WO2004026617A1 - 車両のスリップ制御装置、それを搭載した自動車及びその制御方法 - Google Patents
車両のスリップ制御装置、それを搭載した自動車及びその制御方法 Download PDFInfo
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- WO2004026617A1 WO2004026617A1 PCT/JP2003/008596 JP0308596W WO2004026617A1 WO 2004026617 A1 WO2004026617 A1 WO 2004026617A1 JP 0308596 W JP0308596 W JP 0308596W WO 2004026617 A1 WO2004026617 A1 WO 2004026617A1
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- Prior art keywords
- slip
- torque
- angular acceleration
- vehicle
- drive
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000001133 acceleration Effects 0.000 claims description 219
- 238000001514 detection method Methods 0.000 claims description 33
- 230000007423 decrease Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 2
- 230000002401 inhibitory effect Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/44—Series-parallel type
- B60K6/445—Differential gearing distribution type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/102—Indicating wheel slip ; Correction of wheel slip of individual wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/20—Acceleration angular
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/30—Wheel torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Definitions
- Vehicle slip control device Vehicle equipped with the same, and control method therefor
- the present invention relates to a vehicle slip control device, a vehicle equipped with the same, and a method thereof, and more particularly to a vehicle slip control device that controls a prime mover capable of outputting power to a drive shaft connected to drive wheels of the vehicle, And a control method thereof.
- the present invention has been made in view of the above-described problems, and provides a vehicle slip control device and a method thereof that prevent a drive torque from being limited by erroneous detection of slip when detecting slip based on angular acceleration. It is intended to do so. Disclosure of the invention
- the vehicle slip control device and method of the present invention employ the following means to achieve the above object.
- One aspect of the present invention is a vehicle slip control device that controls a prime mover capable of outputting power to a drive shaft connected to drive wheels of the vehicle,
- Angular acceleration detection means for detecting the angular acceleration of the drive shaft
- Slip detection means for detecting slip of the drive wheel based on the angular acceleration detected by the angular acceleration detection means
- Torque limiting means for limiting the driving torque of the drive wheels so as to suppress the slip when the slip is detected by the slip detecting means; and a state in which the angular acceleration fluctuates independently of the vehicle driving state.
- State determination means for determining whether or not there is;
- Torque limiting prohibiting means for prohibiting the torque limiting means from restricting the driving torque of the drive wheels when the state determining means determines that the vehicle driving state is in a state in which the angular acceleration fluctuates without depending on slip. It is provided with.
- this vehicle slip control device when a slip of a drive wheel is detected based on the angular acceleration of a drive shaft connected to the drive wheel, the drive torque of the drive wheel is limited so as to suppress the slip.
- the vehicle driving condition When the angular acceleration fluctuates without depending on the slip, even if the slip of the driving wheel is detected based on the angular acceleration, it may be due to a cause other than the slip. Prohibit restricting Therefore, when slip is detected based on the angular acceleration, it is possible to prevent the drive torque from being limited by erroneous slip detection.
- the “motor” is not particularly limited as long as it is a device capable of outputting power to the drive shaft, and may be, for example, a motor or an engine, or both a motor and an engine. Good.
- the vehicle slip control device of the present invention may be configured to control at least one of them.
- both the motor and the engine are used as the motors.
- the device If the device is equipped, it may control at least the mode.
- Examples of the case where the “vehicle driving state is in a state in which the angular acceleration fluctuates without depending on the slip” include, for example, a time when the torque change amount largely changes and a time when the engine is started.
- One is a vehicle slip control device that controls a prime mover capable of outputting power to a drive shaft connected to the drive wheels of the vehicle,
- Angular acceleration detection means for detecting the angular acceleration of the drive shaft
- Slip detecting means for detecting slippage of the drive wheels based on the detected angular acceleration
- Torque limiting means for limiting the drive torque of the drive wheel so as to suppress the slip when the slip is detected by the slip detection means; and a change amount of a torque command value of the drive wheel obtained based on an accelerator operation.
- Torque change amount determining means for determining whether or not the value is within a predetermined range;
- the amount of change in the torque command value is within a predetermined range by the torque change amount determining means.
- a torque limit prohibition unit that prohibits the drive torque of the drive wheel from being restricted by the torque limit unit when it is determined that the vehicle is out of range.
- this vehicle slip control device when a slip of a drive wheel is detected based on the angular acceleration of a drive shaft connected to the drive wheel, the drive torque of the drive wheel is limited so as to suppress the slip.
- the amount of change in the drive wheel torque command value obtained based on the accelerator operation is out of the predetermined range (for example, when the amount is larger than the predetermined amount)
- the angular acceleration fluctuates due to vibration or shaking caused by the torque change.
- the slip of the drive wheel is detected based on the angular acceleration, it is considered that the slip may be caused by vibration or shaking caused by a torque change, so the drive torque of the drive wheel is limited. Prohibit. Therefore, when slip is detected based on the angular acceleration, it is possible to prevent the drive torque from being limited by erroneous slip detection.
- One aspect of the present invention is a vehicle slip control device that controls at least one of a motor and an engine that can output power to a drive shaft connected to drive wheels of a vehicle,
- Angular acceleration detection means for detecting the angular acceleration of the drive shaft
- Slip detecting means for detecting slippage of the drive wheels based on the detected angular acceleration
- a torque limiting unit that limits a driving torque of the drive wheel so as to suppress the slip when the slip detecting unit detects a slip; an engine vibration detecting unit that detects a vibration at the time of starting the engine; Torque limiting prohibiting means for prohibiting the torque restricting means from restricting the driving torque of the drive wheels when vibration at the time of engine start is detected by the vibration detecting means; It is provided with.
- this vehicle slip control device when a slip of a drive wheel is detected based on the angular acceleration of a drive shaft connected to the drive wheel, the drive torque of the drive wheel is limited so as to suppress the slip.
- the vibration may change the angular acceleration.
- the slip may be due to the vibration at the time of starting the engine, so that the limitation of the drive torque of the drive wheel is prohibited. Therefore, when slip is detected based on the angular acceleration, it is possible to prevent the drive torque from being limited by erroneous slip detection.
