WO2016120978A1 - 電動車両の制御装置および電動車両の制御方法 - Google Patents
電動車両の制御装置および電動車両の制御方法 Download PDFInfo
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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
-
- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
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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
- B60L15/2009—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 for braking
-
- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/22—Dynamic electric resistor braking, combined with dynamic electric regenerative braking
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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
- B60L2240/12—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
- 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
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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
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- B60L2250/26—Driver interactions by pedal actuation
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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
- B60L2250/00—Driver interactions
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- B60L2250/28—Accelerator pedal thresholds
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- 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
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- B60Y2200/00—Type of vehicle
- B60Y2200/90—Vehicles comprising electric prime movers
- B60Y2200/91—Electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/303—Speed sensors
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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
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to an electric vehicle control device and an electric vehicle control method.
- a regenerative brake control device for an electric vehicle that is provided with setting means that can arbitrarily set a regenerative braking force of an electric motor, and regenerates the electric motor with a regenerative braking force set by the setting means (see JP8-79907A). ).
- An object of the present invention is to provide a technique for suppressing the occurrence of vibration in the front-rear direction of the vehicle body when the electric vehicle is stopped with a regenerative braking force.
- a vehicle control device is a control device for an electric vehicle that uses a motor as a travel drive source and decelerates by the regenerative braking force of the motor, detects an accelerator operation amount, and controls the travel speed of the electric vehicle.
- a proportional speed parameter is detected, and a speed parameter estimated value is estimated according to the state of the electric vehicle.
- a resistance component not related to the gradient is detected or estimated from the vehicle state, and the speed parameter estimated value is corrected according to the resistance component.
- a feedback torque for stopping the electric vehicle is calculated based on the speed parameter, and a feed forward torque for compensating the feedback torque is calculated based on the corrected speed parameter estimated value.
- a motor torque command value is calculated, and the motor is controlled based on the calculated motor torque command value.
- the motor torque command value converges to zero based on the feedback torque and the feed forward torque as the traveling speed decreases when the accelerator operation amount is equal to or less than a predetermined value and the electric vehicle is about to stop.
- FIG. 1 is a block diagram illustrating a main configuration of an electric vehicle including a control device for an electric vehicle according to the first embodiment.
- FIG. 2 is a flow of a process of motor current control performed by a motor controller provided in the control device for the electric vehicle according to the first embodiment.
- FIG. 3 is a diagram showing an example of an accelerator opening-torque table.
- FIG. 4 is a diagram modeling a vehicle driving force transmission system.
- FIG. 5 is a diagram modeling a vehicle driving force transmission system.
- FIG. 6 is a block diagram for realizing the stop control process.
- FIG. 7 is a block diagram for explaining a method of calculating an estimated motor rotation speed value using a feedforward compensator (addition of a response adjustment filter).
- FIG. 1 is a block diagram illustrating a main configuration of an electric vehicle including a control device for an electric vehicle according to the first embodiment.
- FIG. 2 is a flow of a process of motor current control performed by a motor controller provided in the control device for the
- FIG. 8 is a diagram for explaining a method of calculating the F / B torque based on the motor rotation speed.
- FIG. 9 is a diagram for explaining a method of calculating the F / F torque based on the estimated motor rotation speed value.
- FIG. 10 is a diagram for explaining a method of calculating a disturbance torque estimated value.
- FIG. 11 is a diagram for explaining a method for calculating a stop-decision torque based on the motor rotation speed and the estimated disturbance torque.
- FIG. 12 is a diagram for explaining a method of calculating a motor rotation speed correction value in the control apparatus for an electric vehicle according to the first embodiment.
- FIG. 13 is a diagram illustrating an example of a control result by the control device for the electric vehicle according to the first embodiment.
- FIG. 14 is a diagram illustrating an example of a control result according to the comparative example.
- FIG. 15 is a flow of a process of motor current control performed by a motor controller included in the control device for an electric vehicle according to the second embodiment.
- FIG. 16 is a block diagram of stop control processing in the control apparatus for an electric vehicle according to the second embodiment.
- FIG. 17 is a block diagram of vibration suppression control processing in the control apparatus for an electric vehicle according to the second embodiment.
- FIG. 18 is a block diagram showing details of vibration suppression control processing in the control apparatus for an electric vehicle according to the second embodiment.
- FIG. 19 is a diagram for explaining a method for calculating an estimated disturbance torque in the control apparatus for an electric vehicle according to the second embodiment.
- FIG. 20 is a diagram for explaining a method of calculating a motor rotation speed correction value in the control apparatus for an electric vehicle according to the second embodiment.
- FIG. 21 is a diagram for explaining a method of calculating a vibration suppression control torque estimated value in the control apparatus for an electric vehicle according to the second embodiment.
- FIG. 1 is a block diagram illustrating a main configuration of an electric vehicle including a control device for an electric vehicle according to the first embodiment.
- the control device for an electric vehicle according to the present invention is applicable to an electric vehicle that includes the electric motor 4 as a part or all of the drive source of the vehicle and can travel by the driving force of the electric motor.
- Electric vehicles include not only electric vehicles but also hybrid vehicles and fuel cell vehicles.
- the control device for an electric vehicle in the present embodiment can be applied to a vehicle that can control acceleration / deceleration and stop of the vehicle only by operating an accelerator pedal.
- the driver depresses the accelerator pedal at the time of acceleration and reduces the amount of depression of the accelerator pedal that is depressed at the time of deceleration or stop, or sets the depression amount of the accelerator pedal to zero.
- the vehicle may approach a stop state while depressing the accelerator pedal to prevent the vehicle from moving backward.
- the motor controller 2 inputs signals indicating the vehicle state such as the vehicle speed V, the accelerator opening AP, the rotor phase ⁇ of the electric motor (three-phase AC motor) 4, the currents iu, iv, iw of the electric motor 4 as digital signals. Then, a PWM signal for controlling the electric motor 4 is generated based on the input signal. The motor controller 2 controls opening and closing of the switching element of the inverter 3 by the generated PWM signal.
