WO2018011968A1 - トルク制御方法及びトルク制御装置 - Google Patents
トルク制御方法及びトルク制御装置 Download PDFInfo
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- WO2018011968A1 WO2018011968A1 PCT/JP2016/070955 JP2016070955W WO2018011968A1 WO 2018011968 A1 WO2018011968 A1 WO 2018011968A1 JP 2016070955 W JP2016070955 W JP 2016070955W WO 2018011968 A1 WO2018011968 A1 WO 2018011968A1
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- torque
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- required torque
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- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B60L15/10—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for automatic control superimposed on human control to limit the acceleration of the vehicle, e.g. to prevent excessive motor current
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- B60L15/2045—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 optimising the use of energy
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Definitions
- the present invention relates to a torque control method and a torque control device.
- an electric vehicle equipped with a traveling motor includes an accelerator sensor, a vehicle speed sensor, and a controller that controls the torque of the traveling motor.
- the controller calculates the average accelerator amount from the accelerator operation amount detected by the accelerator sensor, calculates the target driving force of the drive wheel from the vehicle speed, the accelerator operation amount, and the driving map, and transmits the target driving force and the CVT transmission. From this, the target torque of the electric motor for traveling is calculated.
- a controller controls a motor for driving so that target drive torque may be generated from a motor for driving (patent documents 1).
- the problem to be solved by the present invention is to provide a torque control method and a torque control device that improve the operation efficiency of a motor.
- the present invention calculates the required torque of the motor, controls the torque generated by the motor based on the required torque, sets the required torque to zero when the required torque is smaller than a predetermined torque threshold, and sets the required torque.
- the driving efficiency of the motor can be increased.
- FIG. 1 is a block diagram of a vehicle system having a torque control device of this embodiment according to the present invention.
- FIG. 2 is a diagram illustrating an example of a driving force map.
- FIG. 3 is a flowchart showing a control flow of the torque control method according to the present embodiment.
- FIG. 4 is a diagram showing a peripheral portion of region A in the driving force map shown in FIG.
- FIG. 5 is a diagram showing changes in torque and vehicle speed for each step on the driving force map shown in FIG.
- FIG. 6 is a graph showing an on / off time chart of inertial running control and a torque characteristic.
- FIG. 7 is a graph showing an on / off time chart of inertial running control and a torque characteristic.
- FIG. 8 is a graph showing torque characteristics in the normal mode.
- FIG. 9 is a graph showing torque characteristics in the normal mode and torque characteristics in the eco mode.
- FIG. 10 is a graph showing characteristics of power loss with respect to the motor rotation speed.
- FIG. 1 is a block diagram of a vehicle system provided with a torque control device according to the present embodiment.
- the torque control device according to the present embodiment is a device that controls the output torque of a drive mechanism included in a vehicle, and is provided in the vehicle.
- a case where the torque control device is mounted on an electric vehicle is described as an example.
- the torque control device does not necessarily have to be mounted on the electric vehicle, and may be mounted on another vehicle system such as a hybrid vehicle or a drive system other than the vehicle.
- the vehicle system includes a drive wheel 1, a differential gear 2, a generator (MG: motor) 3, a rotation speed sensor 4, an inverter (INV) 5, a battery 6, a motor controller 7, a battery controller 8, An accelerator opening sensor 9, a vehicle controller 10, and a memory 11 are provided.
- the driving wheel 1 is rotated by the power output from the generator 3.
- the differential gear 2 transmits the power of the generator 3 to the left and right drive rates.
- the generator 3 is a drive source of the vehicle system and is driven by battery power.
- the rotating shaft of the generator 3 is connected to the axle.
- torque generated by the generator 3 is transmitted to the drive wheels 1 via the axle.
- the generator 3 generates power using the rotational force of the driving wheel 1 and charges the battery 6 with the generated power.
- the rotation speed sensor 4 detects the rotation speed of the motor 3.
- the rotation speed sensor 4 outputs the detected value to the motor controller 7.
- the inverter 5 is connected to the generator 3 through three-phase wiring, and is connected to the battery 6 through a power line.
- the inverter 5 converts the output power of the battery 6 into AC power and outputs the AC power to the generator 3. Further, the inverter 5 converts the power generated by the generator 3 into DC power and outputs the DC power to the battery 6.
- the inverter 5 includes a circuit in which switching elements (power modules) such as IGBTs are connected in a bridge shape.
- the battery 6 is composed of a secondary battery such as a lithium ion battery.
- the battery 6 functions as a power source for the vehicle system.
- the motor controller 7 is a controller for controlling the generator 3.
- the motor controller 7 controls the generator 3 based on the required torque output from the vehicle controller 10 and the detected value of the rotation speed sensor 4.
- the motor controller 7 calculates the rotational speed of the generator 3 using the rotational speed sensor 4.
- the motor controller 7 calculates a command value so that the output torque of the generator 3 matches the torque command value at the current rotational speed of the generator 3.
- the command value is represented by a current command value or the like.
- the motor controller 7 feeds back a detection value of a current sensor (not shown) and calculates the command value by PI control.
- the motor controller 7 generates a switching signal by comparing the calculated command value and the carrier, and outputs the switching signal to the inverter 5.
- the switching signal is for switching on and off of the switching element included in the inverter 5. Signal.
- the motor controller 7 controls the torque generated by the generator 3 based on the required torque (control required torque) output from the vehicle controller 10.