- One aspect of the present invention is a vehicle slip control device that controls a prime mover capable of outputting power to a drive shaft connected to drive wheels of the vehicle,
- Angular acceleration detection means for detecting the angular acceleration of the drive shaft
- Slip detecting means for detecting a slip of the drive wheel when the detected angular acceleration exceeds a predetermined threshold
- Torque limiting means for limiting the driving torque of the drive wheel so as to suppress the slip when the slip is detected by the slip detecting means; and wherein the angular acceleration detected by the angular acceleration detecting means exceeds the predetermined threshold.
- Time change determining means for determining whether the time change after the time is caused by mechanical resonance
- the torque limiting means inhibits the drive torque of the drive wheels from being restricted. Torque limiting prohibition means
- the angle adjustment of the drive shaft connected to the drive wheels is performed.
- the drive torque of the drive wheels is limited so as to suppress the slip.
- the time change after the angular acceleration exceeds the predetermined threshold is caused by mechanical resonance, even if slip of the drive wheels is detected based on the angular acceleration, it is determined that the Due to resonance, it is prohibited to limit the drive torque of the drive wheels. Therefore, when slip is detected based on the angular acceleration, it is possible to prevent the drive torque from being limited by erroneous slip detection.
- the time change determination means may determine whether a time width from the time when the angular acceleration exceeds the predetermined threshold value to the time when the angular acceleration starts to decrease is due to mechanical resonance.
- torque limitation cannot be prohibited until the judgment result is obtained, so the judgment result should be obtained as early as possible.
- the slip detecting means may be means for detecting a slip when the angular acceleration detected by the angular acceleration detecting means exceeds a predetermined threshold. In this way, slip detection can be performed easily and reliably.
- the torque limiting prohibiting means is used.
- the restriction of the driving torque of the driving wheels may not be prohibited. In this way, it is not possible to prohibit the limitation of the driving torque on the assumption that the detection is erroneous despite the occurrence of the slip.
- the non-slip upper limit is, for example, a value that can be taken only when slipping. And it is sufficient.
- the torque limitation prohibiting means may not function the torque limiting means when prohibiting the torque limiting means from limiting the driving torque of the drive wheels, or Alternatively, the predetermined threshold value in the slip detecting means may be set to a value which cannot be normally taken, so that the effectiveness of the torque limiting means may be lost. In any case, the limitation of the drive torque of the drive wheels by the torque limiting means can be prohibited.
- the torque restriction prohibiting means may prohibit the driving torque of the drive wheels by the torque restriction unit for a predetermined restriction prohibition period. In this way, when a slip occurs after the predetermined restriction prohibition period has elapsed, the slip can be suppressed.
- One aspect of the present invention is an automobile equipped with the vehicle slip control device according to any of the above aspects. According to this vehicle, since the vehicle is provided with the vehicle slip control device according to any one of the above aspects, the effect of the slip control device, for example, when a slip is detected based on angular acceleration, due to erroneous detection of the slip. This has the effect of preventing the drive torque from being limited.
- One aspect of the present invention is a vehicle slip control method for controlling a prime mover capable of outputting power to a drive shaft connected to drive wheels of a vehicle,
- step (e) When it is determined in step (d) that the vehicle driving state is a state in which the angular acceleration fluctuates without depending on the slip, the limitation of the driving torque of the driving wheels in step (C) is prohibited. And a step.
- One aspect of the present invention is a vehicle slip control method for controlling a prime mover capable of outputting power to a drive shaft connected to drive wheels of a vehicle,
- step (c) limiting the driving torque of the driving wheels so as to suppress the slip when the slip is detected in the step (b);
- step (e) When it is determined in step (d) that the change amount of the torque command value is out of the predetermined range, the drive torque of the drive wheel in step (c) is determined. Prohibiting the restriction;
- One aspect of the present invention is a vehicle slip control method for controlling at least one of a motor, which is a prime mover capable of outputting power to a drive shaft connected to drive wheels of a vehicle, and an engine,
- step (c) limiting the driving torque of the drive wheels so as to suppress the slip when the slip is detected in the step (b);
- step (e) a step of prohibiting the limitation of the driving torque of the driving wheels in the step (c) when the vibration at the time of starting the engine is detected in the step (d);
- the vibration when vibration at the time of starting the engine is detected, the vibration may change the angular acceleration. Under these circumstances, limiting the driving torque of the driving wheels is prohibited, even if the slip of the driving wheels is detected based on the angular acceleration, because this may be due to vibration at the time of starting the engine. Therefore, when slip is detected based on the angular acceleration, it is possible to prevent the drive torque from being limited due to erroneous slip detection.
- One aspect of the present invention is a vehicle slip control method for controlling a prime mover capable of outputting power to a drive shaft connected to drive wheels of a vehicle,
- step (c) limiting the driving torque of the drive wheels so as to suppress the slip when the slip is detected in the step (b);
- step (e) When it is determined in step (d) that the time change after the angular acceleration exceeds the predetermined threshold is caused by mechanical resonance, the drive wheels in step (c) are determined. Prohibiting the limitation of the driving torque of the above.
- FIGURES Figure 1 is a block diagram showing the outline of the configuration of an electric vehicle
- Fig. 2 is a flowchart of motor drive control executed in an electric vehicle.
- Fig. 3 is a map showing the relationship between vehicle speed, accelerator opening, and required torque.
- Fig. 4 is a flowchart of a grip-time control routine.
- Fig. 5 is a flowchart of the slip occurrence control routine.
- Fig. 6 is a map showing the relationship between the angular acceleration of the motor and the upper limit of the torque
- Fig. 7 is an explanatory diagram showing how the accelerator opening, torque, angular acceleration and each flag change over time
- FIG. 8 is an explanatory diagram showing how the upper torque value of the motor is set based on the angular acceleration.
- Fig. 9 is a configuration diagram showing the outline of the configuration of a hybrid vehicle
- FIG. 10 is a flowchart of a motor drive control executed in a hybrid vehicle.
