WO2015019399A1 - 車両の制振制御装置 - Google Patents
車両の制振制御装置 Download PDFInfo
- Publication number
- WO2015019399A1 WO2015019399A1 PCT/JP2013/071151 JP2013071151W WO2015019399A1 WO 2015019399 A1 WO2015019399 A1 WO 2015019399A1 JP 2013071151 W JP2013071151 W JP 2013071151W WO 2015019399 A1 WO2015019399 A1 WO 2015019399A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- driving force
- wheel
- vehicle
- force
- control
- Prior art date
Links
- 230000001629 suppression Effects 0.000 title abstract description 9
- 238000013016 damping Methods 0.000 claims description 33
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000000446 fuel Substances 0.000 description 3
- 230000001771 impaired effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000003542 behavioural effect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
-
- 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
- B60W30/02—Control of vehicle driving stability
-
- 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
-
- 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
-
- 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
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1769—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS specially adapted for vehicles having more than one driven axle, e.g. four-wheel drive vehicles
-
- 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
-
- 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
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
-
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
-
- 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
- B60W30/20—Reducing vibrations in the driveline
-
- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
-
- 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
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K2023/085—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated
- B60K2023/0858—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated with electric means, e.g. electro-hydraulic means
-
- 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
- B60L2210/00—Converter types
- B60L2210/40—DC to AC converters
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
-
- 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
- B60L2240/12—Speed
-
- 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
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
- B60L2240/40—Drive Train control parameters
- B60L2240/44—Drive Train control parameters related to combustion engines
- B60L2240/441—Speed
-
- 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
- B60L2240/40—Drive Train control parameters
- B60L2240/44—Drive Train control parameters related to combustion engines
- B60L2240/443—Torque
-
- 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
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
-
- 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
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/463—Torque
-
- 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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
-
- 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
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/40—Torque distribution
- B60W2720/403—Torque distribution between front and rear axle
-
- 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
-
- 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
- Y02T10/64—Electric machine technologies in electromobility
-
- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- 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
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to an apparatus for suppressing vibration of a vehicle, and more particularly to an apparatus for suppressing vibration such as pitching in which the front side and the rear side of the vehicle move up and down by controlling driving torque.
- Japanese Patent Laid-Open No. 2009-273275 describes a vibration damping device for a so-called in-wheel motor vehicle in which a motor is attached to each of the four wheels.
- the vibration damping device detects the bouncing or pitching of the vehicle body based on the stroke amount of the suspension mechanism detected by the sensor or the detection value of the vertical acceleration sensor, and the front wheel driving force necessary to suppress the bouncing or pitching.
- the rear wheel driving force or the ratio of these driving forces is obtained, and the front wheel motor and the rear wheel motor are controlled to achieve the driving force or driving force distribution ratio.
- the device described in this publication is applied to the wheel to be controlled when the driving force for vibration changes between “0”, that is, when the driving force and the braking force are generated alternately.
- a braking force is applied by the brake device, and the driving force by the motor is controlled in that state. This is control for preventing or suppressing driving force control hunting and rattling.
- so-called sprung vibration caused by fluctuations in the driving torque generated by the driving force source is generated. And it can suppress by changing the driving force of a rear wheel.
- a so-called four-wheel drive state in which a driving force is generated at the front wheels and the rear wheels, the running stability, turning performance, running performance on rough roads, and the like are improved.
- power loss increases. Therefore, in a so-called steady driving state where the vehicle travels on a road with a small gradient such as a flat road without particularly accelerating / decelerating, it is driven by either the front wheel or the rear wheel.
- a two-wheel drive state that generates force is widely used.
- control for positively setting the four-wheel drive state is executed. If control of the driving force of the front and rear wheels for suppressing the sprung vibration described above is executed in this four-wheel drive state, torque control for ensuring acceleration force and vehicle stability, and sprung vibration The torque control for suppressing the noise is superimposed. Since these controls have different control objectives and factors (or parameters) that determine the control torque, it is difficult to find the torque that achieves each control objective together. Or vibration control performance may be impaired.
- the present invention has been made against the background of the above circumstances, and an object of the present invention is to provide a vibration suppression control device capable of suppressing an insufficient driving performance of a vehicle.