- the battery controller 8 is a controller for managing the state of the battery 6.
- the battery controller 8 manages the battery 6 by calculating SOC (State of Charge) using a voltage sensor (not shown) connected to the battery 6.
- SOC State of Charge
- the battery controller 8 outputs a signal indicating the state of the battery 6 to the vehicle controller 10.
- the motor controller 7 and the vehicle controller 10 and the motor controller 7 and the vehicle controller 10 are connected by a CAN bus.
- the CAN bus is a communication network that connects the controllers mounted on the vehicle.
- Accelerator opening sensor 9 detects the accelerator opening.
- the driver steps on the accelerator to accelerate the vehicle.
- the amount of accelerator depression corresponds to the amount of acceleration requested by the driver. That is, the accelerator opening represents the required value for speed control from the driver.
- the accelerator opening sensor 9 outputs the detected accelerator opening to the vehicle controller 10.
- the vehicle controller 10 is a controller for controlling the entire vehicle system.
- the vehicle controller 10 acquires accelerator information and travel mode information using hardware such as a sensor.
- the vehicle controller 10 acquires accelerator information by detecting the accelerator opening using the accelerator opening sensor 9.
- Travel mode represents the vehicle system control method.
- the travel mode is divided into a plurality of modes corresponding to the energy consumption rate in the vehicle, and the energy consumption with respect to the accelerator opening differs depending on the travel mode.
- the energy consumption corresponds to the power consumption of the battery 6.
- the traveling mode is divided into an eco mode, a normal mode, and a sports mode. Further, the driver selects a travel mode by switching a switch in the vehicle interior.
- the eco mode energy consumption relative to the accelerator opening is suppressed most.
- the sport mode the energy consumption with respect to the accelerator opening is the largest and the acceleration operability is also improved.
- the normal mode achieves both acceleration performance and reduced energy consumption.
- the magnitude or rate of change of the generated torque of the generator 3 is the smallest in the eco mode and the largest in the sports mode in response to the driver's acceleration request.
- the vehicle controller 10 acquires travel mode information by detecting the state of the travel mode selection switch.
- the vehicle controller 10 acquires information on the battery 6 from the battery controller 8, and acquires information indicating the traveling state of the vehicle from the motor controller 7.
- the information indicating the traveling state of the vehicle is vehicle speed information, for example.
- the vehicle controller 10 detects a speed control request from the driver using the accelerator opening sensor 9, and calculates a required torque based on the detected request and the state of the vehicle.
- the required torque is a value representing the speed control request from the driver by the magnitude of the torque generated by the generator 3.
- the vehicle controller 10 calculates the required torque using the driving force map stored in the memory 11.
- FIG. 2 is a graph for explaining the driving force map.
- the driving force map shows a correspondence relationship between the vehicle speed, the accelerator opening (APO), and the required torque.
- a graph indicated by a solid line shows the characteristics of the required torque with respect to the vehicle speed, and each characteristic is different for each accelerator opening.
- the driver requests vehicle control (accelerator operation)
- a graph corresponding to the accelerator opening is selected, and the current vehicle speed is displayed on the selected graph.
- the required torque corresponding to is the driving force required for the generator 3.
- the positive value of the driving force indicates the output torque on the power running side (driving force of the generator 3), and the negative value of the driving force indicates the input torque on the regeneration side (braking force of the generator 3). Yes.
- areas A and B indicate areas where inertial running control is executed.
- Graph R shows the characteristic of a running resistance line (R / L line). The running resistance line indicates a torque necessary for maintaining a constant vehicle speed, and is obtained experimentally.
- T 1_ON , T 2_ON , T 1_OFF, and T 2_OFF are threshold values that indicate the timing at which the control mode is switched between the normal control and the inertial running control by torque, and are set in advance.
- T 1_ON and T 2_ON indicate threshold values for switching from normal control to inertial running control.
- T 1_OFF and T 2_OFF indicate threshold values for switching from inertial running control to normal control.
- T 1_ON and T 1_OFF indicate threshold values on the power running side
- T 2_ON and T 2_OFF indicate threshold values on the regeneration side.
- Normal control, inertial running control, and torque thresholds (T 1_ON , T 2_ON , T 1_OFF , T 2_OFF ) will be described later.
- the vehicle controller 10 acquires the motor rotation speed from the motor controller 7 and calculates the vehicle speed (control vehicle speed).
- the vehicle speed is calculated from the motor speed, the gear ratio, and the wheel radius of the drive wheel 1. That is, the vehicle speed for control corresponds to the motor speed.
- the vehicle controller 10 calculates the torque corresponding to the accelerator opening and the vehicle speed as the torque requested from the driver while referring to the driving force map described above.
- the vehicle controller 10 outputs the calculated required torque to the motor controller 7.
- the vehicle controller 10 outputs the required torque for control to the motor controller 7 without correcting the torque indicated by the driving force map.
- inertial running control the vehicle controller 10 corrects the torque indicated by the driving force map to zero, and then outputs the corrected torque (zero torque) to the motor controller 7 as a required torque for control.
- FIG. 3 is a flowchart showing a control flow of the motor controller 7 and the vehicle controller 10.
- step S1 the vehicle controller 10 detects the current accelerator opening using the accelerator opening sensor 9.
- the vehicle controller 10 acquires the motor rotation speed by acquiring the detection value of the rotation speed sensor 4 via the motor controller 7, and calculates the vehicle speed based on the acquired motor rotation speed. Thereby, the vehicle controller 10 detects a vehicle speed.
