calculation unit 14 And a drive unit 15 for driving.

Description

The present invention relates to an electric vehicle control device, an electric vehicle control method, an electric vehicle control program, and an electric vehicle.

An electric vehicle such as an electric two-wheeled vehicle (two-wheeled EV) that uses a motor as a power source is known (see Patent Document 1). With an electric vehicle, it is possible to obtain a required torque from a low rotation range to a high rotation range even when the gear is fixed. For this reason, electric vehicles without a clutch have been studied.

Patent Document 2 describes a motor control device that controls the energization timing of a motor based on a sensor signal of a rotor sensor for the purpose of improving the accuracy of energization control for the stator coil of the motor.

JP, 2013-248971, A JP 2012-60705 A

A control device (ECU or the like) of the electric vehicle calculates the rotation speed of the motor based on a signal output from a sensor such as a hall element. The sensor is provided for each phase (U phase, V phase, W phase) of the motor.

A signal may be output from the sensor in a state where the wheel alternately repeats normal rotation and reverse rotation (hereinafter, also simply referred to as “hunting state”). In such a case, the control device erroneously recognizes that the vehicle is moving and performs motor control. For example, when climbing an uphill road, if the thrust force acting on the vehicle and the gravity fall into a hunting state, the control device recognizes that the vehicle is moving, and as a result, even if the user increases the accelerator operation amount, the motor torque is increased. There is a risk that the situation will not increase.

Therefore, an object of the present invention is to provide an electric vehicle control device, an electric vehicle control method, an electric vehicle control program, and an electric vehicle that can perform appropriate motor control even when a hunting state occurs.

The electric vehicle control device according to the present invention,
A receiving unit that receives a plurality of signals output from a plurality of sensors provided corresponding to each phase of the motor that rotates the wheels of the electric vehicle,
A grasping unit that grasps the rotor stage based on a combination of the plurality of signals,
A determination unit that determines whether or not the hunting state is based on the rotor stage,
If it is determined to be in the hunting state, a calculating unit that calculates the instantaneous rotation speed of the motor based on the elapsed time from the determination unit determines that the hunting state,
A drive unit that drives the motor based on the instantaneous rotation speed calculated by the calculation unit;
It is characterized by including.

In the electric vehicle control device,
The grasping unit grasps a rotor stage number as the rotor stage,
The determining unit may determine that the rotor stage numbers are in the hunting state when they are out of sequence.

In the electric vehicle control device,
When the calculation unit determines that the motor is in the hunting state, the motor is based on the elapsed time, the latest signal received by the reception unit, and the latest signal interval between the signals immediately before the signal. The instantaneous rotation speed of may be calculated.

In the electric vehicle control device,
The calculation unit may calculate the instantaneous rotation speed according to equations (1) and (2).
n=60000/(T×Np) (1)
T = Δt + te (2)
Here, n is the instantaneous rotation speed [rpm], T is the time [mSec] for one rotation of the motor, and Np is a value indicating the number of pulses output during one rotation of the motor. , Δt is the latest signal interval, and te is the elapsed time.

In the electric vehicle control device,
The index of the time T for one rotation of the motor may be larger than 1.

In the electric vehicle control device,
When it is determined that the calculation unit is not in the hunting state, the calculation unit calculates the instantaneous rotation speed of the motor based on the latest signal received by the reception unit and the latest signal interval between signals immediately before the signal. You may do so.

An electric vehicle according to the present invention includes the electric vehicle control device according to the present invention.

In the electric vehicle,
The wheels and the motor may be mechanically connected without a clutch.

The electric vehicle control method according to the present invention,
Grasping the rotor stage based on a combination of a plurality of signals output from a plurality of sensors provided corresponding to each phase of a motor that rotates the wheels of the electric vehicle;
Determining whether or not a hunting state is based on the rotor stage,
If it is determined to be in the hunting state, a step of calculating the instantaneous rotation speed of the motor based on the elapsed time from the determination in the hunting state,
Driving the motor based on the calculated instantaneous rotation speed;
It is characterized by including.

An electric vehicle control program according to the present invention,
Grasping the rotor stage based on a combination of a plurality of signals output from a plurality of sensors provided corresponding to each phase of a motor that rotates the wheels of the electric vehicle;
Determining whether or not a hunting state is based on the rotor stage,
If it is determined to be in the hunting state, a step of calculating the instantaneous rotation speed of the motor based on the elapsed time from the determination in the hunting state,
Driving the motor based on the calculated instantaneous rotation speed;
Is executed by a computer.