- the motor controller 2 includes a motor rotation speed estimation unit that calculates a motor rotation speed estimation value, which will be described later, a motor rotation speed estimation value correction unit that corrects the motor rotation speed estimation value based on a brake braking amount, which will be described later; Feedback torque calculating means for calculating feedback torque to be performed, feed forward torque calculating means for calculating feed forward torque described later, motor torque command value calculating means for calculating motor torque command value described later, and motor torque command value
- the motor control means for controlling the electric motor 4 and the function as disturbance torque estimation means for estimating the disturbance torque described later.
- the inverter 3 converts the direct current supplied from the battery 1 into alternating current, for example, by turning on / off two switching elements (for example, power semiconductor elements such as IGBT and MOS-FET) for each phase. Then, a desired current is passed through the electric motor 4.
- switching elements for example, power semiconductor elements such as IGBT and MOS-FET
- the electric motor 4 generates a driving force by the alternating current supplied from the inverter 3, and transmits the driving force to the left and right driving wheels 9 a and 9 b via the speed reducer 5 and the drive shaft 8.
- the electric motor 4 collects the kinetic energy of the vehicle as electric energy by generating a regenerative driving force when the electric motor 4 rotates with the drive wheels 9a and 9b and rotates when the vehicle is traveling.
- the inverter 3 converts an alternating current generated during the regenerative operation of the electric motor 4 into a direct current and supplies the direct current to the battery 1.
- the current sensor 7 detects the three-phase alternating currents iu, iv, iw flowing through the electric motor 4. However, since the sum of the three-phase alternating currents iu, iv, and iw is 0, any two-phase current may be detected, and the remaining one-phase current may be obtained by calculation.
- the rotation sensor 6 functions as a vehicle speed detection unit that detects a motor rotation speed as a speed parameter, and is, for example, a resolver or an encoder, and detects a rotor phase ⁇ of the electric motor 4.
- the brake controller 11 sets the brake braking amount B according to the depression amount of the brake pedal 10, and controls the brake fluid pressure according to the brake braking amount B.
- the hydraulic pressure sensor 12 acquires the brake braking amount B by detecting the brake hydraulic pressure, and outputs the acquired brake braking amount B to the motor controller 2. That is, the hydraulic pressure sensor 12 functions as a means for detecting the brake braking amount as a resistance component not related to the gradient.
- the friction brake 13 raises the brake fluid pressure according to the brake braking amount B, thereby pressing the brake pad against the rotor and generating a braking force on the vehicle.
- FIG. 2 is a flowchart showing a flow of processing of motor current control performed by the motor controller 2.
- step S201 a signal indicating the vehicle state is input.
- the vehicle speed V (km / h), the accelerator opening AP (%), the rotor phase ⁇ (rad) of the electric motor 4, the rotational speed Nm (rpm) of the electric motor 4, and the three-phase AC flowing through the electric motor 4 The currents iu, iv, iw, the DC voltage value Vdc (V) between the battery 1 and the inverter 3 and the brake braking amount B are input.
- the vehicle speed V (km / h) is acquired by communication from a vehicle speed sensor (not shown) or another controller.
- the rotor mechanical angular speed ⁇ m is multiplied by the tire dynamic radius R, and the vehicle speed v (m / s) is obtained by dividing by the gear ratio of the final gear, and unit conversion is performed by multiplying by 3600/1000 to obtain the vehicle speed.
- V (km / h) is obtained.
- Accelerator opening AP (%) is acquired from an accelerator opening (not shown), or is acquired by communication from another controller such as a vehicle controller (not shown).
- the rotor phase ⁇ (rad) of the electric motor 4 is acquired from the rotation sensor 6.
- the rotational speed Nm (rpm) of the electric motor 4 is obtained by dividing the rotor angular speed ⁇ (electrical angle) by the pole pair number p of the electric motor 4 to obtain a motor rotational speed ⁇ m (rad / s) (speed parameter) is obtained, and obtained by multiplying the obtained motor rotational speed ⁇ m by 60 / (2 ⁇ ).
- the rotor angular velocity ⁇ is obtained by differentiating the rotor phase ⁇ .
- the currents iu, iv, iw (A) flowing through the electric motor 4 are acquired from the current sensor 7.
- the DC voltage value Vdc (V) is obtained from a voltage sensor (not shown) provided on a DC power supply line between the battery 1 and the inverter 3 or a power supply voltage value transmitted from a battery controller (not shown).
- the brake braking amount B is acquired from the hydraulic pressure sensor 12 that detects the brake hydraulic pressure.
- a value of a stroke sensor or the like (not shown) that detects the brake operation amount of the driver may be used.
- the brake command value may be acquired by communication from a vehicle controller (not shown) or another controller to obtain the brake braking amount B.
- a first torque target value Tm1 * is set.
- the first torque target value Tm1 * is set by referring to the accelerator opening-torque table shown in FIG. 3 based on the accelerator opening AP and the motor rotational speed ⁇ m input in step S201.
- the control device for an electric vehicle is applicable to a vehicle that can control acceleration / deceleration or stop of the vehicle only by operating the accelerator pedal, and at least the accelerator pedal is fully closed.
- the motor torque is set so that the motor regeneration amount becomes large when the accelerator opening is 0 (fully closed).
- the negative motor torque is set so that the regenerative braking force works when the motor speed is positive and at least when the accelerator opening is 0 (fully closed).
- the accelerator opening-torque table is not limited to that shown in FIG.
- step S203 stop control processing is performed. Specifically, the stop time of the electric vehicle is determined, and before the stop time, the first torque target value Tm1 * calculated in step S202 is set as the motor torque command value Tm * . After the stop, the second torque target value Tm2 * that converges to the disturbance torque command value Td as the motor rotational speed decreases is set as the motor torque command value Tm * .
- the second torque target value Tm2 * is positive torque on an uphill road, negative torque on a downhill road, and almost zero on a flat road. Thereby, the stop state can be maintained regardless of the gradient of the road surface, as will be described later. Details of the stop control process will be described later.