- step S2 the vehicle controller 10 acquires travel mode information.
- step S3 the vehicle controller 10 refers to the driving force map and calculates a required torque corresponding to the accelerator opening and the vehicle speed.
- step S4 the vehicle controller 10 determines whether or not the travel mode is the eco mode or the normal mode.
- the control flow proceeds to step S5.
- the traveling mode is the sport mode, the control flow proceeds to step S10. That is, inertial running control described later is executed in the eco mode or normal mode, but inertial running control is not executed in the sport mode.
- step S5 the vehicle controller 10 compares the calculated required torque with the torque thresholds ( T1_ON , T2_ON ), and determines whether or not to execute inertial running control based on the comparison result.
- the vehicle controller 10 determines whether or not the required torque is within the torque range indicated by the region A.
- Region A is a range surrounded by torque threshold values (T 1_ON , T 2_ON ) on the driving force map.
- T 1_ON , T 2_ON torque threshold values
- the determination as to whether or not the required torque is within the range of the region A is made by comparing the required torque with the torque threshold values (T 1_ON , T 2_ON ) as follows . If the calculated required torque is the power running torque and the required torque is smaller than the torque threshold (T 1_ON ), the vehicle controller 10 determines to execute inertial running control. When the calculated required torque is the power running side torque and the required torque is equal to or greater than the torque threshold (T 1_ON ), the vehicle controller 10 determines not to execute inertial running control. When the calculated requested torque is the regeneration side torque and the requested torque is smaller than the torque threshold (T 2 — ON ), the vehicle controller 10 determines to execute inertial running control.
- the vehicle controller 10 determines not to execute inertial running control. As shown in FIG. 2, when the required torque on the regeneration side is expressed as a negative value, the torque threshold value (T 2_ON ) is set to a negative torque value and the required torque> torque threshold value (T 2_ON ) is satisfied. The vehicle controller 10 determines to execute inertial running control.
- step S6 the vehicle controller 10 performs inertial running control.
- inertial running control when the required torque from the driver is within the region A, the required torque for control is set to zero, and the generator 3 is set so that the set required torque becomes the generated torque of the generator 3.
- Control that is, when the required torque is smaller than the torque threshold values (T 1_ON , T 2_ON ), the vehicle controller 10 determines the required torque (corresponding to the torque command value) used for controlling the generator 3 from the actual request from the driver. And the generator 3 is controlled.
- the generator 3 When the generator 3 generates torque as requested by the driver when the required torque is small, the power consumption of the electric system such as the inverter 5 becomes relatively larger than the drive power of the generator 3. End up. That is, when the generator 3 is driven as requested by the driver, the operation efficiency is lowered. Further, if the traveling time is accumulated in a state where the required torque is small, the driving time in a state where the efficiency is low becomes long, and as a result, the cruising distance of the vehicle is reduced.
- the torque control device sets the required torque for control to zero when the required torque from the driver is in the region A, and the set required torque becomes the generated torque of the generator 3.
- the generator 3 is controlled. Therefore, since the generated torque of the generator 3 is lower than the torque requested by the driver, it is possible to prevent the generator 3 from being driven in a low-efficiency state and to increase the operating efficiency.
- step S7 the vehicle controller 10 detects the accelerator opening and the vehicle speed.
- step S8 the vehicle controller 10 calculates the required torque.
- the control flow of step S7 and step S8 is the same control flow as step S1 and step S3. That is, the vehicle controller 10 detects the accelerator opening and the vehicle speed and calculates the torque requested from the driver even during inertial running control.
- step S9 the vehicle controller 10 compares the calculated required torque with the torque thresholds (T 1_OFF , T 2_OFF ), and determines whether or not to cancel inertial running control based on the comparison result.
- the vehicle controller 10 determines whether or not the requested torque is within the torque range indicated by the region B.
- Region B is a range surrounded by torque threshold values (T 1 — OFF , T 2 — OFF ) on the driving force map.
- T 1 — OFF , T 2 — OFF the vehicle controller 10 determines to continue inertial traveling control.
- the control flow returns to step S6.
- the vehicle controller 10 determines to cancel the inertial traveling control.
- the control flow proceeds to step S11.
- the determination as to whether or not the required torque is within the range of the region B is made by comparing the required torque with the torque threshold values (T 1_OFF , T 2_OFF ) as follows . If the calculated required torque is the power running side torque and the required torque is smaller than the torque threshold (T 1_OFF ), the vehicle controller 10 determines not to cancel the inertial running control. When the calculated required torque is the power running side torque and the required torque is equal to or greater than the torque threshold value (T 1 — OFF ), the vehicle controller 10 determines to cancel inertial running control. When the calculated required torque is the regeneration side torque and the required torque is smaller than the torque threshold (T 2 — OFF ), the vehicle controller 10 determines that the inertial running control is not released.
- the vehicle controller 10 determines to cancel inertial running control. As shown in FIG. 2, when the required torque on the regeneration side is expressed by a minus value, the torque threshold value (T 2_OFF ) is set to a negative torque value, and the required torque> torque threshold value (T 2_OFF ) is satisfied. The vehicle controller 10 determines to release the inertia traveling control.
- step S5 If it is determined in step S5 that inertial running control is not to be executed, the vehicle controller 10 performs normal control in step S11. In normal control, the vehicle controller 10 controls the generator 3 so that the required torque calculated on the driving force map becomes the torque generated by the generator 3.