- the present invention provides a driving force or braking force for the front wheel and the rear wheel for reducing sprung vibration in a four-wheel drive state in which a driving force is generated at the front wheel and the rear wheel.
- the vibration suppression control device is configured to limit control.
- the limitation is that the control amount by the control for reducing the sprung vibration is smaller in the four-wheel drive state than in the two-wheel drive state, or the sprung vibration by controlling the driving force or braking force of the front wheel and the rear wheel is reduced. Any of prohibiting reduction control itself may be sufficient.
- the target vehicle is modeled by an equation of motion, and based on the model, a driving force that attenuates sprung vibration is obtained, and the driving force is converted into a driving force that is obtained based on the requested amount of drive.
- the total driving force may be obtained by addition, and the driving forces of the front wheels and the rear wheels may be obtained based on the total driving force.
- the limitation may be that the gain for obtaining the driving force that attenuates the sprung vibration is smaller in the four-wheel driving state than in the two-wheel driving state.
- the vibration damping control device of the present invention in the four-wheel drive state, the driving force control amount for the front wheels and the rear wheels, which is obtained based on the requested driving amount, is separately added to reduce the sprung vibration.
- the influence of the required driving force control amount is suppressed or prohibited.
- the driving force of the front wheels and the rear wheels based on the required driving amount is achieved, and the driving force is prevented or suppressed from being reduced or excessive, so that the driving performance or traveling performance of the vehicle is improved.
- the four-wheel drive state is executed to stabilize the behavior of the vehicle when a large acceleration is obtained or a tire slip occurs, so that control for reducing sprung vibration is restricted or prohibited.
- the present invention is a device for reducing vibrations such as vehicle pitching and bouncing caused by changes in driving force, and in particular, the driving force or braking force of front wheels and rear wheels is reduced so as to reduce sprung vibrations. It is a device to control. Therefore, the vehicle targeted by the present invention is a vehicle capable of setting a four-wheel drive state in which a driving force is generated between the front wheels and the rear wheels, and in particular, the driving force or the braking force between the front wheels and the rear wheels is mutually set. The vehicle is configured to be controlled independently.
- An example of this type of vehicle is a four-wheel drive vehicle or engine that can distribute the driving force generated by a power source such as an engine to the front wheels and the rear wheels, and the driving force distribution ratio can be changed as appropriate.
- a hybrid vehicle that drives either the front wheels or the rear wheels by the driving force, and drives either the front wheels or the rear wheels by a motor that operates with electric power generated by the power of the engine.
- An example is an in-wheel motor vehicle provided with
- FIG. 4 schematically shows an example of a hybrid vehicle, in which an engine 1 such as a gasoline engine and a motor / generator 2 are connected to a power split mechanism 3.
- the power split mechanism 3 is constituted by a three-element differential mechanism such as a planetary gear mechanism, the input element is connected to the engine 1, the reaction force element is connected to the motor / generator 2, and the output element is a front differential. 4 is connected. Therefore, the motor / generator 2 is driven by the power of the engine 1 to generate electric power, and the output torque of the engine 1 is amplified and output to the front differential 4 by the reaction force torque associated therewith.
- Left and right front wheels 5 are connected to the front differential 4.
- the front wheels 5 are steering wheels and are configured to be steered by a steering mechanism 6.
- a second motor / generator 8 for driving the rear wheel 7 is provided.
- the motor / generator 8 is connected to the rear differential 9, and torque is transmitted from the rear differential 9 to the left and right rear wheels 7. Is configured to do.
- the motor generator 2 on the front wheel 5 side and the motor generator 8 on the rear wheel 7 side are connected to a controller 10 including a battery and an inverter. These motor generators 2 and 8 may be motors.
- the controller 10 charges the battery when any one of the motor generators 2 and 8 functions as a generator, or discharges the battery when any one of the motor generators 2 and 8 functions as a motor. And selection of the motor / generators 2 and 8 to function as a generator or a motor.
- the vehicle that can be the subject of the present invention includes a two-wheel drive state in which a driving force is generated for traveling on the front wheel 5 or the rear wheel 7 and a four-wheel drive state in which a driving force is generated on the front and rear wheels.