- step S204 the d-axis current target value id * and the q-axis current target value iq * are obtained based on the motor torque target value Tm * , the motor rotation speed ⁇ m, and the DC voltage value Vdc calculated in step S203. For example, by preparing in advance a table that determines the relationship between the torque command value, the motor rotation speed, and the DC voltage value, the d-axis current target value, and the q-axis current target value, and referring to this table, The d-axis current target value id * and the q-axis current target value iq * are obtained.
- step S205 current control is performed to match the d-axis current id and the q-axis current iq with the d-axis current target value id * and the q-axis current target value iq * obtained in step S204, respectively. For this reason, first, the d-axis current id and the q-axis current iq are obtained based on the three-phase AC current values iu, iv, iw input in step S201 and the rotor phase ⁇ of the electric motor 4.
- d-axis and q-axis voltage command values vd and vq are calculated from a deviation between the d-axis and q-axis current command values id * and iq * and the d-axis and q-axis current id and iq.
- a non-interference voltage necessary for canceling the interference voltage between the dq orthogonal coordinate axes may be added to the calculated d-axis and q-axis voltage command values vd and vq.
- the PWM signal tu (%) from the three-phase AC voltage command values vu, vv and vw and the current voltage value Vdc. , Tv (%), tw (%).
- the electric motor 4 can be driven with a desired torque indicated by the torque command value Tm * by opening and closing the switching element of the inverter 3 by the PWM signals tu, tv, and tw thus obtained.
- FIGS. 4 and 5 are diagrams in which a driving force transmission system of a vehicle is modeled, and parameters in the figure are as follows.
- Jm Electric motor inertia
- Jw Drive wheel inertia
- M Vehicle mass
- KD Torsional rigidity of drive system
- Kt Coefficient of friction between tire and road surface
- N Overall gear ratio
- r Tire excess radius
- ⁇ m Electric motor angular velocity
- Tm Torque target value
- Tm * TD Drive wheel torque
- F Force applied to the vehicle
- V Speed of vehicle
- ⁇ w Angular speed of driving wheel
- each parameter in Formula (6) is represented by the following Formula (7).
- Brake braking amount B is a braking force applied to the vehicle, and an equation of motion represented by the following equation (11) can be derived from FIGS.
- the transfer characteristic Gb (s) from the brake braking amount B to the motor rotational speed ⁇ m is obtained as follows: It is represented by Formula (12).
- FIG. 6 is a block diagram for realizing the stop control process.
- a feedforward compensator (hereinafter referred to as F / F compensator) 501 calculates a motor rotation speed estimated value based on the acquired brake braking amount B. Details of the F / F compensator 501 will be described below with reference to FIGS.
- FIG. 7 is a diagram for explaining a method of calculating the estimated motor rotation speed according to the state of the electric vehicle.
- the brake torque estimator 601 Based on the brake braking amount B, the brake torque estimator 601 calculates a motor rotation speed correction value for correcting the motor rotation speed estimation value. Details of the brake torque estimator 601 are shown in FIG.
- FIG. 12 is a diagram for explaining a method of calculating the motor rotation speed correction value according to the brake braking amount B.
- the control block 1201 calculates the motor rotation speed correction value by applying the process of the transfer characteristic Gb (s) expressed by the above equation (12) to the brake braking amount B.
- the braking force by the brake acts in the direction in which the motor rotation converges to 0 rpm during both forward and reverse travel. Therefore, the motor rotation speed correction value is calculated so as to act in the direction in which the motor rotation converges to 0 rpm according to the sign of the vehicle longitudinal speed.
- the sign of the motor rotation speed correction value in this embodiment is negative when the vehicle is moving forward and positive when the vehicle is moving backward.
- the motor rotation speed correction value is output to the adder 602 shown in FIG.
- the adder 602 adds the motor rotation speed correction value calculated by the brake torque estimator 601 to the motor rotation speed estimation value to correct the motor rotation speed estimation value. Then, the corrected motor rotation speed estimated value is output to the control block 603.
- the motor torque estimation unit 603 multiplies the corrected motor rotation speed estimated value output from the adder 602 by a predetermined gain (hereinafter referred to as total gain) Kvref (Kvref ⁇ 0) to obtain the motor torque estimated value. calculate.
- the total gain Kvref is a predetermined value for smoothly stopping the electric vehicle while suppressing the extension of the braking distance, and is appropriately set based on, for example, experimental data.
- the motor rotation speed estimation unit 604 converts the motor torque estimation value into the motor rotation speed estimation value based on the vehicle model Gp (s) shown in the equation (6).
- the simplified vehicle model Gp ′′ (s) represented by Expression (10) is used instead of the vehicle model Gp (s).
- the motor rotation speed estimation unit 604 inputs the motor torque estimation value calculated by the motor torque estimation unit 603 to the vehicle simple model Gp ′′ (s), thereby rotating the motor based on the vehicle simple model Gp ′′ (s). Calculate a speed estimate. Then, the motor rotation speed estimation unit 604 outputs a motor rotation speed estimation value based on the vehicle simple model Gp ′′ (s) to the adder 602 and the low-pass filter 605.
- the motor rotation speed estimation unit 604 is a simple vehicle model Gp ′′ (s). Is initialized based on the current motor rotation speed ⁇ m.
- the vehicle simple model Gp ′′ (s) is composed of constants a 1 ′ and b 0 ′ uniquely determined by the design value of the vehicle and an integrator.
- the vehicle simple model Gp ′′ (s) is initialized by setting the initial value of the integrator described above to the motor rotation speed ⁇ m.
- an error occurs between the command value or sensor value and the braking force that actually acts on the vehicle due to a change in the friction coefficient ( ⁇ ) of the brake pad. Therefore, by initializing as described above, errors that occur during brake braking are canceled.
- the low-pass filter 605 is a low-pass filter having a transfer characteristic Hc (s) set to complement the vehicle simple model Gp ′′ (s).
- the motor rotation speed estimation value calculated by the motor rotation speed estimation unit 604 is subjected to a response adjustment by filtering the transfer characteristic Hc (s).