- step S11 the vehicle controller 10 determines whether or not the main switch is in an off state. If the main switch is in the ON state, the control flow returns to step S1. If the main switch is in the OFF state, the control flow ends.
- FIG. 4 is a graph showing a peripheral portion of the region A in the driving force map shown in FIG.
- the torque threshold (T 1_ON ) on the power running side increases as the vehicle speed increases.
- the regeneration-side torque threshold value (T 2 — ON ) is a substantially constant value regardless of the vehicle speed. That is, when the torque difference at an arbitrary vehicle speed (V a1 , V a2 , V a3 : where V a1 ⁇ V a2 ⁇ V a3 ) in the region A is ⁇ Tr 1 , ⁇ Tr 2 , ⁇ Tr 3 , Regarding the torque difference ( ⁇ Tr 1 , ⁇ Tr 2 , ⁇ Tr 3 ), ⁇ Tr 3 is the largest and ⁇ Tr 1 is the smallest.
- the torque differences ( ⁇ Tr 1 , ⁇ Tr 2 , ⁇ Tr 3 ) indicate a range in which inertial traveling control is executed for a certain vehicle speed. That is, as the vehicle speed increases, the execution range of inertial traveling control becomes wider.
- the electric power consumption of the electric system such as the inverter 5 becomes larger than the power consumption necessary for driving the generator 3.
- the inverter 5 is controlled by the field weakening control method in order to suppress the counter electromotive force generated in the generator 3.
- the torque threshold is set so that the execution range of inertial running control becomes wider as the vehicle speed increases.
- the regeneration-side torque threshold value (T 2_ON ) is set to a substantially constant value regardless of the vehicle speed.
- the torque threshold (T 2_ON ) on the regeneration side changes according to the magnitude of the vehicle speed, the regeneration torque changes according to the vehicle speed, so the vehicle deceleration becomes the vehicle speed. It will change accordingly. That is, the deceleration when the accelerator opening becomes zero when the vehicle is traveling at a high speed is different from the deceleration when the accelerator opening becomes zero when the vehicle is traveling at a low speed. End up. And, since the deceleration is different, the driver cannot predict how much the deceleration will be with respect to the current vehicle state, and it becomes difficult to drive.
- the torque threshold (T 2_ON ) on the regeneration side is set to a constant value regardless of the vehicle speed, so that a sense of discomfort to the driver can be suppressed.
- the region A is set in a range where the vehicle is at least the lower limit value V L or more. That is, when the vehicle speed is equal to or higher than the lower limit value VL , inertial running control is executed according to the magnitude of the required torque. On the other hand, when the vehicle speed is less than the lower limit value V L , inertial running control is not executed regardless of the magnitude of the required torque. That is, in a driving region where the vehicle speed is less than the lower limit value VL, there are many scenes in which a small torque is required, for example, when parking is stopped in a parking space. Therefore, in the present embodiment, the vehicle controller 10 does not execute inertial running control when the motor rotation speed is smaller than a predetermined rotation speed threshold. As a result, in a driving scene where a small torque is required, the torque as requested by the driver can be output.
- the predetermined rotation speed threshold is a threshold corresponding to the lower limit value (V L ) of the vehicle speed.
- the torque threshold value (T 1_OFF ) is set to a value larger than the torque threshold value (T 1_ON ). Further, the torque threshold value (T 2_OFF ) is set to a value larger than the torque threshold value (T 2_ON ) (a value larger on the minus side). As a result, a phenomenon (hunting) in which the control mode is frequently switched between the normal control and the inertia traveling control can be prevented.
- the torque threshold value (T 1_ON ) is set to a value lower than the torque indicated by the characteristics of the running resistance line (R / L line).
- the torque indicated by the characteristics of the running resistance line (R / L line) is a torque necessary for maintaining a constant vehicle speed.
- the driver depresses the accelerator from a state where the vehicle is stopped, and the vehicle is accelerated at an accelerator opening of 20%.
- the required torque decreases along the graph of the accelerator opening 20% in the driving force map.
- the required torque reaches the intersection point Q, the driving force and the running resistance are balanced, and the vehicle speed becomes a constant speed (Vq).
- the intersection point Q is a point where the graph of the accelerator opening degree 20% intersects with the travel resistance line (R / L line).
- the torque threshold value (T 1_ON ) corresponding to the speed Vq is set to a value lower than the torque indicated by the intersection point Q. Further, not only at the speed Vq but also at other speeds, the torque threshold (T 1_ON ) is set to a value lower than the torque indicated by the characteristics of the running resistance line (R / L line).
- the vehicle controller 10 executes normal control, and the required torque for control coincides with the required torque from the driver (torque at the time of acceleration request).
- the vehicle controller 10 executes inertial running control, and the required torque for control is set to zero. Accordingly, when it is desired to reduce the required torque and reduce the vehicle speed while answering the acceleration request from the driver, it is possible to prevent the generator 3 from being driven in a low-efficiency state and to increase the driving efficiency.
- FIG. 5 is a graph showing a peripheral portion of the region A in the driving force map shown in FIG.
- the torque threshold value (T 1_ON ) and the torque threshold value (T 1_OFF ) are set to the same value.
- “S1” to “S5” shown in FIG. 5 correspond to steps S1 to S5 in the following description, respectively.
- step S1 when the brake pedal is turned off from the state where the vehicle is stopped, creep running is started.