- Fig. 11 is a flowchart of the slip occurrence control routine
- FIG. 12 is an explanatory diagram showing the state of the angular acceleration and the time change of each flag.
- FIG. 1 is a configuration diagram schematically showing the configuration of an electric vehicle 10 including an electronic control unit 40 functioning as a slip control device.
- the electric vehicle 10 uses a power supplied from a battery 16 via an inverter circuit 14 to drive a drive shaft connected to drive wheels 18a and 18b. It is configured as a device that drives and controls the motor 12 that can output, a rotation angle sensor 22 that detects the rotation angle 0 of the rotating shaft of the motor 12, and a running speed of the electric vehicle 10.
- Vehicle speed sensor 24 Various sensors that detect various operations (for example, a shift position sensor 32 that detects the position of the shift lever 31, an accelerator pedal position sensor 34 that detects the amount of depression of the accelerator pedal 33 (accelerator opening), a brake It has a brake pedal position sensor 36 that detects the amount of depression of the pedal 35 (brake opening), and an electronic control unit 40 that controls the entire device.
- a shift position sensor 32 that detects the position of the shift lever 31
- an accelerator pedal position sensor 34 that detects the amount of depression of the accelerator pedal 33 (accelerator opening)
- a brake It has a brake pedal position sensor 36 that detects the amount of depression of the pedal 35 (brake opening)
- an electronic control unit 40 that controls the entire device.
- 19a and 19b represent driven wheels.
- the motor 12 is, for example, configured as a well-known synchronous generator motor that functions as a motor and also functions as a generator.
- the impeller circuit 14 converts power from the battery 16 into power suitable for driving the motor 12. It is composed of a plurality of switching elements. Since the configurations of the motor 12 and the inverter circuit 14 are well known and do not form the core of the present invention, further detailed description will be omitted.
- the electronic control unit 40 is configured as a microprocessor centered on the CPU 42, and in addition to the CPU 42, a ROM 44 that stores a processing program, and a RAM 46 that temporarily stores data. , An input / output port (not shown).
- the electronic control unit 40 receives the rotation angle ⁇ of the rotating shaft of the motor 12 detected by the rotation angle sensor 22, the vehicle speed V detected by the vehicle speed sensor 24, and the shift position sensor 32.
- the detected shift position, the accelerator opening Acc detected by the accelerator pedal position sensor 34, the brake opening detected by the brake pedal position sensor 36, and the like are input via the input port.
- the electronic control unit 40 outputs a switching control signal to a switching element of an inverter circuit 14 for driving and controlling the motor 12 via an output port.
- FIG. 2 is a flowchart showing an example of a motor drive control program executed by the electronic control unit 40. This program is read out from the ROM 44 and executed at predetermined time intervals (here, every 8 msec).
- the CPU 42 of the electronic control unit 40 firstly operates the accelerator opening Acc from the accelerator pedal position sensor 34, the vehicle speed V from the vehicle speed sensor 24, and the rotation angle. A process of inputting the rotation angle ⁇ of the sensor 22 and the like is performed (step S100). Next, a torque command value for the drive wheels 18a and 18b, that is, a required torque Tm * of the motor 12 in the present embodiment is set based on the input accelerator opening Acc and vehicle speed V (step S 1 0 2).
- the setting of the motor required torque Tm * is as follows.
- the torque restriction prohibition flag F 0 is a flag that is set to a value of 0 when the torque restriction is permitted and set to a value of 1 when the torque restriction is prohibited.
- the torque limiting process includes a slip generation control routine in step S120 and a slip convergence control routine in step S124 described later.
- Torque Tm * Performed by the previous motor required torque Tm *). Since this program is repeatedly executed every 8 ms ec, this change ⁇ m is the change every 8 msec.
- the variation ⁇ Tm of the required torque Tm * is compared with a predetermined torque threshold T thr (step S108), and if the variation ⁇ is equal to or smaller than the threshold T thr, the step is performed. Proceeding to S110, if the change amount ⁇ Tm exceeds the threshold value Tthr, a value 1 is set to the torque limit prohibition flag F0 (step S126), and a grip control routine (step S126) described later. After performing 1 1 6), terminate this program. Also, when the torque limit prohibition flag F 0 has the value 1 in step S 104, this grip program control routine (step S 116) to be described later is performed, and then this program is ended.
- the threshold value Tthr is empirically determined in advance from the amount of change ⁇ Tm of the motor required torque Tm * generated due to the driver's operation of increasing the accelerator pedal, and is determined based on the empirical value.
- the amount of change ATm in the required torque Tm * is large, such as when the accelerator is further depressed, the change in the torque causes the vehicle to vibrate or shake, thereby temporarily increasing the angular acceleration.
- the slip determination based on the acceleration ⁇ step S1 1 2
- the angular acceleration threshold is empirically determined in advance from the amount of change ⁇ Tm of the motor required torque Tm * generated due to the driver's operation of increasing the accelerator pedal, and is determined based on the empirical value.
- step S108 the amount of change ⁇ Tm in the required torque Tm * is compared with the threshold value Tthr, and when the amount of change ⁇ exceeds the threshold value Ttr, slip occurs even though slip has not occurred. It is determined that there is a risk of erroneously determining that the torque is limited.
- step S124 the control routine for slip convergence of step S116 without performing step S112, etc., which may proceed to the control routine for slip convergence.
- the motor rotation speed Nm is calculated based on the rotation angle 0 input in step S100.
- the angular acceleration ⁇ is calculated based on the motor rotation speed Nm (step S110).
- the calculation of the angular acceleration ⁇ is performed by subtracting the previously obtained rotation speed Nm from the currently obtained rotation speed Nm (current rotation speed Nm-previous rotation speed Nm).
- the unit of angular acceleration is expressed in units of rotation speed Nm by rotations per minute [rpm], since the execution time interval of this program is 8 msec, [rpm / 8ms ec ].
- any unit may be used as long as it can be expressed as the rate of change in rotation speed over time.
- the angular acceleration ⁇ may use the average of the angular accelerations calculated over the past several times (for example, three times) to reduce the error.