- the transfer characteristic Hc (s) is set based on simulation or experimental data. Specifically, the convergence of the motor rotational speed ⁇ m and the convergence of the estimated motor rotational speed input to the F / F torque setter 503 are made equal in a state where the total gain Kvref is smaller than zero. The time constant of the transfer characteristic Hc (s) is adjusted.
- the low-pass filter process is performed on the estimated motor rotational speed input to the F / F torque setting unit 503, the deviation of the response characteristic due to the use of the vehicle simple model Gp ′′ (s) is corrected. .
- a feedback torque setting device (hereinafter referred to as F / B torque setting device) 502 shown in FIG. 6 calculates F / B torque based on the detected motor rotation speed ⁇ m. Details will be described with reference to FIG.
- FIG. 8 is a diagram for explaining a method of calculating the F / B torque based on the motor rotation speed ⁇ m.
- the F / B torque setting unit 502 includes a multiplier 701 that converts the motor rotation speed ⁇ m into F / B torque.
- the multiplier 701 includes a total gain multiplier 710 and a distribution coefficient multiplier 720, and uses an F / B gain K1 (Kvref ⁇ ⁇ ) determined to distribute the regenerative braking force of the electric motor 4 as a motor rotational speed ⁇ m.
- F / B torque is calculated by multiplying.
- the F / B gain K1 is set so as to weaken the regenerative braking force as compared with the total gain Kvrerf. That is, the F / B gain K1 is set to a value smaller than zero and larger than the total gain Kvref.
- the total gain multiplier 710 calculates the F / B total torque by multiplying the motor rotational speed ⁇ m by the total gain Kvref.
- the distribution coefficient multiplier 720 calculates the F / B torque by multiplying the F / B total torque by the distribution coefficient ⁇ . However, the distribution coefficient ⁇ is larger than “0” and smaller than “1”. The distribution coefficient ⁇ is set based on simulation or experimental data.
- the multiplier 701 can reduce the F / B torque so that the regenerative braking force is reduced by using the value obtained by multiplying the total gain Kvref by the distribution coefficient ⁇ as the F / B gain K1. Further, since the F / B torque is calculated by multiplying the motor rotation speed ⁇ m by the F / B gain K1, the F / B torque is set as a torque that can obtain a large regenerative braking force as the motor rotation speed ⁇ m increases.
- the F / F torque setting unit 503 calculates F / F torque based on the estimated motor rotation speed calculated by the F / F compensator 501.
- the shortage of the regenerative braking force due to the F / B torque is compensated by the F / F torque just before stopping.
- FIG. 9 is a diagram for explaining a method for calculating the F / F torque based on the estimated motor rotation speed value.
- the F / F torque setting unit 503 includes a multiplier 801 that converts the estimated motor rotation speed value into F / F torque.
- the multiplier 801 calculates the F / F torque by multiplying the estimated motor rotation speed by the F / F gain K2 set according to the F / B gain K1.
- the multiplier 801 includes a total gain multiplier 810 and a distribution coefficient multiplier 820.
- the total gain multiplier 810 calculates the F / F total torque by multiplying the estimated motor rotation speed by the total gain Kvref.
- the distribution coefficient multiplier 820 calculates the F / F torque by multiplying the F / F total torque by the distribution coefficient (1- ⁇ ). However, since the distribution coefficient ⁇ is larger than “0” and smaller than “1” as described in FIG. 8, the distribution coefficient (1 ⁇ ) is larger than “0” and smaller than “1”. Value.
- the multiplier 801 uses the value obtained by multiplying the total gain Kvref by the distribution coefficient (1- ⁇ ) as the F / F gain K2, thereby reducing the F / B torque by the F / B torque setting unit 502. Can be assigned to the F / F torque. Further, since the F / F torque is calculated by multiplying the estimated motor rotational speed by the F / F gain K2, the larger the estimated motor rotational speed, the more the F / F torque is obtained as a torque that provides a large regenerative braking force. Is set.
- FIG. 10 shows details of the disturbance torque estimator 504, and is a block diagram for calculating the disturbance torque estimated value Td based on the motor rotation speed ⁇ m and the motor torque command value Tm *.
- the disturbance torque estimator 504 calculates a disturbance torque estimated value Td based on the detected motor rotation speed ⁇ m and the motor torque command value Tm *.
- the control block 901 functions as a filter having a transfer characteristic of H (s) / Gp (s), and performs the filtering process by inputting the motor rotation speed ⁇ m, whereby the first motor torque estimated value is obtained. Is calculated.
- Gp (s) is a vehicle model of transmission characteristics of torque input to the vehicle and the rotational speed of the motor
- H (s) is the difference between the denominator order and the numerator order and the denominator order of the model Gp (s). It is a low-pass filter having a transfer characteristic that is greater than or equal to the difference from the molecular order.
- the control block 902 functions as a low-pass filter having a transfer characteristic of H (s), and calculates a second motor torque estimated value by inputting a motor torque command value Tm * and performing a filtering process. To do.
- resistance not related to the gradient such as braking amount, air resistance, rolling resistance, and turning resistance, may be taken into consideration.
- the subtractor 903 calculates the disturbance torque estimated value Td by subtracting the first motor torque estimated value from the second motor torque estimated value.
- the disturbance torque in this embodiment is estimated by a disturbance observer as shown in FIG. 10, but may be estimated using a measuring instrument such as a vehicle front-rear G sensor.
- disturbances include air resistance, modeling errors due to vehicle mass fluctuations due to the number of passengers and loading capacity, tire rolling resistance, road surface gradient resistance, etc., but disturbances that are dominant immediately before stopping
- the factor is gradient resistance.
- the disturbance torque estimator 504 calculates the disturbance torque estimated value Td based on the motor torque command value Tm * , the motor rotation speed ⁇ m, and the vehicle model Gp (s). Factors can be estimated collectively. This makes it possible to realize a smooth stop from deceleration under any driving condition. However, since the disturbance torque on the flat road is almost zero as described above, the motor torque command value Tm * is converged to zero without calculating the disturbance torque estimated value Td immediately before stopping on the flat road. May be.
- the adder 505 adds the F / B torque calculated by the F / B torque setter 502 and the F / F torque calculated by the F / F torque setter 503 to add the motor rotation speed F / B. Torque T ⁇ is calculated.