- step S2 the driver depresses the accelerator pedal, and acceleration starts with the accelerator opening being 30%.
- step S3 the accelerator pedal is depressed and acceleration is continued by generating a marginal driving force.
- the driving force and running resistance are balanced, the vehicle speed becomes a constant speed.
- step S4 from the state where the driving force and the running resistance are balanced, as the deceleration request from the driver, the driver slightly relaxes the accelerator and the accelerator opening changes from 30% to 20%.
- the required torque from the driver becomes smaller than the torque threshold (T 1_ON ), so the control mode of the generator 3 is switched from normal control to inertial running control. And the required torque for control is set to zero by the start of inertial running control.
- step S5 when the accelerator opening is maintained at 20%, the required torque calculated on the driving force map is equal to or greater than the torque threshold (T 1 — OFF ), and therefore the control mode of the generator 3 is inertial running. Switch from control to normal control. Further, the required torque changes along the graph on the accelerator opening 20%, and the vehicle speed becomes a constant speed when the driving force and the running resistance are balanced.
- a torque rate limiter is set in order to prevent such a sense of incongruity.
- FIGS. 6 and 7 are graphs showing an on / off time chart of inertial running control and torque characteristics.
- FIG. 6 shows the characteristics on the power running side
- FIG. 7 shows the characteristics on the regeneration side.
- a graph a indicates a required torque calculated using a driving force map
- a graph b indicates a required torque for control.
- the torque change indicated by the graph ieri corresponds to the accelerator operation.
- the torque rate limiter is made effective between time t 2 and time t 3 to suppress the torque change amount.
- the vehicle controller 10 calculates the amount of change in accelerator opening, and sets the amount of change in torque according to the calculated amount of change in accelerator opening. Variation of torque is the amount of change until the required torque for the control at time t 2 is changed to zero.
- the vehicle controller 10 calculates the torque change amount so that the torque change amount increases as the change amount of the accelerator opening (corresponding to the accelerator operation amount) increases.
- the vehicle controller 10 corrects the required control torque so that the required control torque changes with the calculated torque change amount, and outputs the corrected required torque to the motor controller 7. Thereby, the torque change time becomes shorter as the torque change amount is larger, and the torque change time becomes longer as the torque change amount is smaller.
- Torque change time the driving force is a time from the value of the requested torque on the driving force map until changes to zero, the time from the time t 2 shown in FIG. 2 to time t 3.
- the vehicle controller 10 cancels the torque rate limiter.
- the torque threshold value (T L1_OFF ) indicates the upper limit value of the invalid region of the torque rate limiter.
- the invalid region of the torque rate limiter indicates a range in which the control torque is made zero without limiting the torque change. Invalid area, while containing the zero torque range between the upper limit value (T L1_OFF) and the lower limit value (T L2_OFF).
- the vehicle controller 10 removes the torque change restriction and sets the control torque to zero. Thereby, the inertia running time can be lengthened. Coasting time, the driving force (or braking force) a time zero, the time from the time t 3 when 2 to time t 4.
- the vehicle controller 10 calculates the amount of change in the accelerator opening, set the amount of change in torque according to a change amount of the calculated accelerator opening.
- the vehicle controller 10 corrects the required control torque so that the required control torque changes with the set torque change amount, and outputs the corrected required torque to the motor controller 7. Then, at time t 5, the required torque for controlling the torque demand from the driver matches.
- the amount of change in the accelerator opening before and after the time t 4 is less than the amount of change in the accelerator opening before and after the time t 2. Therefore, the torque change amount calculated during time t 5 from the time t 4 is smaller than the torque variation amount calculated during the time t 2 time t 3.
- the torque change amount is reduced and the torque change time is lengthened.
- the amount of change in the accelerator opening before and after the time t 4 is the greater than the change amount of the accelerator opening degree before and after the time t 2, between the time t 4 of time t 5 the calculated torque variation amount is greater than the torque change amount calculated during the time t 2 of time t 3.
- the torque change amount is increased to shorten the torque change time. As a result, the response time from the torque request to the torque output can be shortened, and control can be performed so that no response delay occurs with respect to the accelerator operation.
- the vehicle controller 10 enables the torque rate limiter and calculates the required torque for control.
- the vehicle controller 10 calculates the amount of change in accelerator opening, and sets the amount of change in torque according to the calculated amount of change in accelerator opening.
- the vehicle controller 10 corrects the required control torque so that the required control torque changes with the set torque change amount, and outputs the corrected required torque to the motor controller 7.
- the vehicle controller 10 calculates the amount of change in the accelerator opening, set the amount of change in torque according to a change amount of the calculated accelerator opening.
- the vehicle controller 10 calculates the control request torque so that the control request torque changes with the set torque change amount, and outputs it to the motor controller 7. Then, at time t 5, the required torque for controlling the torque demand from the driver matches.
- FIG. 8 is a graph showing torque characteristics in the normal mode
- FIG. 9 is a graph showing torque characteristics in the normal mode and torque characteristics in the eco mode.
- a graph a indicates a required torque calculated using a driving force map
- a graph b indicates a required torque for control.
- the graph ieri indicates the required torque calculated using a driving force map
- graph b n indicates the required torque for the control in the normal mode
- the graph b e is control of the eco mode Shows the required torque.