- the slip state of the drive wheels 18a and 18b is determined based on the angular acceleration (step S112).
- the angular acceleration ⁇ is compared with a threshold aslip that can be considered to have caused slippage due to idling, and when it is determined that the angular acceleration exceeds the threshold sli, the driving wheels 18a, It is determined that a slip has occurred on 18b, and a slip occurrence flag F1 indicating the occurrence of a slip is set to a value of 1 (step S118), and a slip generation control routine described later (step S112) is set. After performing (0), exit this program.
- step S114 the state of the slip occurrence flag F1 is determined (step S114).
- the slip occurrence flag F1 has the value 1
- the slip convergence condition is satisfied, the slip generated in the drive wheels 18a and 18b is determined to have converged, and the slip convergence control routine (step S124) described later is performed. , End this program.
- step S120 the slip occurrence control routine
- step S120 the slip occurrence control routine
- the slip occurrence flag F1 is not the value 1
- the drive wheels 18a and 18b are dipping on the road surface, and the grip control described later is performed. Perform the routine (Step S116) and then terminate this program.
- control routines that is, the grip control routine in step S116, the slip control routine in step S120, and the slip convergence control routine in step S124 will be described.
- the grip control is the normal drive control of the motor 12 and the drive control of the motor 12 when the torque limitation is prohibited, and is performed based on the grip control routine shown in Fig. 4. Be done.
- this routine is started, the CPU 42 of the electronic control unit 40 first controls the motor 1 to output a torque corresponding to the required torque Tm * from the motor 12 based on the required motor torque Tm *. 2 is driven and controlled (step S130). Subsequently, it is determined whether or not the torque limit prohibition flag F 0 has a value of 1 (step S 1 32). When the flag F 0 has a value of 0, that is, when the torque limit is not prohibited, this routine is directly executed. finish.
- the routine is immediately terminated when the restriction prohibition time has not elapsed, and the flag F0 is reset to the value 0 when the restriction prohibition time has elapsed. (Step SI36), and terminates this routine.
- the limit prohibition time is a value predetermined as a time width during which the torque restriction is prohibited.
- the slip occurrence control is a drive control of the motor 12 to reduce the angular acceleration ⁇ ; when the angular acceleration ⁇ increases due to the slip, and is performed based on the slip occurrence control routine shown in FIG. Be done.
- the CPU 42 of the electronic control unit 40 first determines whether or not the angular acceleration exceeds the peak value eak (step S150), and the angular acceleration becomes peak. If it is determined that the value exceeds peak, a process of updating the value of the peak value apeak to the angular acceleration o; is performed (Step S152).
- the peak value peak is basically the value of the angular acceleration when the angular acceleration rises due to the slip and shows a peak, and the value 0 is set as an initial value. Therefore, the peak value aeak is sequentially updated to the value of the angular acceleration H until the angular acceleration H rises and reaches the peak, and when the angular acceleration ⁇ reaches the peak, the angular acceleration H becomes the peak value. It will be fixed as apeak.
- a torque upper limit value Tm a which is the upper limit of the torque that the motor 12 can output, is set based on the peak value ⁇ peak.
- the torque upper limit Tmax is expressed as a function g (a) of the angular acceleration ⁇ .
- the map has a characteristic that as the angular acceleration ⁇ increases, the torque upper limit value Tmax decreases. Therefore, as the angular acceleration increases and the peak value peak increases, that is, as the degree of slip increases, a smaller value is set as the torque upper limit value Tmax, and the torque output from the motor 12 is limited accordingly. Will be.
- Step S156 it is determined whether or not the motor required torque Tm * exceeds the set torque upper limit value Tma (Step S156).
- the motor required torque Tm * is corrected to the torque upper limit value Tmax (step S158).
- the motor 12 is drive-controlled so that a torque commensurate with the target torque Tm * is output from the motor 12 with the torque Tm * as the target torque (step S160), and this routine ends. .
- the torque output from the motor 12 is a low torque for suppressing the slip (specifically, the torque upper limit Tma corresponding to the peak value peak of the angular acceleration in the map of FIG. 6). X), the slip can be effectively suppressed.
- the slip convergence control is a drive control of the motor 12 performed to restore the limited torque when the angular acceleration ⁇ is reduced due to the torque limitation by the slip occurrence control.
- the torque upper limit value Tm aX is gradually increased every time a predetermined standby time elapses, and when the required motor torque Tm * exceeds the upper torque limit Tmax, the required motor torque Tm is increased. Drive control of motor 12 with * as torque upper limit Tmax.
- the time integral value int of the angular acceleration ⁇ from the time when the angular acceleration exceeds the threshold as1 ip to the time when the angular acceleration falls below the threshold s1 ip is calculated, and
- the guard value ⁇ (unit: [rpmZ 8msec], the same unit as the angular acceleration) is calculated as a function of the time integral value int, and the upper torque limit Tm corresponding to the guard value ⁇ is calculated using the map in FIG. ax is determined, and this value is set as the torque upper limit value Tmax at the start of the slip convergence.
- Fig. 7 is an explanatory diagram showing the time change of the accelerator opening, the time change of the angular acceleration ⁇ , the time change of the torque output from the motor 12 and the time change of each flag.
- Fig. 4 is an explanatory diagram showing how the torque upper limit value Tmax is set based on the time change of the time tn.
- the time interval between time tn and time tn-1 is 40 ms ec (the program in Fig. 2 is 8 ms ec. It is executed five times during this time.)
- the driver depresses the accelerator when the vehicle is stopped or at low speed, and the depressed state continues at least until time t23.
- the required torque of the motor Tm * rises sharply initially during the period from time t0 to time t7 and gradually increases thereafter, as shown by the dotted line in FIG. It keeps constant after time t7.
- the amount of change ⁇ when the required motor torque Tm * changes from time t 0 to time t 1 exceeds the threshold T thr, and at time t 1, the torque limit prohibition flag is set.
- F 0 is set to the value 1.