- the adder 506 adds the motor rotational speed F / B torque T ⁇ calculated by the adder 505 and the disturbance torque estimation value Td calculated by the disturbance torque estimator 504, thereby adding a second torque target value Tm2. * Is calculated.
- the stop-right determination torque setting unit 507 calculates a stop-right determination torque based on the detected motor rotation speed ⁇ m and the disturbance torque estimated value Td.
- FIG. 11 is a block diagram for explaining a method for calculating a stop-decision torque based on the motor rotation speed ⁇ m.
- the stop-right decision torque setting unit 507 includes a multiplier 1001 and calculates a stop-right decision torque by adding the estimated disturbance torque Td to a value obtained by multiplying the motor rotational speed ⁇ m by the total gain Kvref.
- the torque comparator 508 compares the first torque target value Tm1 * calculated in step S202 and the magnitude of the stop-stop determining torque calculated by the stop-stop determining torque setter 507.
- the stop-decision torque is smaller than the first torque target value Tm1 * , and when the vehicle decelerates to the stop-stop position (the vehicle speed is equal to or less than a predetermined vehicle speed), it is greater than the first torque target value Tm1 *.
- the torque comparator 508 determines that the vehicle is about to stop when the immediately-stopped determination torque becomes greater than the first torque target value Tm1 *, and determines the motor torque command value Tm * from the first torque target value Tm1 * to the second value. Is switched to the torque target value Tm2 * .
- the torque comparator 508 determines that the stop torque immediately before stopping is equal to or smaller than the first torque target value Tm1 * . determines that the stop torque is just before stopping and determines the motor torque command value Tm *. Is set to the first torque target value Tm1 * .
- the torque comparator 508 determines that the stop torque immediately before stopping is larger than the first torque target value Tm1 * , the torque comparator 508 determines that the stop is just before stopping and determines the motor torque command value Tm * as the first torque.
- the target value Tm1 * is switched to the second torque target value Tm2 * .
- the second torque target value Tm2 * converges to a positive torque on an uphill road, a negative torque on a downhill road, and approximately zero on a flat road.
- FIG. 13 is a diagram illustrating an example of a control result by the control device for the electric vehicle according to the present embodiment.
- FIG. 13 shows the control results when the vehicle stops on a flat road, and represents the brake braking amount, the motor rotation speed, the motor torque command value, and the vehicle longitudinal acceleration in order from the top.
- the dotted line shown in the figure representing the motor rotation speed represents the corrected motor rotation speed estimated value
- the dotted line shown in the figure representing the motor torque command value represents the disturbance torque estimated value.
- the electric motor 4 is decelerated based on the first torque target value Tm1 * calculated in step S202 of FIG.
- the estimated disturbance torque is 0, indicating that the vehicle is traveling on a flat road.
- the brake braking amount B increases as the driver depresses the brake pedal.
- the vehicle longitudinal acceleration increases in the negative direction, that is, in the braking side, by using the first torque target value Tm1 * and the brake braking amount B in combination.
- the torque comparator 508 determines that the vehicle has just stopped when it is determined to be larger than the first torque target value Tm1 * , and the first comparator calculated in step S202 is determined.
- the torque target value Tm1 * is switched to the second torque target value Tm2 * calculated in step S203 to decelerate.
- the motor rotational speed and the corrected motor rotational speed estimated value match. I understand that.
- the simplified vehicle model Gp ′′ (s) constituting the motor rotation speed estimation unit 604 in FIG. 7 is initialized with the motor rotation speed ⁇ m, and the F / F compensator 501 The initial value of the estimated motor rotation speed is output.
- the electric motor 4 is decelerated based on the first torque target value Tm1 * calculated in step S202 of FIG.
- the estimated disturbance torque is 0, indicating that the vehicle is traveling on a flat road.
- the brake braking amount B is increased by the driver depressing the brake pedal.
- the vehicle longitudinal acceleration increases in the negative direction, that is, in the braking side, by using the first torque target value Tm1 * and the brake braking amount B in combination.
- the torque comparator 508 determines that the vehicle has just stopped when it is determined to be larger than the first torque target value Tm1 * , and the first comparator calculated in step S202 is determined.
- the torque target value Tm1 * is switched to the second torque target value Tm2 * calculated in step S203 to decelerate.
- the brake braking amount B is not considered in the calculation of the motor rotation speed estimated value in the F / F compensator 501, it can be seen that there is a difference between the motor rotation speed and the motor rotation speed estimated value.
- the simplified vehicle model Gp ′′ (s) constituting the motor rotation speed estimation unit 604 in FIG. 7 is initialized with the motor rotation speed ⁇ m, and the F / F compensator 501 The initial value of the estimated motor rotation speed is output.
- the combined use of the second torque target value and the brake braking amount B causes the vehicle longitudinal acceleration to converge to 0 and try to stop, but the brake braking amount is released.
- the vehicle longitudinal acceleration increases in the negative direction, that is, in the backward direction, and the vehicle is moving backward. This is because the deceleration of the electric motor 4 is based on the second torque target value Tm2 * calculated based on the estimated motor rotation speed value without considering the brake braking amount B in the F / F compensator 501. Occurs because of
- the motor rotation speed shows a negative value, and it can be seen that the vehicle has moved backward and has not stopped smoothly. This occurs because the braking force of the vehicle due to the braking amount is lost when the braking amount is released.
- a control device for an electric vehicle that uses a motor as a travel drive source and decelerates by the regenerative braking force of the motor, detects an accelerator operation amount, and is proportional to the travel speed of the electric vehicle.
- the motor rotation speed to be detected is detected, and the estimated motor rotation speed is calculated according to the state of the electric vehicle.
- a resistance component not related to the gradient is detected or estimated from the vehicle state, and the estimated motor rotation speed is corrected according to the resistance component.
- a feedback torque for stopping the electric vehicle is calculated based on the motor rotation speed, and a feed forward torque for compensating the feedback torque is calculated based on the corrected motor rotation speed estimated value.