- the memory 11 stores at least two types of torque threshold values (T 1_ON ). Further, at least two types of torque threshold values (T 1 — OFF ), at least two types of torque threshold values (T 2 — ON ), and at least two types of torque threshold values (T 2 — OFF ) are stored in the memory 11, respectively. Of the two types of torque threshold values , one of the torque threshold values (T 1n_ON , T 1n_OFF , T 2n_ON , T 2n_OFF ) is a threshold selected in the normal mode. Of the two types of torque thresholds, the other torque threshold (T 1e_ON , T 1e_OFF , T 2e_ON , T 2e_OFF ) is a threshold selected in the eco mode.
- Torque threshold (T 1e_ON) is greater than the torque threshold (T 1n_ON), torque threshold (T 1e_OFF) is greater than the torque threshold (T 1n_OFF).
- the torque threshold (T 2e_ON) is greater than the torque threshold (T 2n_ON), torque threshold (T 2e_OFF) is greater than the torque threshold (T 2n_OFF).
- the vehicle controller 10 selects a torque threshold for normal mode (T 1n_ON , T 1n_OFF , T 2n_ON , T 2n_OFF ).
- a torque threshold for normal mode T 1n_ON , T 1n_OFF , T 2n_ON , T 2n_OFF .
- the traveling mode is the eco mode
- the vehicle controller 10 selects a torque threshold (T 1e_ON , T 1e_OFF , T 2e_ON , T 2e_OFF ) for the eco mode.
- the vehicle controller 10 switches the control mode of the generator 3 from the normal mode to the inertial running control.
- the vehicle controller 10 When the requested torque from the driver becomes larger than the torque threshold (T 2n_OFF ) at time t 3n , the vehicle controller 10 enables the torque rate limit and switches the control mode of the generator 3 from inertial running control to normal control. .
- the vehicle controller 10 switches the control mode of the generator 3 from normal control to inertial running control.
- the vehicle controller 10 When the torque requested by the driver becomes larger than the torque threshold (T 1n_OFF ) at time t 6n , the vehicle controller 10 enables the torque rate limit and switches the control mode of the generator 3 from inertial running control to normal control. .
- the inertia running time in the normal mode is the time from time t 2n to time t 3n shown in FIG. 8 and the time from time t 5n to time t 6n shown in FIG.
- the traveling mode is the eco mode
- the required torque from the driver changes with the characteristics as shown by the graph réelle in FIG. 9 by the accelerator operation.
- the characteristics of the required torque from the driver shown in the graph a in FIG. 9 are the same as the characteristics shown in the graph a in FIG.
- the content of control at each time point from time t 1e to time t 6e is the same as the content of control at each time point from time t 1n to time t 6n .
- the timing for switching the control mode of the generator 3 is different.
- Eco mode of torque threshold (T 1e_ON) is greater than the normal mode of torque threshold (T 1n_ON). Therefore, in power running, the timing (time t 1e ) for switching from normal control to inertial travel control in the eco mode is earlier than the timing (time t 1n ) for switching from normal control to inertial travel control in the normal mode.
- Eco mode of torque threshold (T 2e_OFF) is greater than the normal mode of torque threshold (T 2n_OFF). Therefore, in regeneration, the timing (time t 3e ) for switching from inertial running control to normal control in the eco mode is later than the timing (time t 3n ) for switching from inertial running control to normal control in the normal mode. Thereby, when switching from power running to regeneration, the inertia running time in the eco mode is longer than that in the normal mode.
- Eco mode of torque threshold (T 2e_ON) is greater than the normal mode of torque threshold (T 2n_ON). Therefore, in regeneration, the timing (time t 4e ) for switching from normal control to inertial travel control in the eco mode is earlier than the timing (time t 4n ) for switching from normal control to inertial travel control in the normal mode.
- Eco mode of torque threshold (T 1e_OFF) is greater than the normal mode of torque threshold (T 1n_OFF). Therefore, in power running, the timing (time t 6e ) for switching from inertial running control to normal control in the eco mode is later than the timing (time t 6n ) for switching from inertial running control to normal control in the normal mode. Thereby, when switching from regeneration to power running, the inertial running time in the eco mode is longer than in the normal mode.
- the accelerator opening degree sensor 9 is used to detect a speed control request from the driver, the requested torque is calculated based on the vehicle state and the detected request, and the requested torque is calculated based on the requested torque.
- the torque generated by the generator 3 is controlled.
- the calculated required torque is smaller than the torque threshold (T 1_ON , T 2_ON )
- the required torque is set to zero, and the generator 3 is controlled based on the set required torque.
- inertial running control is performed with the required torque for control being zero in a drive region where the driving efficiency is not good. Thereby, since the inefficient drive of the generator 3 can be suppressed, the driving efficiency of the vehicle can be increased.
- the generator 3 of the torque threshold (T 1_ON) when the rotational speed is greater than a predetermined value when the rotational speed of the generator 3 is smaller than the predetermined value torque threshold (T 1_ON).
- T 1_ON the torque threshold on the high rotation side
- T 1_ON the range in which inertial traveling control is executed
- FIG. 10 is a graph showing the characteristics of power loss with respect to the rotational speed of the generator 3.
- FIG. 11 is a graph showing the efficiency characteristics with respect to the rotational speed of the generator 3.
- Each graph in FIG. 10 and FIG. 11 shows different characteristics depending on the magnitude of a constant driving torque.
- the loss of the generator 3 is mainly a sum of copper loss, iron loss, and mechanical loss.