- the torque limit prohibition flag F 0 and the slip occurrence flag F 1 are both 0, so the drip control is executed and the torque corresponding to the motor demand torque Tm Also, from time t1 to time t6, the torque limit prohibition flag F0 is set to the value 1 so that the drip control is also performed here.
- the torque limit prohibition time here, 200 ms ec
- the torque limit prohibition flag F 0 is set to the value 0.
- the angular acceleration ⁇ fluctuates due to a large change in torque and temporarily exceeds the threshold as 1 ip.However, since no control is performed when a slip occurs, the torque is limited. I do not receive. Therefore, the required motor torque Tm * matches the torque output from the motor 12.
- the torque limit prohibition flag F 0 has a value of 0 and the torque limit is not prohibited, so a slip determination based on the angular acceleration is performed, and the angular acceleration a at this time is determined by the threshold value s 1 ip Since it has exceeded, the slip occurrence flag F1 is set to the value 1, and the slip occurrence control is executed.
- the torque upper limit Tmax corresponding to the angular acceleration ⁇ is set as appropriate from the map of FIG. 6 (see FIG. 8A).
- the required motor torque Tm * exceeds the torque upper limit Tmax, so that the torque output from the motor 12 is limited to the torque upper limit Tmax.
- the torque is limited to the torque upper limit Tmax corresponding to the peak value apeak of the angular acceleration ⁇ (see FIG. 8 (b)).
- the required torque Tm * exceeds the torque upper limit value max, so that the torque output from the motor 12 is limited to the torque upper limit value Tmax.
- the angular acceleration ⁇ is a negative value and the angular acceleration The slip is converged at this point, and it is determined that the slip has converged. Therefore, after the time t14, the control at the time of the slip convergence is executed, the above-described time integral value int is obtained, and the guard value (5 is calculated as a function of the time integral value int, and the map of FIG.
- the torque upper limit value T max corresponding to this guard value ⁇ is obtained by using (see FIG. 8 (c)), and this value is set as the torque upper limit value T max at the beginning of the slip convergence.
- the guard value ⁇ is reduced by a fixed amount ⁇ to a new guard value ⁇ 5, and the torque upper limit Tmax corresponding to the guard value ⁇ is newly set using the map of FIG. (Refer to Fig. 8 (d).)
- the flags F0 and F1 are reset, and the slip convergence is set.
- the required torque T m * and the A torque output from the evening 1 2 matches.
- the CPU 42 of the electronic control unit 40 of this embodiment corresponds to the angular acceleration detecting means, the slip detecting means, the torque limiting means, the state determining means, and the torque limiting inhibiting means of the present invention.
- step S110 executed by the CPU 42 corresponds to the processing of the angular acceleration detecting means
- step S112 corresponds to the processing of the slip detecting means
- control at the time of occurrence of slip in step S120 corresponds to the processing of the torque limiting means
- step S104 ⁇ step S108 corresponds to the processing of the state determining means.
- the processing of executing the grip control routine of step S116 when 0 is the value 1 corresponds to the processing of the torque limitation prohibiting means.
- the CPU 42 also corresponds to a torque change amount determining means, and step S108 corresponds to the processing of the torque change amount determining means.
- Step S108 corresponds to the processing of the torque change amount determining means. Further, when it is determined that the change amount ATm of the required torque Tm * exceeds the threshold value Tthr, the change amount of the torque command value of the drive wheels 18a and 18b is out of the predetermined range. It corresponds to when it is determined.
- the motor 12 when a slip is detected based on the angular acceleration of the drive shaft connected to the drive wheels 18a and 18b, the motor 12 is controlled so as to suppress the slip.
- the drive torque of the drive wheels 18a and 18b is limited by limiting the output torque.
- the angular acceleration varies without the vehicle operating state depending on the slip. In such a state, even if a slip is detected based on the angular acceleration, it may be due to a cause other than the slip, so that the output torque of the motor 12 is prohibited from being limited.
- FIG. 9 is a configuration diagram schematically showing the configuration of a hybrid vehicle 110 including an electronic control unit 40 functioning as a slip control device.
- the hybrid vehicle 110 is connected to an engine 111 and an engine 111 connected to the engine 111 to drive the power of the engine 111 to drive wheels 18a, 18b and a generator 113.
- the motor 111 is connected to the battery 116 via the inverter circuit 114, and the generator 113 is connected to the battery 116 via the inverter circuit 115.
- the electronic control unit 40 outputs a switching control signal to the switching elements of the inverter circuits 114 and 115. Further, when slippage occurs in the driving wheels 18a, 18b, the electronic control unit 40 controls the driving wheels 18a, 18b so as to suppress the slipping by limiting the driving torque of the driving wheels 18a, 18b.
- a hybrid ECU (not shown) performs hybrid control so that the vehicle runs using one or both of the engine 111 and the motor 111 as power sources. For example, in areas where engine efficiency is low, such as when starting or running at low speed, the engine 111 is stopped and the drive wheels 18a, 18b are driven by the power of the motor 112. Control to run.
- the engine 1 1 1 is started, and the power of the engine 1 1 1 is divided into driving wheels 18 a, 18 b and a generator 1 13 by a planetary gear 1 17, so that 3 to generate power and drive the motors 11 and 12 with the generated power to control the driving of the drive wheels 18a and 18b.
- a high load such as full-open acceleration
- power is supplied from the battery 116 to the motor 112. And additional driving force.
- FIG. 10 is a flowchart showing an example of the drive control program executed by the electronic control unit 40. This program is read out from the R ⁇ M44 at a predetermined time interval (here, every 8 ms) and executed.
- the CPU 42 of the electronic control unit 40 first rotates the accelerator opening Acc, the vehicle speed V, and the rotation of the drive shaft connected to the drive wheels 18a and 18b.
- a process for inputting an angle ⁇ or the like is performed (step S200).
- a torque command value T * of the drive shaft connected to the drive wheels 18a and 18b is set (step S202). Specifically, based on the accelerator opening Acc and the vehicle speed V, the torque command value T * is obtained from a map similar to FIG. 3 showing the relationship between the accelerator opening Acc, the vehicle speed V, and the torque command value T *. Ask. Subsequently, it is determined whether or not the torque limit prohibition flag F0 is set to a value of 1 (step S204).
