WO2023032222A1 - 駆動力制御方法及び駆動力制御装置 - Google Patents
駆動力制御方法及び駆動力制御装置 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
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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 a driving force control method and a driving force control device.
- JP2013-85375A proposes a driving force control device that controls the behavior of the vehicle body by controlling the driving force of each of the front and rear wheels.
- this driving force control device performs control to reverse the direction of the driving force of the front wheels and the rear wheels (one is power running and the other is regenerative).
- the idling period before and after the positive/negative of the output torque of one of the front wheel motor and the rear wheel motor is reversed (the phase delay of the drive transmission system such as the backlash of the reduction gear occurs and the drive During the period in which no force is transmitted), the other output torque is kept constant.
- the total required driving force (total required torque) for the vehicle changes (when the vehicle accelerates or decelerates) during the control period including the idling period in which the total output torque is constant
- the total required driving force is changed at least during the idling period.
- a gap occurs between the torque and the total output torque, causing a step in the longitudinal acceleration of the vehicle.
- driving force control controls the torque distribution of each motor so that the total output torque of the front wheel motor that drives the front wheels and the rear wheel motor that drives the rear wheels satisfies the total required torque of the vehicle.
- a method is provided.
- a control mode for determining torque distribution either a common-phase mode in which the positivity of the output torque of each motor is the same, or a different-phase mode in which the positivity of the output torque of each motor is mutually different. set.
- the distribution adjustment control is executed to adjust the torque distribution when the control mode is changed between the same-phase mode and the different-phase mode.
- the second output torque whose sign is not reversed is adjusted so as to approach the total required torque during the free running period of the first output torque whose sign is reversed when the control mode is changed.
- FIG. 1 is a diagram for explaining the premise configuration of a vehicle in which the driving force control method of each embodiment of the present invention is executed.
- FIG. 2 is a flowchart for explaining distribution adjustment control.
- FIG. 3 is a timing chart showing control results of the distribution adjustment control of the first embodiment.
- FIG. 4A is a diagram explaining control results of a comparative example.
- FIG. 4B is a diagram for explaining the effect of the control of the embodiment;
- FIG. 5 is a timing chart showing control results of the distribution adjustment control of the second embodiment.
- FIG. 6 is a timing chart showing control results of the distribution adjustment control of the third embodiment.
- FIG. 7 is a timing chart showing control results of the distribution adjustment control of the fourth embodiment.
- FIG. 1 is a diagram illustrating the premise configuration of a vehicle 100 on which the driving force control method of each embodiment is executed.
- the vehicle 100 is assumed to be an electric vehicle, a hybrid vehicle, or the like that includes a drive motor 10 as a drive source and can run by the driving force of the drive motor 10 .
- the drive motor 10 includes a front wheel motor 10f provided at a front position (front wheel side) of the vehicle 100 to drive the front wheels 11f, and a rear wheel motor 10r provided at a rear position (rear wheel side) to drive the rear wheels 11r. ,
- the front wheel motor 10f is configured as a three-phase AC motor. During power running, the front wheel motor 10f receives power from an onboard battery (not shown) and generates driving force. The driving force generated by the front wheel motor 10f is transmitted to the front wheels 11f via the front wheel transmission 16f and the front wheel drive shaft 21f. On the other hand, during regeneration, the front wheel motor 10f converts the regenerative braking force of the front wheels 11f into AC power and supplies the AC power to the onboard battery.
- the rear wheel motor 10r is configured as a three-phase AC motor.
- the rear wheel motor 10r receives electric power from the vehicle-mounted battery and generates driving force during power running.
- a driving force generated by the rear wheel motor 10r is transmitted to the rear wheel 11r via the rear wheel transmission 16r and the rear wheel drive shaft 21r.
- the rear wheel motor 10r converts the regenerative braking force of the rear wheel 11r into AC power and supplies the power to the vehicle-mounted battery.
- the inverter 12 adjusts the power supplied to the front wheel motor 10f (positive during powering, negative during regeneration) and the power supplied to the rear wheel motor 10r (positive during powering, negative during regeneration). and a rear wheel inverter 12r.
- Front wheel inverter 12f adjusts power supplied to front wheel motor 10f so that front torque Tf corresponding to total required torque Tsum corresponding to the total driving force required for vehicle 100 is realized.
- the front torque Tf is output torque of the front wheel motor 10f corresponding to the driving force (or regenerative braking force) output by the front wheel motor 10f.
- the rear wheel inverter 12r adjusts the electric power supplied to the rear wheel motor 10r so that the rear torque Tr corresponding to the total required torque Tsum is realized.
- the rear torque Tr is output torque of the rear wheel motor 10r corresponding to the driving force (or regenerative braking force) output by the rear wheel motor 10r.
- the torque distribution of the front torque T f and the rear torque Tr according to the total required torque T sum is basically such that the sum of these (hereinafter also referred to as “total torque T f+r ”) matches the total required torque T sum .
- the total required torque T sum is, for example, an operation amount (accelerator opening APO) on the accelerator pedal by the occupant of the vehicle 100, or a predetermined automatic driving system such as ADAS (Advanced Driver Assistance Systems) or AD (Autonomous Driving) ( It is determined based on the command from the automatic driving control device).
- the vehicle 100 is provided with a controller 50 as a driving force control device that controls torque distribution.