In the present invention, the grasping unit grasps the rotor stage, the determining unit determines based on the rotor stage whether or not the hunting state is established, and the calculating unit calculates the instantaneous rotation speed of the motor based on the elapsed time. Then, the drive unit drives the motor based on the instantaneous rotation speed calculated by the calculation unit. As a result, according to the present invention, it is possible to perform appropriate motor control even in the hunting state.

1 is a diagram showing a schematic configuration of an electric vehicle 100 according to an embodiment of the present invention. It is a figure which shows schematic structure of the electric power conversion part 30 and the motor 3. FIG. 3 is a diagram showing a magnet provided on a rotor of a motor 3 and an angle sensor 4. It is a figure which shows the relationship between a rotor angle and the output of an angle sensor. 3 is a functional block diagram of a control unit 10 of the electric vehicle control device 1. FIG. 6 is a graph for explaining changes in rotation speed and rotation cycle in the embodiment. It is a figure which shows the time transition of the rotor stage number in the state where the wheel is normally rotating normally. It is a figure which shows an example of the time transition of the rotor stage number in a hunting state. 3 is a flowchart for explaining an example of the electric vehicle control method according to the embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

First, an electric vehicle 100 according to the embodiment will be described with reference to FIG. 1.

The electric vehicle 100 is a vehicle that moves forward or backward by driving a motor using electric power supplied from a battery. In the present embodiment, the electric vehicle 100 is an electric motorcycle such as an electric motorcycle. More specifically, the electric vehicle 100 is a clutchless electric motorcycle in which a motor and wheels are mechanically connected without a clutch. The electric vehicle according to the present invention is not limited to this, and may be a four-wheel vehicle, for example.

As shown in FIG. 1, the electric vehicle 100 includes an electric vehicle control device 1, a battery 2, a motor 3, an angle sensor 4, an accelerator position sensor 5, an assist switch 6, a meter 7, and wheels 8. , Are provided.

Hereinafter, each component of the electric vehicle 100 will be described in detail.

The electric vehicle control device 1 is a device that controls the electric vehicle 100, and includes a control unit 10, a storage unit 20, and a power conversion unit 30. The electric vehicle control device 1 may be configured as an ECU (Electronic Control Unit) that controls the entire electric vehicle 100. Next, each component of the electric vehicle control device 1 will be described in detail.

The control unit 10 inputs information from various devices connected to the electric vehicle control device 1. Specifically, the control unit 10 receives various signals output from the BMU of the battery 2, the angle sensor 4, the accelerator position sensor 5, and the assist switch 6. The control unit 10 outputs a signal to be displayed on the meter 7. Further, the control unit 10 drives and controls the motor 3 via the power conversion unit 30. Details of the control unit 10 will be described later.

The storage unit 20 stores information used by the control unit 10 and programs for operating the control unit 10. The storage unit 20 is, for example, a nonvolatile semiconductor memory, but is not limited to this.

The power converter 30 converts the DC power of the battery 2 into AC power and supplies the AC power to the motor 3. As shown in FIG. 2, the power conversion unit 30 is composed of a three-phase full bridge circuit. The semiconductor switches Q1, Q3, Q5 are high side switches, and the semiconductor switches Q2, Q4, Q6 are low side switches. The control terminals of the semiconductor switches Q1 to Q6 are electrically connected to the control unit 10. A smoothing capacitor C is provided between the power supply terminal 30a and the power supply terminal 30b. The semiconductor switches Q1 to Q6 are, for example, MOSFETs or IGBTs.

As shown in FIG. 2, the semiconductor switch Q1 is connected between the power supply terminal 30a to which the positive electrode of the battery 2 is connected and the input terminal 3a of the motor 3. Similarly, the semiconductor switch Q3 is connected between the power supply terminal 30a and the input terminal 3b of the motor 3. The semiconductor switch Q5 is connected between the power supply terminal 30a and the input terminal 3c of the motor 3.

The semiconductor switch Q2 is connected between the input terminal 3a of the motor 3 and the power supply terminal 30b to which the negative electrode of the battery 2 is connected. Similarly, the semiconductor switch Q4 is connected between the input terminal 3b of the motor 3 and the power supply terminal 30b. The semiconductor switch Q6 is connected between the input terminal 3c of the motor 3 and the power supply terminal 30b. The input terminal 3a is a U-phase input terminal, the input terminal 3b is a V-phase input terminal, and the input terminal 3c is a W-phase input terminal.