- step S 204 When the torque limit prohibition flag F 0 is 0 in step S 204, that is, when the torque limit is not prohibited, the angular acceleration ⁇ ; of the drive shafts of the drive wheels 18 a and 18 b is calculated (step S 2 06), the slip state of the drive wheels 18a, 18b is determined based on the result of comparing the angular acceleration 0; with the threshold value as1ip (step S208).
- the calculation of the angular acceleration ⁇ and the determination of the slip state are the same as those in the first embodiment, and thus the description is omitted.
- step S214 it is determined whether the slip occurrence flag F1 is equal to a value 1 (step S214). If the slip occurrence flag F1 has the value 0, that is, if the angular acceleration ⁇ has not exceeded the threshold value s1 ip up to the previous time but has exceeded the current threshold value s1 ip, the slip occurrence flag F1 has the value 1 Set (Step In step S2 16), time measurement is started and the value 1 is set in the measurement flag F2 (step S2 18). This measurement flag F2 is set to a value of 0 when time measurement is not being performed, and to a value of 1 when time measurement is being performed.
- the angular acceleration ⁇ is set to the peak value apeak (step S222), the slip occurrence control routine (step S234) is performed, and the program ends.
- the slip occurrence control routine according to the present embodiment is executed according to the flowchart of the slip occurrence control routine shown in FIG. That is, the upper limit Tmax of the driving torque of the driving wheels 18a and 18b is set by calculating as a function of the peak value ⁇ peak using a graph similar to FIG. 6 (step S30). 0), it is determined whether the torque command value T * obtained in step S202 exceeds this torque upper limit value Tmax (step S310), and the torque command value T * is determined to be equal to the torque upper limit value Tma.
- step S330 If it does not exceed X, the process proceeds to step S330. If the torque command value T * exceeds the torque upper limit value Tmax, the torque command value T * is limited to the torque upper limit value Tmax (step S320). Proceed to S330. Then, in step S330, the target torque and the target rotation speed of the engine 111 and the generator 113 are set based on the torque command value T *, and the respective target values are set. Control these accordingly and terminate this routine.
- the required power P * is the product of the target torque Te * of the engine 111 and the target rotational speed Ne *.
- a target torque T e * and a target rotation speed N e * are set from a map (not shown) in which combinations of possible rotations are mapped.
- the target torque Tm * of the motor 112 is set.
- the target speed of the generator 113 is set.
- step S214 when the slip occurrence flag F1 has the value 1 in step S2 14, that is, when the angular acceleration ⁇ has exceeded the threshold as 1 i ⁇ in the previous and the current time, the acceleration exceeds the peak value a; eak. Is determined (step S2220), and when it is determined that the angular acceleration exceeds the peak value peak, a process of updating the value of the peak value apeak to the angular acceleration is performed (step S222). Then, the control routine for when a slip occurs (step S2334) is performed, and this program ends.
- step S220 determines whether or not the measurement flag F 2 has a value of 1 (step S 2 24).
- the measurement flag F 2 has a value of 1
- the time measurement is terminated and the measurement flag F 2 is set to a value of 0 (step S 2 24).
- step S 2 26 Then, based on the measured time, it is determined whether the reason that the angular acceleration a exceeds the threshold as 1 ip is due to mechanical resonance or slip due to the start of the engine 11 1 Yes (step S228). If it is due to machine resonance, the torque limit prohibition flag F0 is set to a value of 1 and the slip occurrence flag F1 is set to a value of 0 (step S230). After performing S212), terminate this program.
- the grip control One chin is the same as that of the first embodiment (see FIG. 4, but in step S130, the engine 111, the engine 112, and the engine 113, based on the torque command value T *). The target torque and the target rotation speed are set, and these are controlled according to the respective target values. Also, when the torque limit prohibition flag F0 has the value 1 in step S204, the control routine at the time of gripping (step S212) is performed, and then this program ends.
- the mechanical resonance is generated by vibration or the like at the time of starting the engine 11. Due to this mechanical resonance, the angular acceleration is temporarily increased, and there is a possibility that the angular acceleration ⁇ exceeds the threshold value s1ip even though no slippage occurs, and that a slippage is erroneously determined.
- the angular acceleration ⁇ exceeds the threshold s 1 i ⁇ due to mechanical resonance, the angular acceleration ⁇ peaks in a short time, whereas the angular acceleration ⁇ exceeds the threshold as 1 ip due to slip. Sometimes it takes a long time and the angular acceleration peaks.
- step S2208 if the measured time is as short as that due to mechanical resonance, the torque limit processing, that is, the slip occurrence control routine (step S2324) ⁇ the slip convergence control routine
- the torque limit processing that is, the slip occurrence control routine (step S2324) ⁇ the slip convergence control routine
- the gripping control routine of step S212 is performed without performing (step S2336).
- step S228 if it is determined in step S228 that the angular acceleration ⁇ exceeds the threshold value as1ip due to slip based on the measured time, the slip occurrence control routine (step S23) 4) and then terminate this program. Also, when the measurement flag F2 has a value of 0 in step S224, the slip occurrence control routine (step S234) is performed, and then this program ends. It should be noted that the determination of the value of the slip occurrence flag F1 in step S210 or the step S2 The determination of whether or not the slip convergence condition is satisfied in 32 is similar to steps S114, S122 of the first embodiment, and therefore, the description thereof is omitted.
- the torque upper limit value Tma of the drive wheels 18a, 18b is increased stepwise every predetermined standby time, and the torque command value T
- the torque command value T * is set to the torque upper limit value TmaX
- the guard value is calculated in the same manner as in the control at the time of slip convergence of the first embodiment, and the guard value ⁇ is calculated using a map similar to FIG.
- the torque upper limit value Tma is determined, and this value is set as the torque upper limit value TmaX at the beginning of slip convergence.
- the guide value ⁇ is reduced by a fixed amount ⁇ d every time a predetermined standby time elapses.