- the copper loss is a loss caused by the electric resistance (winding resistance) of the copper wire used for winding the coil.
- the iron loss is a loss caused by the coil core, and is mainly a hysteresis loss and an eddy current loss.
- the mechanical loss is a loss due to friction and a loss due to air resistance. Friction is generated at the bearing portion by the rotation of the generator 3.
- the air resistance is an air resistance generated by the bearing of the rotor and an air resistance generated by the rotation of the rotor.
- the above-described as high-rotation torque threshold (T 1_ON) low-rotation torque threshold (T 1_ON) to a larger value. That is, in the operation region of the generator 3, the torque threshold is set so that the execution range of the inertial traveling control becomes wide at low torque and high rotation. Thereby, the time when the generator 3 is in an inefficient state can be shortened, and the drive efficiency of the generator 3 can be improved.
- inertial running control is executed when the rotational speed of the generator 3 is larger than a predetermined rotational speed threshold
- inertial traveling control is performed when the rotational speed of the generator 3 is smaller than the predetermined rotational speed threshold.
- the predetermined rotation speed threshold is a value obtained by converting the lower limit value (V L ) shown in FIG. 4 into a rotation speed. That is, in the operation region smaller than the rotation speed threshold value, when the required torque from the driver is small, the generator 3 can generate the torque according to the required torque. As a result, the torque required by the driver can be output from the generator 3 in a traveling scene where a small torque is easily required.
- the required torque is a torque threshold (T 1_OFF, T 2_OFF) smaller state from the torque threshold (T 1_OFF, T 2_OFF) the torque change rate when changing to a larger state, the magnitude of the required torque Set accordingly.
- the required torque is a torque threshold (T 1_ON, T 2_ON) torque threshold (T 1_ON, T 2_ON) from larger state torque change rate when changed to a smaller state, according to the magnitude of the required torque To set. That is, when the control mode is switched between inertial running control and normal control, the torque change rate is set according to the magnitude of torque requested from the driver. When the required torque is small, it is possible to suppress the torque change accompanying the change of the control mode.
- the generated torque of the generator 3 is changed with high responsiveness to the change in the required torque when the control mode is changed. Thereby, it can control so that the delay of a response may not generate
- a travel mode is selected from a plurality of travel modes
- a torque threshold is selected according to the travel mode selected from the plurality of torque thresholds, and the required torque is determined based on the selected torque threshold. If it is smaller, coasting control is executed. Thereby, since the torque threshold value matched with the driving mode can be set while corresponding to the driving modes having different energy consumption rates, the driving efficiency of the vehicle can be increased.
- the normal control may be switched to inertial traveling control.
- the vehicle controller 10 calculates a required torque from the driver using the drive map, and measures the time when the calculated required torque becomes smaller than the torque threshold (T 1_ON , T 2_ON ). .
- the vehicle controller 10 continues measurement when the calculated required torque is continuously smaller than the torque threshold values (T 1_ON , T 2_ON ).
- the vehicle controller 10 performs inertial running control when the measured time is equal to or greater than a predetermined time threshold.
- a torque threshold value ( T1_ON , T2_ON ) and a torque threshold value ( T1_OFF , T2_OFF ) may be the same value, and a different value may be sufficient as them.
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Abstract
Description
2…ディファレンシャルギア
3…発電機(MG:モータ)
4…回転数センサ
5…インバータ
6…バッテリ
7…モータコントローラ
8…バッテリコントローラ
9…アクセル開度センサ
10…車両コントローラ
11…メモリ
Claims (9)
- モータのトルクを制御するトルク制御方法において、
センサを用いて、ドライバからの速度制御の要求を検出し、
前記要求に基づき要求トルクを演算し、
前記要求トルクに基づき前記モータで発生するトルクを制御し、
前記要求トルクが所定のトルク閾値より小さい場合に、前記要求トルクをゼロに設定し、設定された要求トルクに基づき前記モータを制御する惰性走行制御を実行する
トルク制御方法。 - 前記モータの回転数が第1回転数閾値より大きい場合の前記所定のトルク閾値は、前記モータの回転数が前記第1回転数閾値より小さい場合の前記所定のトルク閾値より大きい