The battery 2 supplies electric power to the motor 3 that rotates the wheels 8 of the electric vehicle 100. More specifically, the battery 2 supplies DC power to the power converter 30. The battery 2 includes a battery management unit (BMU). The battery management unit transmits information about the voltage of the battery 2 and the state of the battery 2 (charging rate, etc.) to the control unit 10.

The number of the batteries 2 is not limited to one, and may be plural. The battery 2 is, for example, a lithium ion battery, but may be another type of battery. The battery 2 may be composed of batteries of different types (for example, a lithium ion battery and a lead battery).

The motor 3 is a three-phase AC motor driven by the AC power supplied from the power conversion unit 30. The motor 3 is mechanically connected to the wheels 8 and rotates the wheels 8 in a desired direction. In this embodiment, the motor 3 is mechanically connected to the wheels 8 without a clutch. The type of the motor 3 is not particularly limited.

The angle sensor 4 is a sensor that detects the rotation angle of the rotor of the motor 3. As shown in FIG. 3, N-pole and S-pole magnets (sensor magnets) are alternately attached to the peripheral surface of the rotor of the motor 3. The angle sensor 4 is composed of, for example, a Hall element, and detects changes in the magnetic field due to the rotation of the motor 3. The magnet may be provided inside the flywheel (not shown).

As shown in FIG. 3, the angle sensor 4 has a U-phase angle sensor 4u, a V-phase angle sensor 4v, and a W-phase angle sensor 4w. In the present embodiment, the U-phase angle sensor 4u and the V-phase angle sensor 4v are arranged so as to form an angle of 30° with the rotor of the motor 3. Similarly, the V-phase angle sensor 4v and the W-phase angle sensor 4w are arranged so as to form an angle of 30° with the rotor of the motor 3.

As shown in FIG. 4, the U-phase angle sensor 4u, the V-phase angle sensor 4v, and the W-phase angle sensor 4w output a pulse signal having a phase corresponding to the rotor angle (angular position). The interval between the rising edges (or the falling edges) of two consecutive pulse signals becomes narrower as the rotation speed of the motor 3 (wheel 8) becomes higher.

Further, as shown in FIG. 4, a number indicating the rotor stage (rotor stage number) is assigned for each predetermined rotor angle. The rotor stage indicates the angular position of the rotor of the motor 3, and in the present embodiment, rotor stage numbers 1, 2, 3, 4, 5, 6 are assigned every 60° in electrical angle. The rotor stage is defined by a combination of the output signal levels (H level or L level) of the U-phase angle sensor 4u, the V-phase angle sensor 4v, and the W-phase angle sensor 4w. For example, rotor stage number 1 is (U phase, V phase, W phase)=(H, L, H), and rotor stage number 2 is (U phase, V phase, W phase)=(H, L, L) ).

The rotor stage is not limited to being indicated by a number (numeral) as described above, but may be indicated by an alphabet (for example, a, b, c, d, e, f) or a predetermined code. .. Further, the rotor stage may be assigned identification information such as numbers or letters for each angle other than 60°.

The accelerator position sensor 5 detects the accelerator operation amount set by the user's accelerator operation, and transmits it to the control unit 10 as an electric signal. The accelerator operation amount increases when the user wants to accelerate, and the accelerator operation amount decreases when the user wants to decelerate. That is, the accelerator operation amount corresponds to the throttle opening degree in a vehicle that uses the internal combustion engine as a drive source.

The assist switch 6 is a switch operated when the user requests the assist of the electric vehicle 100. When the user operates the assist switch 6, the assist switch 6 sends an assist request signal to the control unit 10. This assist request signal is output from the assist switch 6 while the user is pressing the assist switch 6 (that is, while the user desires assistance).

The meter (display unit) 7 is a display (for example, a liquid crystal panel) provided in the electric vehicle 100, and displays various kinds of information. Specifically, information such as the traveling speed of the electric vehicle 100, the remaining amount of the battery 2, the current time, and the traveling distance is displayed on the meter 7. In the present embodiment, the meter 7 is provided on the handle (not shown) of the electric motorcycle.