- An electronic control unit (ECU) 11 for performing the control is provided.
- the ECU 11 is mainly composed of a microcomputer, performs an operation using input data and data stored in advance, and outputs the result of the operation as a control command signal, for example, to the controller 10 described above. It is configured. If the example of the data input into the ECU11 is given, the accelerator opening Acc corresponding to the required drive amount, the rotational speed of each wheel 5, 7 or the vehicle speed V obtained from the rotational speed will be input into the ECU11. Yes.
- FIG. 1 is a block diagram for explaining the control.
- the control for obtaining the driving torques of the front wheels and the rear wheels based on the required driving amount will be described.
- the required torque based on the accelerator opening Acc and the vehicle speed V will be described. Trq is determined (block B1). Since the torque generated according to the accelerator opening determines the driving performance or driving characteristics of the vehicle, the required torque is determined by design for each vehicle type. Therefore, in block B1, the accelerator opening Acc and the vehicle speed V are determined.
- the required torque may be prepared in advance as a map, for example, and the required torque may be obtained based on the map.
- the engine torque corresponding to the required torque is calculated (block B2). Since the required power can be obtained based on the vehicle speed V and the required torque Trq, and the required power is output by the engine 1 as a power source, the operating point at which the engine 1 outputs the required power with optimum fuel consumption, that is, The rotational speed Ne and the engine torque Te are determined. That is, in block B2, an optimum fuel consumption line for the engine 1 is obtained, an intersection between the required power and the optimum fuel consumption line is obtained on an iso-output diagram using the torque and the rotational speed as parameters, and the rotational speed at the intersection is obtained. And the torque may be the required rotational speed Ne and the required torque Te.
- the engine 1 is controlled to rotate at the required rotational speed Ne and output the required torque Te. This is performed, for example, by controlling the rotation speed by the first motor / generator 2 and controlling the torque by the throttle opening.
- the required torque Trq is the total torque required for the vehicle to travel. Therefore, based on the required torque Trq, the front command torque calculator B3 generates the driving force (driving torque) of the front wheels 5. Further, the driving force (driving torque) of the rear wheel 7 is obtained by the rear command torque calculation unit B4.
- the target vehicle here is a vehicle that can be switched between a two-wheel drive state and a four-wheel drive state, and that can control the driving force distribution ratio of the front and rear wheels in the four-wheel drive state. Switching between these drive states Alternatively, the selection is made based on the traveling state of the vehicle.
- a two-wheel drive state in which driving force is generated only by the front wheels 5 is set. Is greatly increased and a large driving force is required, or when a tire slip occurs in any one wheel, it is switched to the four-wheel driving state, and the driving force distribution ratio is changed to the traveling state. Is controlled accordingly. Accordingly, the front command torque and the rear command torque are determined based on the determination result of the two-wheel drive state and the four-wheel drive state based on the accelerator opening Acc and the tire slip condition for which the wheel speed is required, and the driving force distribution ratio. It is calculated according to.
- the required torque Tmf of the front motor (motor / generator 2 on the front wheel 5 side) and the required torque Tmr of the rear motor (motor / generator 8 on the rear wheel 7 side) are output as control commands. Since a part of the torque output from the engine 1 acts on the front wheels 5, the engine torque Te is subtracted from the torque value obtained by the front command torque in the subtractor B5, and this is the required torque Tmf for the front motor. Is done.
- the vibration damping control device of the present invention is configured to reduce the sprung vibration by controlling the driving force or braking force of the front wheel 5 and the rear wheel 7.
- the sprung mass damping control unit is indicated by a symbol “B6”.
- the sprung mass damping control is configured to be performed using the vehicle model B6-1 as an example, and may be the same control as described in, for example, Japanese Patent Application Laid-Open No. 2010-285144.
- the vehicle model is composed of an equation of motion using an elastic coefficient, an inertial mass (moment of inertia), and a damping coefficient in a driving force transmission system (power train) of the target vehicle, and the above-described required torque Trq.
- the wheel speed (wheel rotation speed) Vw are substituted into the vehicle model, and a coefficient for damping the vibration is obtained by the regulator B6-2.