- a motor torque command value is calculated, and the motor is controlled based on the calculated motor torque command value.
- the motor torque command value converges to zero based on the feedback torque and the feed forward torque as the traveling speed decreases when the accelerator operation amount is equal to or less than a predetermined value and the electric vehicle is about to stop.
- This detects or estimates resistance that is not related to the gradient such as brake braking amount, air resistance, rolling resistance, turning resistance, etc., and corrects the motor rotational speed estimated value to obtain the motor rotational speed estimated value and the motor rotational speed. Since they can be matched, the motor torque can be converged to zero as the motor rotation speed decreases. Accordingly, even when a resistance not related to the gradient is input to the vehicle as a disturbance, the vehicle can be stopped smoothly without acceleration vibration in the front-rear direction, and the stopped state can be maintained.
- the accelerator operation amount is equal to or less than a predetermined value means that the accelerator operation amount when the vehicle is traveling at a sufficiently low speed (for example, a speed of 15 km / h or less) without intervention of a braking device, apart from regenerative braking. Is intended. Needless to say, the vehicle speeds mentioned in the examples are only examples.
- the detected motor rotation speed is multiplied by the predetermined gain K1 for distributing the regenerative braking force of the motor to calculate the feedback torque, and the corrected motor rotation speed is set to the corrected motor rotation speed.
- the feedforward torque is calculated by multiplying a specific gain K2 set according to the predetermined gain K1.
- the resistance component not related to the gradient is a brake braking amount that applies a braking force to the vehicle.
- the motor rotation speed correction value is calculated from the brake braking amount, and the calculated motor rotation is calculated.
- the estimated motor rotation speed value is corrected based on the speed correction value.
- the brake operation amount of the driver can be detected, and the brake braking amount is determined based on the detected brake operation amount.
- the estimated motor rotational speed can be corrected based on the sensor value detected by the brake fluid pressure sensor, the brake pedal stroke sensor, or the like, so that the correction based on the actual measured value of the vehicle is possible.
- the brake braking amount may be determined based on a command value (brake braking amount command value or the like) related to the operation of the brake.
- a command value brake braking amount command value or the like
- the estimated disturbance torque value can be determined without causing dead time such as sensor detection delay.
- the brake braking amount is determined in consideration of responsiveness from the input of the brake braking amount to the vehicle until the braking force is applied to the vehicle.
- the brake braking amount takes into account the responsiveness such as the response from the brake braking amount command value to the brake fluid pressure rise, the response from the brake fluid pressure rise to the braking force acting on the vehicle, etc. Model errors between the model and the actual vehicle can be suppressed.
- the sign of the motor rotation speed correction value varies depending on the traveling direction of the vehicle.
- the motor rotation speed correction value is calculated by inverting the sign of the brake braking amount in accordance with the vehicle longitudinal speed (including vehicle speed parameters such as vehicle speed, wheel speed, motor rotation speed, drive shaft rotation speed, etc.). Therefore, the motor rotation speed can be corrected appropriately both when the vehicle is moving forward and when the vehicle is moving backward.
- the motor rotation speed correction value is calculated using a filter including the brake braking amount input to the vehicle and the model Gb (s) of the transfer characteristic of the motor rotation speed.
- the brake braking amount can be canceled with high accuracy from the motor rotation speed correction value.
- the estimated motor rotation speed is initialized with the motor rotation speed. Therefore, the error which arises during brake braking can be canceled.
- the motor torque command value Tm * is reduced as the motor rotation speed decreases. Since it converges to the estimated disturbance torque Td, smooth deceleration without acceleration vibration in the front-rear direction can be realized just before stopping regardless of the uphill road, flat road, downhill road, and the stopped state can be maintained. Can do.
- the control device for an electric vehicle according to the second embodiment uses vibration suppression control in addition to the first embodiment described so far.
- vibration suppression control in addition to the first embodiment described so far.
- FIG. 15 is a control flowchart of motor control of the control apparatus for an electric vehicle according to the second embodiment.
- a vibration suppression control process is performed in step S203a.
- step S203a The process of step S203a is performed after step S203 (stop control process) as shown in FIG.
- the motor torque command value Tm * calculated in step S203 in the first embodiment described above that is, the motor torque command value Tm * (see FIG. 6), which is the output of the torque comparator 508, is converted into the third
- the torque target value is Tm3 * (see FIG. 16).
- the motor torque command value Tm * is obtained by performing the vibration suppression control process on the third torque target value Tm3 * .
- step S203a the motor torque command value Tm3 * and the motor rotation speed ⁇ m calculated in step S203 are input to the vibration suppression control block 1701 (see FIG. 17). Then, in the vibration suppression control block 1701, a motor torque command value Tm * after vibration suppression control that suppresses torque transmission system vibration (such as torsional vibration of the drive shaft) without sacrificing the response of the drive shaft torque is obtained. calculate.
- torque transmission system vibration such as torsional vibration of the drive shaft
- FIG. 18 is a block diagram of a vibration suppression control process used in the present embodiment.
- Feedforward compensator 1801 (hereinafter referred to as F / F compensator) is composed of a transfer characteristic Gr (s) and an inverse system of a model Gp (s) of a transfer characteristic of torque input to the vehicle and the rotational speed of the motor.
- the filter functions as a filter having a transfer characteristic of Gr (s) / Gp (s), and is subjected to a filtering process by inputting the third torque target value Tm3 * , whereby vibration suppression by feedforward compensation is performed. Perform control processing.
- the transfer characteristic Gr (s) to be used can be expressed by the following equation (14).
- the vibration suppression control performed by the F / F compensator 1801 may be the vibration suppression control described in Japanese Patent Laid-Open No. 2001-45613 or the vibration suppression control described in Japanese Patent Laid-Open No. 2002-152916. But you can.
- Control blocks 1803 and 1804 are filters used in feedback control (hereinafter, feedback is referred to as F / B).
- the control block 1803 is a filter having the above-described transfer characteristic Gp (s), and is obtained by adding the output of the F / F compensator 1801 output from the adder 1805 and the output of the control block 1804 described later. Enter a value to perform filtering. Then, the motor rotation speed ⁇ m is subtracted from the value output from the control block 1803 in the subtracter 1806. The subtracted value is input to the control block 1804.