Next, the control unit 10 of the electric vehicle control device 1 will be described in detail.

As shown in FIG. 5, the control unit 10 includes a receiving unit 11 that receives a signal output from the angle sensor 4, a grasping unit 12 that grasps a rotor stage, and a determining unit that determines whether or not a hunting state is established. 13, a calculation unit 14 that calculates the instantaneous rotation speed of the motor 3, and a drive unit 15 that drives the motor 3. The processing in each unit of the control unit 10 can be realized by software (program).

The reception unit 11 receives a plurality of signals output from a plurality of sensors 4u, 4v, 4w provided corresponding to each phase of the motor 3. In the present embodiment, the reception unit 11 receives the rising edges of the pulse signals output from the U-phase angle sensor 4u, the V-phase angle sensor 4v, and the W-phase angle sensor 4w. The receiving unit 11 may receive the falling edge of the pulse signal.

The grasping unit 12 grasps the rotor stage based on the combination of the plurality of signals received by the accepting unit 11. In the present embodiment, the grasping unit 12 grasps the rotor stage number based on the combination of the signal levels output from the U-phase angle sensor 4u, the V-phase angle sensor 4v and the W-phase angle sensor 4w. For example, when the combination of signal levels is (U phase, V phase, W phase)=(H, L, L), the grasping unit 12 grasps that the rotor stage number is “2”.

The determination unit 13 determines whether or not the hunting state is set based on the rotor stage grasped by the grasping unit 12. Specifically, the determination unit 13 determines that the rotor stage numbers are in the hunting state when they are out of sequence. In the present embodiment, the rotor stage numbers being in order means that the rotor stage numbers are 1→2→3→4→5→6→1→... (in the case of normal rotation) or 6→5→4. →3→2→1→6→... (in case of reverse rotation) The graph of FIG. 7 shows the time transition of the rotor stage number when the wheels 8 are normally rotating normally. On the other hand, as shown in FIG. 8, when the rotor stage number is repeatedly increased and decreased such as 3→4→5→4→3→4→5...

When it is determined that the motor is in the hunting state, the calculation unit 14 calculates the instantaneous rotation speed of the motor 3 based on the elapsed time after the determination unit 13 determines that the motor is in the hunting state. The elapsed time is the time indicated by time te in FIG.

More specifically, the calculation unit 14 calculates the instantaneous rotation speed of the motor 3 based on the elapsed time and the latest signal interval when it is determined that the motor is in the hunting state. Here, the "nearest signal interval" means the signal that the reception unit 11 has received most recently from the angle sensor 4 (the latest signal, the first signal) and the signal that the reception unit 11 has received immediately before that signal. (Second signal). In FIG. 6, the interval Δt between the time t3 when the rising edge E3 is received and the time t4 when the rising edge E4 is received is the latest signal interval. The latest signal interval is obtained using the signal output from the U-phase angle sensor 4u, the V-phase angle sensor 4v, or the W-phase angle sensor 4w. In FIG. 6, the rising edge E2 is a signal received immediately before the rising edge E3, and the rising edge E1 is a signal received immediately before the rising edge E2.

The latest signal interval may be calculated based on the signals output from the plurality of angle sensors. In this case, the first signal is a signal output from the V-phase angle sensor 4v (first angle sensor) provided in association with the first phase of the motor 3, and the second signal is the motor. 3 is a signal output from the U-phase angle sensor 4u (second angle sensor) provided in association with the second phase different from the first phase. When the first phase is the V phase and the second phase is the U phase, the interval between the first signal and the second signal corresponds to the time when the motor 3 makes 1/3 rotation (120° rotation). To do. Therefore, for example, a value obtained by triple the interval is used as the value of Δt in Expression (2) described later.

In the present embodiment, the calculation unit 14 calculates the instantaneous rotation speed by the formula (1) and the formula (2).
n=60000/(T×Np) (1)
T = Δt + te (2)
Here, n is an instantaneous rotation speed [rpm], T is a time [mSec] for one rotation of the motor 3, Np is a value indicating the number of pulses output during one rotation of the motor 3, Δt is the latest signal interval, and te is the elapsed time. Np is a value related to the number of poles of the motor 3.

As can be seen from the equations (1) and (2), the instantaneous rotation speed calculated by the calculation unit 14 decreases as the elapsed time increases. That is, when the determination unit 13 determines that the hunting state is set, the instantaneous rotation speed rapidly decreases in inverse proportion to the elapsed time, as shown in FIG.