- a new upper limit value Tmax for the torque value ⁇ corresponding to the guide value ⁇ is set as a new upper limit value Tmax using a map similar to Fig. 6.
- the guard value ⁇ When the value of 5 becomes equal to or less than zero, the flags F 0 and F 1 are reset, and the slip convergence control ends.
- FIG. 12 is an explanatory diagram showing a time change of the angular acceleration ⁇ and a time change of each flag.
- the time interval between time tn and time tn-1 is set to 16 ms (the program in Fig. 10 is executed every 8 ms, so it is executed twice during this interval).
- the graph of the change over time of the angular acceleration ⁇ in Fig. 12 shows that the engine 111 is started at time t0, which causes the vehicle to vibrate, shake, etc., and the angular acceleration degree does not slip. Regardless, it shows the state when it fluctuates and temporarily exceeds the threshold value s 1 ip. From time t1 to time t3, since the angular acceleration does not exceed the threshold value as1 ip, the grip control is not performed. Then, the torque corresponding to the torque command value T * is output to the drive shafts of the drive wheels 18a and 18b.
- the slip occurrence flag F1 is set to the value 1
- the time measurement is started, and the measurement flag F2 is set to the value 1.
- the angular acceleration at this time is defined as a peak value peak
- the torque upper limit value Tmax corresponding to the peak value peak is read from a map similar to FIG. 6, and the drive shafts of the drive wheels 18a and 18b are read.
- the torque command value T * exceeds the torque upper limit value Tma
- the torque command value T * is limited to the torque upper limit value Tmax.
- the torque upper limit TmaX is read from a map similar to that shown in Fig. 6, and when the torque command value T * of the drive wheels 18a and 18b exceeds this torque upper limit Tma, the torque command value T * is increased. Restrict to the value TmaX.
- the angular acceleration exceeds the threshold s 1 ip as in the previous time, but since the angular acceleration ⁇ is smaller than the previous time, the previous angular acceleration ⁇ is determined as the peak value ⁇ peak, At the same time, the measurement flag F 2 is set to 0 at the same time as the time measurement is completed. Then, based on the measurement time (here, from the time t4 when the angular acceleration exceeds the threshold value s1 ip to the time t5 when the peak is reached), it is the mechanical resonance that the angular acceleration exceeds the threshold value as1 ip. Judgment is due to slip or slip.
- the state of the time change of the angular acceleration a due to mechanical resonance is empirically obtained in advance, and the time from when the angular acceleration a exceeds the threshold as 1 ip to when it reaches a peak is calculated, and based on that time, A threshold value Tc is determined. If the threshold value Tc or less is determined, it is determined that mechanical resonance occurs.If the threshold value Tc is exceeded, it is determined that slippage is caused. I decided to judge.
- the measurement time is less than or equal to the threshold TC, and as a result, the torque limit prohibition flag F0 is set to a value of 1 and the slip occurrence flag F1 is set to a value of 0. It is.
- the torque limit prohibition flag F 0 After time t7, since the torque limit prohibition flag F0 has a value of 1, gripping control is performed, and a time t1 at which a predetermined limit prohibition time has elapsed since the torque limit prohibition flag F0 became a value of 1 At 5, the torque limit prohibition flag F 0 is set to the value 0.
- the CPU 42 of the electronic control unit 40 of the present embodiment corresponds to the angular acceleration detecting means, the slip detecting means, the torque limiting means, the state determining means, and the torque limiting inhibiting means of the present invention. Also, step S206 executed by CPU 42 corresponds to the processing of the angular acceleration detecting means, step S208 corresponds to the processing of the slip detecting means, and control at the time of occurrence of slip in step S234.
- step S 236 corresponds to the processing of the torque limiting means
- step S 228 corresponds to the processing of the state determining means
- the torque limit prohibiting flag F 0 has the value 1
- the process of executing the drip-time control routine in step S212 corresponds to the process of the torque limit prohibiting means.
- CPU 42 also corresponds to the engine vibration detecting means
- step 228 corresponds to the processing of the engine vibration detecting means.
- the drive wheel 18 when a slip is detected based on the angular acceleration ⁇ of the drive shaft connected to the drive wheels 18a and 18b, the drive wheel 18 is controlled to suppress the slip. a, limit the drive torque of 18b.
- the vehicle operating state is in a state in which the angular acceleration ⁇ fluctuates without depending on the slip, specifically, the time until the angular acceleration increases beyond the threshold value s 1 ip and then starts to decrease Is the resonance due to the vibration at the time of starting the engine 1 1 1 1
- the slip is detected based on the angular acceleration, it may be due to a cause other than the slip, so limiting the driving torque of the driving wheels 18a and 18b is prohibited. .
- the limitation is prohibited.However, the angular acceleration ⁇ increases beyond a predetermined threshold value s 1 i ⁇ and then starts to decrease. Since the limitation of the driving torque is prohibited based on the time, even if the driving torque is once limited, the time is short in time. Furthermore, since the slip is detected when the angular acceleration exceeds the threshold value as1 ip, the slip can be detected easily and reliably. Furthermore, since the limitation of the driving torque is prohibited only for the predetermined restriction prohibition time, when a slip occurs after the restriction prohibition period has elapsed, the slip can be suppressed quickly.
- the angular acceleration ⁇ is increased by increasing the variation ⁇ ⁇ ⁇ of the required torque T m * overnight. Fluctuated (first embodiment) and the case where the angular acceleration fluctuated due to the resonance of vibration when the engine 11 started (second embodiment). If the angular acceleration fluctuates without performing the above, the vehicle driving state other than these may be used.
- the electric vehicle 10 has been described.
- the vehicle includes a motor capable of directly outputting power to a drive shaft
- the drive control of the first embodiment may be applied to a vehicle having any configuration.
- the present invention may be applied to the hybrid vehicle 110 of the second embodiment, or may be applied to a hybrid vehicle such as a series type or a parallel type.
- the drive wheels 18a and 18b In limiting the torque command value T * of the motor, the torque of the motor and the engine may be limited, or the torque of the motor and the engine may be limited.