- the sprung mass damping control unit B6 is input with the torque values obtained by the above-described Freon command torque calculation unit B3 and rear command torque calculation unit B4, respectively, and the torque value and the required torque Trq.
- a control value (control torque) for reducing sprung vibration is determined by the deviation from the torque value determined based on the wheel speed Vw and the predetermined gain B6-3.
- This determination unit B6-4 is a part for determining whether to execute sprung mass damping control or to perform restriction including prohibition, and specifically, a predetermined restriction condition or prohibition condition is satisfied. If the condition is established, the sprung mass damping control is limited or prohibited. Specifically, the restriction condition or prohibition condition is that the four-wheel drive state is selected or established. If the four-wheel drive state is the prohibition condition, the restriction condition or prohibition condition is obtained by the sprung mass damping control unit B6. The specified control value is not output. When the four-wheel drive state is the limiting condition, the control value obtained by the sprung mass damping control unit B6 is limited to a small value and output.
- the control value can be limited, for example, by changing the gain B6-3 to a small value.
- the degree of the decrease is such that the driving force distribution ratio between the front wheels 5 and the rear wheels 7 is “50:50”. It suffices to set the value to be smaller in accordance with the command value output from the sprung mass damping control unit B6.
- the determination of “execution” is established when the two-wheel drive state is selected, and the control amount for reducing the sprung vibration obtained by the sprung mass damping control unit B6 is output as it is.
- the control amount for reducing the sprung vibration obtained in this way is added by the adder B7 to the total torque value obtained in the block B1 described above. That is, the torque is added to the torque before being distributed to the required torques Tmf and Tmr of the front wheels 5 and the rear wheels 7 by the front command torque calculation unit B4 and the rear command torque calculation unit B5. This is to facilitate control.
- FIG. 2 is a flowchart showing an example of control for restricting sprung mass damping control due to the four-wheel drive state, and this routine is repeatedly executed every predetermined short time while the vehicle is traveling.
- step S1 it is determined whether or not the vehicle is in a four-wheel drive state (4WD) (step S1). Since either the two-wheel drive state or the four-wheel drive state is selected based on the accelerator opening degree Acc or the wheel rotational speed input to the ECU 11 described above, the determination in step S1 is made based on the selected drive state. Can be done on the basis. If the negative determination is made in step S1 due to the two-wheel drive state, a normal control gain set in advance as a value used in the two-wheel drive state is employed (step S2).
- step S3 the control gain for obtaining the control amount for reducing sprung vibration is changed (step S3).
- This is a control for avoiding or suppressing that the driving force required based on the requested amount of drive is greatly changed by the sprung mass damping control, thereby impairing the running performance or power performance of the vehicle. . Therefore, the control gain is changed so that the control amount of the driving force by the sprung mass damping control becomes small.
- the contents or degree of the change can be determined in advance by experiments or simulations for each vehicle or vehicle type.
- FIG. 3 is a flowchart showing an example of control for prohibiting sprung mass damping control due to the four-wheel drive state, and this routine is repeatedly executed every predetermined short time while the vehicle is running.
- step S11 it is determined whether or not the vehicle is in a four-wheel drive state (4WD) (step S11). This is a determination step similar to step S1 described above. If it is determined negative in step S11 due to the two-wheel drive state, sprung mass damping control is executed as usual (step S12). On the other hand, if a positive determination is made in step S11 because the four-wheel drive state is selected, control for reducing sprung vibration is prohibited (step S13). In other words, the driving force obtained based on the requested driving amount is not changed to a small value or a large value, and the driving force corresponding to the acceleration request or the behavior stabilization request is generated at the front wheels 5 and the rear wheels 7.
- the sprung mass damping control is executed as assumed in the design, the sprung vibration is reduced, and the vehicle behavior is stabilized. Or, ride comfort will be better.
- the driving force of the front wheel 5 or the rear wheel 7 obtained based on the required drive amount is applied to the sprung vibration. Since it is prohibited or suppressed to be changed for the purpose of reducing vehicle power, vehicle power performance or behavioral stability is improved.
- the control amount (torque) for sprung mass damping is added to the total torque described above, and thereafter, the required torque of the front wheels 5 and the rear wheels 7 is obtained based on the torque distribution ratio.