Note that the index of the time T in the formula (1) may be set to be larger than 1 in order to increase the decreasing speed of the instantaneous rotation speed. In this case, the equation (1) becomes the equation (3).
n=60000/(T ^α ×Np) (3)
Here, α is a number larger than 1.

Further, in Expression (2), a predetermined reference time may be used instead of the latest signal interval Δt. In this case, the equation (2) becomes the equation (4).
T = Tc + to (4)
Here, Tc is a reference time.

As the reference time, for example, an average value of signal intervals may be used. The number of times of averaging is a predetermined number from the latest signal interval. In the example of FIG. 6, when the predetermined number is 3, the average time of time (t2-t1), time (t3-t2) and time (t4-t3: latest signal interval) is used as the reference time.

When it is determined that the motor is not in the hunting state, the calculation unit 14 calculates the instantaneous rotation speed of the motor 3 based on the latest signal interval. That is, in the equations (1) and (2), the instantaneous rotation speed is calculated assuming that the elapsed time te is zero.

The drive unit 15 transmits a control signal to the semiconductor switches Q1 to Q6 of the power conversion unit 30. More specifically, the drive unit 15 generates a PWM signal having the energization timing and the duty ratio calculated based on the target torque, and outputs the PWM signal to the semiconductor switches Q1 to Q6. As a result, the motor 3 is driven so as to generate the target torque. The drive unit 15 drives the motor 3 based on the instantaneous rotation speed calculated by the calculation unit 14. For example, when the accelerator operation amount is large and the instantaneous rotation speed calculated by the calculation unit 14 is low, the drive unit 15 causes the power conversion unit 30 to increase the current supplied from the power conversion unit 30 to the motor 3. To control.

As described above, in the electric vehicle control device 1 of the present embodiment, the grasping unit 12 grasps the rotor stage, the determining unit 13 determines whether or not the rotor stage is in the hunting state, and the calculating unit 14 determines. The instantaneous rotation speed of the motor is calculated based on the elapsed time. The drive unit 15 drives the motor based on the instantaneous rotation speed calculated by the calculation unit 14. When the electric vehicle 100 falls into the hunting state, the instantaneous rotation speed calculated by the calculation unit 14 gradually decreases as the elapsed time increases, and as a result, the rotation speed used for motor control matches the actual rotation speed. Like Therefore, according to the present embodiment, it is possible to perform appropriate motor control even in the hunting state.

<Electric vehicle control method>
Next, an example of the electric vehicle control method according to the present embodiment will be described with reference to the flowchart of FIG.

First, the reception unit 11 determines whether a signal is received from the angle sensor 4 (step S11). More specifically, when the rising edge signal is received from the U-phase angle sensor 4u, the V-phase angle sensor 4v, or the W-phase angle sensor 4w, the process proceeds to step S12.

Next, the grasping unit 12 grasps the rotor stage based on the combination of the signals output from the U-phase angle sensor 4u, the V-phase angle sensor 4v, and the W-phase angle sensor 4w (step S12).

Next, the determination unit 13 determines whether or not the hunting state is in effect based on the rotor stage grasped in step S12 (step S13). Then, when it is determined that the motor is in the hunting state (S13: Yes), the calculation unit 14 calculates the instantaneous rotation speed of the motor 3 based on the elapsed time from when it is determined that the motor is in the hunting state (step S14). .. In the present embodiment, the instantaneous rotation speed is calculated using the above equations (1) and (2). After that, the drive unit 15 drives the motor 3 based on the instantaneous rotation speed calculated in step S14 (step S15).

On the other hand, when it is determined that the motor is not in the hunting state (S13: No), the calculation unit 14 calculates the instantaneous rotation speed of the motor 3 based on the latest signal interval (step S16). In this embodiment, the instantaneous rotation speed is calculated on the assumption that the elapsed time te is 0 in the equations (1) and (2). Then, the drive unit 15 drives the motor 3 based on the instantaneous rotation speed calculated in step S16 (step S15).

According to the electric vehicle control method according to the present embodiment described above, even if the hunting state occurs, the rotation speed used for motor control and the actual rotation speed match, and appropriate motor control can be performed.