- the hybrid vehicle 110 has been described.
- any configuration may be used as long as the vehicle includes an engine in addition to a motor capable of directly outputting power to a drive shaft.
- the drive control of the second embodiment may be applied to this vehicle.
- the present invention may be applied to a series-type or parallel-type hybrid vehicle.
- the drive torque of the drive wheels 18a and 18b is limited in the slip occurrence control routine and the slip convergence control routine, but the drive torque limitation is particularly limited to these routines. No matter how you go.
- a non-slip upper limit value amaX larger than the threshold value as1i ⁇ is set, and when the torque limit prohibition flag F0 has a value of 1, That is, even when the torque limitation is prohibited, when the angular acceleration ⁇ exceeds the non-slip upper limit value amax, it is determined that a slip has occurred, and the torque limit prohibition flag F 0 may be set to the value 0. .
- the non-slip upper limit value o; m a X may be a value that can be taken only during slip, for example.
- the threshold as 1 i P is set to a value that is too large to take normally while the torque limit prohibition flag F 0 is 1. You may. In this case, since the angular acceleration a does not exceed the threshold value s 1 ip in the slip determination processing (step S 112 ⁇ step S 208), it is not determined that a slip has occurred. Therefore, the torque limiting process is not performed
- the present invention can be used in industries related to vehicles such as the automobile industry.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN03822223XA CN1681680B (zh) | 2002-09-20 | 2003-07-07 | 车辆打滑控制装置、安装有该装置的汽车及其控制方法 |
EP03741241A EP1541406B1 (en) | 2002-09-20 | 2003-07-07 | Slip control device for vehicle, vehicle mounted with the device, and the method of controlling vehicle slip |
US10/528,217 US7377349B2 (en) | 2002-09-20 | 2003-07-07 | Slip control device for vehicle, vehicle mounted with the device, and the method of controlling vehicle slip |
DE60336662T DE60336662D1 (de) | 2002-09-20 | 2003-07-07 | Schlupfregelungsvorrichtung für fahrzeuge, mit der vorrichtung montiertes fahrzeug und verfahren zur regelung des fahrzeugschlupfs |
US11/905,578 US7596444B2 (en) | 2002-09-20 | 2007-10-02 | Vehicle skid control device, automobile with vehicle skid control device mounted thereon, and vehicle skid control method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002275136A JP3772815B2 (ja) | 2002-09-20 | 2002-09-20 | 車両のスリップ制御装置及びその制御方法 |
JP2002-275136 | 2002-09-20 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10528217 A-371-Of-International | 2003-07-07 | ||
US11/905,578 Division US7596444B2 (en) | 2002-09-20 | 2007-10-02 | Vehicle skid control device, automobile with vehicle skid control device mounted thereon, and vehicle skid control method |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004026617A1 true WO2004026617A1 (ja) | 2004-04-01 |
Family
ID=32025024
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/008596 WO2004026617A1 (ja) | 2002-09-20 | 2003-07-07 | 車両のスリップ制御装置、それを搭載した自動車及びその制御方法 |
Country Status (6)
Country | Link |
---|---|
US (2) | US7377349B2 (ja) |
EP (3) | EP1541406B1 (ja) |
JP (1) | JP3772815B2 (ja) |
CN (1) | CN1681680B (ja) |
DE (3) | DE60336691D1 (ja) |
WO (1) | WO2004026617A1 (ja) |
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- 2003-07-07 EP EP03741241A patent/EP1541406B1/en not_active Expired - Lifetime
- 2003-07-07 US US10/528,217 patent/US7377349B2/en not_active Expired - Fee Related
- 2003-07-07 DE DE60336690T patent/DE60336690D1/de not_active Expired - Lifetime
- 2003-07-07 CN CN03822223XA patent/CN1681680B/zh not_active Expired - Fee Related
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- 2003-07-07 DE DE60336662T patent/DE60336662D1/de not_active Expired - Lifetime
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CN105636822A (zh) * | 2013-10-18 | 2016-06-01 | 丰田自动车株式会社 | 车辆控制设备和控制方法 |
CN105636822B (zh) * | 2013-10-18 | 2018-01-23 | 丰田自动车株式会社 | 车辆控制设备和控制方法 |
CN105946826A (zh) * | 2016-05-10 | 2016-09-21 | 南京理工大学 | 无需轮速信息的车辆防滑控制方法、控制系统以及车辆 |
CN111959291A (zh) * | 2020-08-18 | 2020-11-20 | 郑伟伟 | 一种汽车在干性路况的脱困方法与系统 |
CN113060116A (zh) * | 2021-04-19 | 2021-07-02 | 奇瑞商用车(安徽)有限公司 | 一种电动汽车驱动防滑控制方法 |
CN113060116B (zh) * | 2021-04-19 | 2023-05-26 | 奇瑞商用车(安徽)有限公司 | 一种电动汽车驱动防滑控制方法 |
Also Published As
Publication number | Publication date |
---|---|
DE60336662D1 (de) | 2011-05-19 |
JP3772815B2 (ja) | 2006-05-10 |
US20080120006A1 (en) | 2008-05-22 |
EP1829730A3 (en) | 2009-07-01 |
EP1829730B1 (en) | 2011-04-06 |
DE60336691D1 (de) | 2011-05-19 |
EP1829731B1 (en) | 2011-04-06 |
EP1829731A3 (en) | 2009-07-01 |
EP1829730A8 (en) | 2007-12-19 |
DE60336690D1 (de) | 2011-05-19 |
EP1541406A4 (en) | 2006-08-23 |
EP1829731A2 (en) | 2007-09-05 |
US7377349B2 (en) | 2008-05-27 |
CN1681680B (zh) | 2010-05-12 |
EP1541406A1 (en) | 2005-06-15 |
US20050284679A1 (en) | 2005-12-29 |
EP1541406B1 (en) | 2011-04-06 |
JP2004112973A (ja) | 2004-04-08 |
EP1829730A2 (en) | 2007-09-05 |
CN1681680A (zh) | 2005-10-12 |
US7596444B2 (en) | 2009-09-29 |
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