- the added control amount for the sprung mass damping is suppressed to a small value or addition is prohibited, so that the vehicle behavior stability in the four-wheel drive state is improved.
- the torque for sprung mass damping is the torque. Based on the distribution ratio, the wheel is distributed to the front wheel 5 and the rear wheel 7.
- the driving force of the front wheel 5 and the rear wheel 7 and the timing of the occurrence thereof are factors.
- the driving force may not necessarily be suitable for stabilizing the behavior in the state where the driving request is generated.
- the control amount for sprung mass damping in the four-wheel drive state is suppressed or prohibited, so that the front wheels 5 and the rear wheels 7 are controlled by the four-wheel drive control. Factors that cause so-called disturbance with respect to the driving torque are reduced, and the stability of behavior can be improved.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
- Hybrid Electric Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (5)
- 前輪の駆動力および制動力と後輪の駆動力および制動力とを、走行状態を表す駆動要求量を含む複数のデータに基づいて個別に制御する車両におけるバネ上振動を、前記前輪の駆動力および制動力と後輪の駆動力および制動力との少なくともいずれか一つを制御して低減するように構成された車両の制振制御装置において、
前記走行状態を表す駆動要求量を含む複数のデータに基づいて前記前輪の駆動力と前記後輪の駆動力とを制御している四輪駆動状態では、前記バネ上振動を低減するための前記前輪の駆動力および制動力と後輪の駆動力および制動力との制御を制限するように構成されていることを特徴とする車両の制振制御装置。 - 前記制限は、前記四輪駆動状態において前記バネ上振動を低減するように求められた前記前輪および後輪の駆動力もしくは制動力の制御量を、前記前輪と後輪とのいずれか一方で駆動力を発生させている二輪駆動状態において前記バネ上振動を低減するように求められた前記前輪および後輪の駆動力もしくは制動力の制御量よりも小さい制御量に制限することを含むことを特徴とする請求項1に記載の車両の制振制御装置。
- 前記制限は、前記四輪駆動状態において前記バネ上振動を低減するように求められた前記前輪および後輪の駆動力もしくは制動力の制御量による前記駆動力もしくは制動力の制御を禁止することを含むことを特徴とする請求項1に記載の車両の制振制御装置。
- 前記車両における駆動力の伝達経路の弾性係数および慣性質量ならびに振動減衰係数を含む運動方程式からなる車両モデルを利用してバネ上振動を減衰させる駆動力を発生するよう求め、その駆動力を、前記駆動要求量に基づいて求められた駆動力に加算して総駆動力を求め、その総駆動力から前記前輪の駆動力および前記後輪の駆動力とを求めるように構成されていることを特徴とする請求項2に記載の車両の制振制御装置。
- 前記制限は、前記バネ上振動を減衰させる前記駆動力を求める際のゲインの値を、前記四輪駆動状態で、前記二輪駆動状態におけるよりも小さくすることを特徴とする請求項4に記載の車両の制振制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2013/071151 WO2015019399A1 (ja) | 2013-08-05 | 2013-08-05 | 車両の制振制御装置 |
JP2015530566A JPWO2015019399A1 (ja) | 2013-08-05 | 2013-08-05 | 車両の制振制御装置 |
US14/906,039 US20160144855A1 (en) | 2013-08-05 | 2013-08-05 | Vibration damping control system for vehicle |
CN201380078728.XA CN105452041A (zh) | 2013-08-05 | 2013-08-05 | 车辆的减振控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2013/071151 WO2015019399A1 (ja) | 2013-08-05 | 2013-08-05 | 車両の制振制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015019399A1 true WO2015019399A1 (ja) | 2015-02-12 |
Family
ID=52460772
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2013/071151 WO2015019399A1 (ja) | 2013-08-05 | 2013-08-05 | 車両の制振制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20160144855A1 (ja) |
JP (1) | JPWO2015019399A1 (ja) |
CN (1) | CN105452041A (ja) |