- the control block 1804 is H (s) / Gp (s) composed of a low-pass filter H (s) and an inverse system of the model Gp (s) of the torque input to the vehicle and the transfer characteristic of the rotational speed of the motor. This is a filter having a transfer characteristic.
- the output from the subtracter 1806 is input to perform filtering processing, and the value calculated as the F / B compensation torque is output to the adder 1805.
- the adder 1805 adds the third torque target value Tm3 * subjected to the vibration damping control process by the F / F compensation and the value calculated as the above-mentioned F / B compensation, thereby adding the vehicle torque.
- a motor torque command value Tm * that suppresses vibration of the transmission system is calculated.
- vibration suppression control performed in the vibration suppression control block 1701 may be the vibration suppression control described in Japanese Patent Application Laid-Open No. 2003-9566 or the vibration suppression control described in Japanese Patent Application Laid-Open No. 2010-288332. Good.
- the vehicle model Gp (s) represented by the expression (6) in the first embodiment is converted into the above (14) by the algorithm of the vibration suppression control. It can be regarded as the transfer characteristic Gr (s) shown in the equation.
- the filter having the transfer characteristic H (s) / Gp (s) shown by the control block 901 in FIG. 10 is H (s) / Gr (s) as shown by the control block 1901 in FIG. It can be regarded as a filter having a transfer characteristic.
- FIG. 20 is a block diagram for explaining the calculation of the estimated brake torque value when the vibration suppression control is used together.
- the control block 2001 sets the past value of the estimated motor rotational speed considering the dead time.
- the dead time here is a vehicle sensor detection delay or the like.
- the control block 2002 performs vibration suppression control (F / B compensator) processing G FB (s) in accordance with the past value of the motor rotation speed correction value set in the control block 2001, and the vibration suppression control torque estimated value T F / B is calculated. Details will be described with reference to FIG.
- FIG. 21 is a diagram for explaining the details of the vibration suppression control (F / B compensator) process G FB (s) performed in the control block 2002.
- the control block 2101 is a filter having a transfer characteristic of H (s) / Gp (s).
- Gp (s) is a model of transmission characteristics of torque input to the vehicle and the rotational speed of the motor
- H (s) is the difference between the denominator order and the numerator order of the model Gp (s).
- This is a low-pass filter having a transfer characteristic that is equal to or greater than the difference between the denominator order and the numerator order.
- the control block 2102 is a filter having a transfer characteristic Gp (s), and outputs the value obtained by performing the filtering process to the subtractor 2100 using the output of the control block 2101 as an input.
- the subtractor 2100 subtracts the past value of the motor rotation speed correction value from the value output from the control block 2102, and outputs the value obtained by the subtraction to the control block 2101. Thereby, the vibration suppression control torque estimated value TF / B subjected to the vibration suppression control (F / B compensator) process can be calculated from the motor rotation speed correction value.
- the vibration suppression control (F / B compensator) may be the vibration suppression control described in Japanese Patent Application Laid-Open No. 2003-9566 or Japanese Patent Application Laid-Open No. 2010-2010, similarly to the vibration suppression control process in Step 203a of FIG.
- the vibration suppression control described in Japanese Patent No. -288332 may be used.
- the vibration damping control is performed by performing the process of the transfer characteristic Gb (s) represented by the equation (12) according to the brake braking amount B, the vibration damping control torque command value T F / B and the wheel speed ⁇ m.
- the subsequent motor rotation speed correction value is calculated.
- the adder 602 shown in FIG. 7 the motor rotation speed correction value after vibration suppression control is added to the motor rotation speed estimation value to correct the motor rotation speed estimation value.
- the motor rotation speed correction value is calculated using the model of the transfer characteristic considering the vibration suppression control. To do. As a result, even when the vibration suppression control is used, the brake braking amount can be canceled with high accuracy from the estimated motor rotation speed.
- the present invention is not limited to the above-described embodiment, and various modifications and applications are possible.
- the motor torque command value Tm * is reduced to the disturbance torque estimated value Td (or the lower the rotational speed of the electric motor 4). It was explained that it converges to zero).
- the speed parameters such as the wheel speed, the vehicle body speed, and the rotational speed of the drive shaft are proportional to the rotational speed of the electric motor 4
- the motor torque command value is reduced with a decrease in the speed parameter proportional to the rotational speed of the electric motor 4. You may make it converge Tm * to disturbance torque estimated value Td (or zero).