At least a part of the electric vehicle control device 1 (control unit 10) described in the above-described embodiment may be configured by hardware or software. When it is configured by software, a program that realizes at least a part of the functions of the control unit 10 may be stored in a recording medium such as a flexible disk or a CD-ROM, read by a computer, and executed. The recording medium is not limited to a removable medium such as a magnetic disk or an optical disk, but may be a fixed recording medium such as a hard disk device or a memory.

Further, the program that realizes at least a part of the functions of the control unit 10 may be distributed via a communication line (including wireless communication) such as the Internet. Further, the program may be distributed in the state of being encrypted, modulated, or compressed, via a wired line or wireless line such as the Internet or stored in a recording medium.

Based on the above description, those skilled in the art may think of additional effects and various modifications of the present invention, but the aspects of the present invention are not limited to the above-described individual embodiments. .. You may combine suitably the component over different embodiment. Various additions, changes and partial deletions are possible without departing from the conceptual idea and spirit of the present invention derived from the contents defined in the claims and the equivalents thereof.

1 Electric Vehicle Control Device 2 Battery 3 Motor 4 Angle Sensor 4u U-Phase Angle Sensor 4v V-Phase Angle Sensor 4w W-Phase Angle Sensor 5 Accelerator Position Sensor 6 Assist Switch 7 Meter 8 Wheel 10 Control Section 11 Receiving Section 12 Grasping Section 13 Judgment Section 14 calculation unit 15 drive unit 20 storage unit 30 power conversion unit 100 electric vehicle E1, E2, E3, E4 rising edge

Claims (10)

A receiving unit that receives a plurality of signals output from a plurality of sensors provided corresponding to each phase of the motor that rotates the wheels of the electric vehicle,
A grasping unit that grasps the rotor stage based on a combination of the plurality of signals,
A determination unit that determines whether or not the hunting state is based on the rotor stage,
If it is determined to be in the hunting state, a calculating unit that calculates the instantaneous rotation speed of the motor based on the elapsed time from the determination unit determines that the hunting state,
A drive unit that drives the motor based on the instantaneous rotation speed calculated by the calculation unit;
An electric vehicle control device comprising: The grasping unit grasps a rotor stage number as the rotor stage,
The electric vehicle control device according to claim 1, wherein the determination unit determines that the rotor stage numbers are in a hunting state when the rotor stage numbers are out of sequence. When the calculation unit determines that the motor is in the hunting state, the motor is based on the elapsed time, the latest signal received by the reception unit, and the latest signal interval between the signals immediately before the signal. The electric vehicle control device according to claim 1, wherein the instantaneous rotation speed of the vehicle is calculated. The electric vehicle control device according to claim 3, wherein the calculation unit calculates the instantaneous rotation speed according to Expression (1) and Expression (2).
n=60000/(T×Np) (1)
T = Δt + te (2)
Here, n is the instantaneous rotation speed [rpm], T is the time [mSec] for one rotation of the motor, and Np is a value indicating the number of pulses output during one rotation of the motor. , Δt is the latest signal interval, and te is the elapsed time. The electric vehicle control device according to claim 4, wherein the index of the time T for one rotation of the motor is larger than 1. When it is determined that the calculation unit is not in the hunting state, the calculation unit calculates the instantaneous rotation speed of the motor based on the latest signal received by the reception unit and the latest signal interval between signals immediately before the signal. The electric vehicle control device according to claim 1, wherein: An electric vehicle comprising the electric vehicle control device according to claim 1. The electric vehicle according to claim 7, wherein the wheel and the motor are mechanically connected without a clutch. Grasping the rotor stage based on a combination of a plurality of signals output from a plurality of sensors provided corresponding to each phase of a motor that rotates the wheels of the electric vehicle;
Determining whether or not a hunting state is based on the rotor stage,
If it is determined to be in the hunting state, a step of calculating the instantaneous rotation speed of the motor based on the elapsed time from the determination in the hunting state,
Driving the motor based on the calculated instantaneous rotation speed;
An electric vehicle control method comprising: Grasping the rotor stage based on a combination of a plurality of signals output from a plurality of sensors provided corresponding to each phase of a motor that rotates the wheels of the electric vehicle;
Determining whether or not a hunting state is based on the rotor stage,
If it is determined to be in the hunting state, a step of calculating the instantaneous rotation speed of the motor based on the elapsed time from the determination in the hunting state,
Driving the motor based on the calculated instantaneous rotation speed;
An electric vehicle control program, which causes a computer to execute.

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