WO (1) | WO2015019399A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPWO2015019399A1 (ja) * | 2013-08-05 | 2017-03-02 | トヨタ自動車株式会社 | 車両の制振制御装置 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11376955B2 (en) * | 2019-08-29 | 2022-07-05 | Kawasaki Motors, Ltd. | Utility vehicle |
JP7196801B2 (ja) * | 2019-09-09 | 2022-12-27 | トヨタ自動車株式会社 | 電動車両 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004106649A (ja) * | 2002-09-17 | 2004-04-08 | Fuji Heavy Ind Ltd | 4輪駆動車の動力配分制御装置 |
JP2010132254A (ja) * | 2008-10-31 | 2010-06-17 | Toyota Motor Corp | 車両のバネ上制振制御装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4515201B2 (ja) * | 2004-09-06 | 2010-07-28 | 株式会社デンソー | 車両安定化制御システム |
CN102514462B (zh) * | 2006-10-19 | 2014-04-09 | 丰田自动车株式会社 | 车辆的减振控制装置 |
JP2009173089A (ja) * | 2008-01-22 | 2009-08-06 | Toyota Motor Corp | 車両の制御装置 |
JP5278373B2 (ja) * | 2010-02-03 | 2013-09-04 | トヨタ自動車株式会社 | 車両の制振制御装置 |
CN105452041A (zh) * | 2013-08-05 | 2016-03-30 | 丰田自动车株式会社 | 车辆的减振控制装置 |
-
2013
- 2013-08-05 CN CN201380078728.XA patent/CN105452041A/zh active Pending
- 2013-08-05 US US14/906,039 patent/US20160144855A1/en not_active Abandoned
- 2013-08-05 JP JP2015530566A patent/JPWO2015019399A1/ja active Pending
- 2013-08-05 WO PCT/JP2013/071151 patent/WO2015019399A1/ja active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004106649A (ja) * | 2002-09-17 | 2004-04-08 | Fuji Heavy Ind Ltd | 4輪駆動車の動力配分制御装置 |
JP2010132254A (ja) * | 2008-10-31 | 2010-06-17 | Toyota Motor Corp | 車両のバネ上制振制御装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPWO2015019399A1 (ja) * | 2013-08-05 | 2017-03-02 | トヨタ自動車株式会社 | 車両の制振制御装置 |
Also Published As
Publication number | Publication date |
---|---|
CN105452041A (zh) | 2016-03-30 |
JPWO2015019399A1 (ja) | 2017-03-02 |
US20160144855A1 (en) | 2016-05-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4197013B2 (ja) | ハイブリッド車両の制御装置 | |
CN107848526B (zh) | 车辆转弯控制装置 | |
JP5696405B2 (ja) | 車体制振制御装置 | |
JP6616158B2 (ja) | スリップ制御装置 | |
CN107848527B (zh) | 车辆转弯控制装置 | |
JP2018039346A (ja) | 車両の旋回制御装置 | |
JP2006060936A (ja) | 車両挙動制御システム | |
JP2011246079A (ja) | 車両の制振制御装置 | |
JP2011246080A (ja) | 車両の制振制御装置 | |
JP2015192471A (ja) | 車両運動制御装置 | |
JP2014144681A (ja) | 車両用駆動力制御装置 | |
JP2011236810A (ja) | 車両の駆動力制御装置 | |
WO2015019399A1 (ja) | 車両の制振制御装置 | |
JP2009298266A (ja) | 車両の制御装置 | |
JP5679067B2 (ja) | 車両制御装置 | |
JP2015105043A (ja) | 車両の車体振動制御装置 | |
JP2012051395A (ja) | 車両の制御装置 | |
JP2009241818A (ja) | 車両の駆動力制御装置 | |
JP7540659B2 (ja) | 車両制御装置 | |
JP2008273289A (ja) | ハイブリッド車の制御装置 | |
WO2016125686A1 (ja) | 車両の制駆動トルク制御装置 | |
JP2014024547A (ja) | 車両の制御装置 | |
JP2011218953A (ja) | 駆動力制御装置 | |
JP5273011B2 (ja) | 振動抑制装置、振動抑制方法、およびプログラム | |
JP6664885B2 (ja) | 車両の制駆動トルク制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201380078728.X Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 13891092 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2015530566 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14906039 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 13891092 Country of ref document: EP Kind code of ref document: A1 |