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Abstract
Description
図1は、第1の実施形態における電動車両の制御装置を備えた電気自動車の主要構成を示すブロック図である。本発明の電動車両の制御装置は、車両の駆動源の一部または全部として電動モータ4を備え、電動モータの駆動力により走行可能な電動車両に適用可能である。電動車両には、電気自動車だけでなく、ハイブリッド自動車や燃料電池自動車も含まれる。特に、本実施形態における電動車両の制御装置は、アクセルペダルの操作のみで車両の加減速や停止を制御することができる車両に適用することができる。この車両ではドライバは、加速時にアクセルペダルを踏み込み、減速時や停止時には、踏み込んでいるアクセルペダルの踏み込み量を減らすか、または、アクセルペダルの踏み込み量をゼロとする。なお、登坂路においては、車両の後退を防ぐためにアクセルペダルを踏み込みつつ停止状態に近づく場合もある。
Jm:電動モータのイナーシャ
Jw:駆動輪のイナーシャ
M:車両の質量
KD:駆動系の捻り剛性
Kt:タイヤと路面の摩擦に関する係数
N:オーバーオールギヤ比
r:タイヤの過重半径
ωm:電動モータの角速度
Tm:トルク目標値Tm*
TD:駆動輪のトルク
F:車両に加えられる力
V:車両の速度
ωw:駆動輪の角速度
そして、図4、図5より、以下の運動方程式を導くことができる。ただし、次式(1)~(3)中の符号の右上に付されているアスタリスク(*)は、時間微分を表している。
ωw>0 : B >0
ωw=0 : B =0
ωw<0 : B <0
式(1)、(3)、(4)、(5)、(11)で示す運動方程式に基づいて、ブレーキ制動量Bからモータ回転速度ωmまでの伝達特性Gb(s)を求めると、次式(12)で表される。
第2の実施形態の電動車両の制御装置は、これまで説明した第1の実施形態に加えて、制振制御を併用する。以下、本実施形態における電動車両の制御装置について、特に、制振制御併用の態様について説明する。
Claims (12)
- モータを走行駆動源とし、前記モータの回生制動力により減速する電動車両の制御装置であって、
前記アクセル操作量を検出するアクセル操作量検出手段と、
前記電動車両の走行速度に比例する速度パラメータを検出する車速検出手段と、
前記電動車両の状態に応じて速度パラメータ推定値を算出する車速推定手段と、
勾配に関連しない抵抗成分を車両状態から検出または推定する手段と、
前記勾配に関連しない抵抗成分に応じて前記速度パラメータ推定値を補正する速度パラメータ推定値補正手段と、
前記車速検出手段により検出される速度パラメータに基づいて、前記電動車両を停止させるためのフィードバックトルクを算出するフィードバックトルク算出手段と、
前記速度パラメータ推定値補正手段により補正された速度パラメータ推定値に基づいて、前記フィードバックトルクを補うためのフィードフォワードトルクを算出するフィードフォワードトルク算出手段と、
モータトルク指令値を算出するモータトルク指令値算出手段と、
前記モータトルク指令値に基づいて、前記モータを制御するモータ制御手段と、
を備え、
前記モータトルク指令値算出手段は、前記アクセル操作量が所定値以下であり、かつ、前記電動車両が停車間際になると、走行速度の低下とともに、前記フィードバックトルクと前記フィードフォワードトルクとに基づいて前記モータトルク指令値をゼロに収束させる、
電動車両の制御装置。 - 前記フィードバックトルク算出手段は、前記車速検出手段により検出される前記速度パラメータに、前記モータの回生制動力を分配するための所定のゲインK1を乗算して、前記フィードバックトルクを算出し、
前記フィードフォワードトルク算出手段は、前記所定のゲインK1に応じて設定される所定のゲインK2を、前記速度パラメータ推定値補正手段により補正された速度パラメータ推定値に乗算して、前記フィードフォワードトルクを算出し、
前記モータトルク指令値算出手段は、前記アクセル操作量が所定値以下であり、かつ、前記電動車両が停車間際になると、前記フィードバックトルクに前記フィードフォワードトルクを加算した速度フィードバックトルクを、前記モータトルク指令値として設定する、
請求項1に記載の電動車両の制御装置。 - 前記勾配に関連しない抵抗成分は、車両に制動力を加えるブレーキ制動量であって、
速度パラメータ推定値補正手段は、前記ブレーキ制動量から速度パラメータ補正値を算出する速度パラメータ補正値算出手段を備え、前記速度パラメータ補正値に基づいて前記速度パラメータ推定値を補正する、
請求項1または2に記載の電動車両の制御装置。 - 運転者のブレーキ操作量を検出するブレーキ操作量検出手段をさらに備え、
前記ブレーキ制動量は、前記ブレーキ操作量検出手段が検出したブレーキ操作量に基づいて決定される、
請求項3に記載の電動車両の制御装置。 - 前記ブレーキ制動量は、ブレーキの操作に関わる指令値に基づいて決定される、
請求項3に記載の電動車両の制御装置。 - 前記ブレーキ制動量は、車両へのブレーキ制動量の入力から車両に制動力が作用するまでの応答性を考慮して決定される、
請求項4または5に記載の電動車両の制御装置。 - 前記速度パラメータ補正値は、車両の進行方向に応じて符号が異なる、
請求項3から6のいずれかに記載の電動車両の制御装置。 - 前記速度パラメータ補正値算出手段は、車両へのブレーキ制動量の入力とモータの回転速度の伝達特性のモデルGb(s)を含むフィルタを用いて前記速度パラメータ補正値を算出する、
請求項3から7のいずれかに記載の電動車両の制御装置。 - 前記電動車両にドライブシャフトの捩じり振動を抑制する制振制御を適用する場合に、
前記速度パラメータ補正値算出手段は、前記制振制御を考慮した伝達特性のモデルを用いて前記速度パラメータ補正値を算出する、
請求項8に記載の電動車両の制御装置。 - 前記車速推定手段は、前記ブレーキ制動量が解除されると、前記速度パラメータ推定値を前記速度パラメータにより初期化する、
請求項3から9に記載の電動車両の制御装置。 - 外乱トルクを推定する外乱トルク推定手段をさらに備え、
前記モータトルク指令値算出手段は、前記アクセル操作量が所定値以下であり、かつ、電動車両が停車間際になると、走行速度の低下とともに、前記フィードバックトルクと前記フィードフォワードトルクとに基づいて前記モータトルク指令値を前記外乱トルクに収束させる、
請求項1から10のいずれかに記載の電動車両の制御装置。 - モータを走行駆動源とし、前記モータの回生制動力により減速する電動車両の制御方法であって、
前記アクセル操作量を検出し、
前記電動車両の走行速度に比例する速度パラメータを検出し、
前記電動車両の状態に応じて前記速度パラメータを推定し、
勾配に関連しない抵抗成分を車両状態から検出または推定し、
前記勾配に関連しない抵抗成分に応じて前記速度パラメータを補正し、
前記車速検出ステップで検出される速度パラメータに基づいて、前記電動車両を停止させるためのフィードバックトルクを算出し、
前記速度パラメータ補正手段により補正された速度パラメータに基づいて、前記フィードバックトルクを補うためのフィードフォワードトルクを算出するフィードフォワードトルクを算出し、
前記アクセル操作量が所定値以下であり、かつ、前記電動車両が停車間際になると、走行速度の低下とともに、前記フィードバックトルクと前記フィードフォワードトルクとに基づいてゼロに収束するモータトルク指令値を算出し、
前記モータトルク指令値に基づいて、前記モータを制御する、
電動車両の制御方法。
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