請求項1記載のトルク制御方法。 - 前記所定のトルク閾値は、一定の車速を保つために必要なトルクより低い
請求項1又は2に記載のトルク制御方法。 - 前記所定のトルク閾値は、回生側で一定値に設定されている
請求項1~3のいずれか一項に記載のトルク制御方法。 - 前記モータの回転数が第2回転数閾値より大きい場合に、前記惰性走行制御を実行し、
前記モータの回転数が前記第2回転数閾値より小さい場合に、前記惰性走行制御を実行しない
請求項1~4のいずれか一項に記載のトルク制御方法。 - 前記要求トルクが前記所定のトルク閾値より小さい状態から前記所定のトルク閾値より大きい状態に変化した場合のトルク変化率、又は、前記要求トルクが前記所定のトルク閾値より大きい状態から前記所定のトルク閾値より小さい状態に変化した場合のトルク変化率を、前記要求トルクの大きさに応じて設定する
請求項1~5のいずれか一項に記載のトルク制御方法。 - 前記要求トルクが前記所定のトルク閾値より小さい状態が一定時間以上継続した場合に、前記惰性走行制御を実行する
請求項1~6のいずれか一項に記載のトルク制御方法。 - 前記モータを備えた車両の走行モードを、複数の走行モードの中から選択し、
複数の前記トルク閾値の中から、選択された走行モードに応じて前記トルク閾値を選択し、
前記要求トルクが選択された前記トルク閾値より小さい場合に、前記惰性走行制御を実行する
請求項1~7のいずれか一項に記載のトルク制御方法。 - アクセル開度を検出するアクセル開度センサと、
モータの回転数を検出する回転数センサと、
前記モータのトルク、前記回転数、及び前記アクセル開度の相対関係を示すマップを記憶するメモリと、
前記モータを制御するコントローラとを備え、
前記コントローラは、
前記マップを参照しつつ、前記アクセル開度と前記回転数に対応する前記トルクを、ドライバからの要求トルクとして演算し、
前記要求トルクが所定のトルク閾値より大きい場合には、前記モータで発生する発生トルクが前記要求トルクと一致するように前記モータを制御し、
前記要求トルクが前記所定のトルク閾値より小さい場合には、前記要求トルクをゼロに設定し、前記発生トルクがゼロになるように前記モータを制御するトルク制御装置。
Priority Applications (11)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BR112019000747-4A BR112019000747B1 (pt) | 2016-07-15 | 2016-07-15 | Método de controle de torque e dispositivo de controle de torque |
RU2019104081A RU2714094C1 (ru) | 2016-07-15 | 2016-07-15 | Способ управления крутящим моментом и устройство управления крутящим моментом |
KR1020197001727A KR102012159B1 (ko) | 2016-07-15 | 2016-07-15 | 토크 제어 방법 및 토크 제어 장치 |
JP2018527349A JP6690712B2 (ja) | 2016-07-15 | 2016-07-15 | トルク制御方法及びトルク制御装置 |
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MYPI2019000338A MY196096A (en) | 2016-07-15 | 2016-07-15 | Torque Control Method and Torque Control Device |
EP16908869.7A EP3486111B1 (en) | 2016-07-15 | 2016-07-15 | Torque control method and torque control device |
CN201680087690.6A CN109476235B (zh) | 2016-07-15 | 2016-07-15 | 转矩控制方法以及转矩控制装置 |
CA3030812A CA3030812C (en) | 2016-07-15 | 2016-07-15 | Torque control method and torque control device |
PCT/JP2016/070955 WO2018011968A1 (ja) | 2016-07-15 | 2016-07-15 | トルク制御方法及びトルク制御装置 |
MX2019000575A MX2019000575A (es) | 2016-07-15 | 2016-07-15 | Metodo de control de momento de torsion y dispositivo de control de momento de torsion. |
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CN111137139A (zh) * | 2018-11-06 | 2020-05-12 | 丰田自动车株式会社 | 电动车辆 |
JP2022119590A (ja) * | 2021-02-04 | 2022-08-17 | ダイハツ工業株式会社 | インバータの制御装置 |
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DE102017205871A1 (de) * | 2017-04-06 | 2018-10-11 | Volkswagen Aktiengesellschaft | Verfahren zum Kompensieren von Leerlaufverlusten in einem Elektrofahrzeug, Computerprogrammprodukt, Datenträger und Elektrofahrzeug |
KR102322924B1 (ko) * | 2017-06-02 | 2021-11-08 | 현대자동차주식회사 | 차량 및 차량의 제어방법 |
CN111055724B (zh) * | 2019-12-30 | 2022-12-09 | 重庆长安汽车股份有限公司 | 纯电动汽车的能量管理系统、方法、车辆及存储介质 |
CN111409450B (zh) * | 2020-03-31 | 2022-03-15 | 东风航盛(武汉)汽车控制系统有限公司 | 一种车辆的单踏板模式控制方法 |
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JP7510604B2 (ja) * | 2020-07-01 | 2024-07-04 | マツダ株式会社 | 電気自動車のパワートレインシステム |
US11685262B2 (en) * | 2020-12-03 | 2023-06-27 | GM Global Technology Operations LLC | Intelligent motor vehicles and control logic for speed horizon generation and transition for one-pedal driving |
CN112706624B (zh) * | 2021-01-25 | 2023-02-17 | 一汽解放汽车有限公司 | 电机扭矩过零控制方法、系统及电动汽车 |
CN114123917A (zh) * | 2021-10-25 | 2022-03-01 | 东风汽车集团股份有限公司 | 电机零扭矩控制方法及相关设备 |
CN114454868B (zh) * | 2022-02-25 | 2023-09-26 | 奇瑞汽车股份有限公司 | 混合动力车的控制方法及装置 |
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JPH05168108A (ja) | 1991-12-19 | 1993-07-02 | Honda Motor Co Ltd | 電気走行車 |
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JP2022119590A (ja) * | 2021-02-04 | 2022-08-17 | ダイハツ工業株式会社 | インバータの制御装置 |
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CA3030812A1 (en) | 2018-01-18 |
BR112019000747B1 (pt) | 2023-04-11 |
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JP6690712B2 (ja) | 2020-04-28 |
BR112019000747A2 (pt) | 2019-04-24 |
RU2714094C1 (ru) | 2020-02-11 |
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CN109476235A (zh) | 2019-03-15 |
US20190241075A1 (en) | 2019-08-08 |
EP3486111A4 (en) | 2019-07-31 |
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US10486546B2 (en) | 2019-11-26 |
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CA3030812C (en) | 2023-01-24 |
KR20190021347A (ko) | 2019-03-05 |
KR102012159B1 (ko) | 2019-08-19 |
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