- the controller 50 consists of a computer having a central processing unit (CPU), a read-only memory (ROM), a random access memory (RAM), and an input/output interface (I/O interface). It is programmed to perform each process.
- the functionality of the controller 50 may be located external to any on-board computer and/or vehicle 100 such as a vehicle controller (VCM), a vehicle motion controller (VMC), and a motor controller. It can be implemented by a computer.
- VCM vehicle controller
- VMC vehicle motion controller
- the controller 50 may be implemented by a single piece of computer hardware, or may be implemented by distributing various processes using a plurality of pieces of computer hardware.
- the controller 50 uses the total required torque T sum and the detection results of sensors (not shown) as input information to obtain a command value of the front torque T f (hereinafter referred to as “command front torque T * f ”) according to the desired torque distribution. ) and a command value for rear torque Tr (hereinafter also referred to as “command rear torque T * r "). Then, the controller 50 converts the actual value of the front torque T f (hereinafter also referred to as “actual front torque T f_re ”) and the actual value of rear torque Tr (hereinafter also referred to as “actual rear torque Tr_re ”) into the command front torque. A command is issued to the front wheel inverter 12f and the rear wheel inverter 12r so as to follow T * f and command rear torque T * r .
- the controller 50 uses, as control modes for determining torque distribution, an in-phase mode in which the front torque Tf and the rear torque Tr have the same sign and a different-phase mode in which the sign is different. , or
- the in-phase mode is a control mode that prescribes torque distribution so that vehicle characteristics take on desired characteristics during acceleration and deceleration of vehicle 100 .
- the basic distribution ratio for example, 50:50
- the basic distribution ratio for example, - 50:-50
- torque distribution based on a basic distribution ratio that achieves desirable vehicle characteristics in the same-phase mode during acceleration or deceleration is also referred to as "in-phase basic distribution.”
- the basic allocation ratio in the in-phase basic allocation may be a fixed value, or may be a variable value that varies within the above range.
- vehicle characteristics assumed in each embodiment include, for example, characteristics related to energy efficiency (electricity consumption performance) consumed in operations such as running of the vehicle 100, and characteristics related to the difficulty of slipping at the front wheels 11f or the rear wheels 11r. Characteristics (slip performance), followability of the actual longitudinal acceleration to the total required torque T sum (power performance), and the like are included.
- the different phase mode is a control mode that defines the torque distribution required in the control that realizes specific vehicle behavior according to various driving scenes during acceleration and deceleration of the vehicle 100 .
- the control for realizing this specific vehicle behavior includes, for example, control for adjusting the pitch behavior of the vehicle body to reduce vibrations transmitted to the occupants in a scene where the vehicle is traveling over steps or unevenness (so-called pitch control), or driving on a special road surface. It includes control for enhancing the running performance of the vehicle 100 under a situation where the vehicle 100 is running.
- torque distribution based on a basic distribution ratio that is preferable from the viewpoint of achieving desired vehicle behavior in a different phase mode during acceleration or deceleration is also referred to as “different phase basic distribution”.
- the heterophase basic distribution includes front wheel regeneration distribution and rear wheel regeneration distribution according to the target vehicle behavior.
- command front torque T * f is set to a negative value
- command rear torque T * r is set to a positive value. That is, while regenerating the front wheel motor 10f (regeneratively braking the front wheel 11f), the rear wheel motor 10r is powered (powering the rear wheel 11r).
- the command front torque T * f is set to a positive value and the command rear torque T * r is set to a negative value. That is, while powering the front wheel motor 10f (powering the front wheel 11f), the rear wheel motor 10r is regenerated (the rear wheel 11r is regeneratively braked).
- the backlash caused by either the actual front torque Tf_re or the actual rear torque Tr_re crossing zero causes During the idling period, distribution adjustment control is executed to suppress the deviation of the total torque T f+r (more specifically, the actual total torque T f+r_re ) from the total required torque T sum . Distribution adjustment control will be described below.
- the term “idle running period” means a phase delay in the driving force transmission system from the motor to the drive wheels when the positive and negative of the output torque of the motor are reversed (for example, backlash in the speed reduction mechanism, etc.). ), the driving force actually transmitted to the drive wheels cannot sufficiently follow the command value of the output torque of the motor.
- the idling period generated due to the driving force transmission system between the front wheel motor 10f and the front wheels 11f will be particularly referred to as the “front idling period”
- the driving force between the rear wheel motor 10r and the rear wheels 11r will be An idle running period caused by the transmission system is called a "rear idle running period”.
- the terms actual front torque Tf_re and actual rear torque Tr_re described above correspond to the driving forces actually transmitted to the front wheels 11f and rear wheels 11r via the respective driving force transmission systems, respectively. shall mean the torque applied to
- FIG. 2 is a flowchart for explaining the control logic of distribution adjustment control common to each embodiment. It should be noted that the controller 50 repeatedly executes each process shown in FIG. 2 at predetermined calculation cycles when the vehicle 100 is accelerating or decelerating.
- step S110 the controller 50 determines whether or not a request has been made to change the control mode between the different-phase mode and the common-phase mode. For example, the controller 50 makes the determination based on input information acquired from various sensors mounted on the vehicle 100 and/or a predetermined external server.
- step S120 the controller 50 sets the torque adjustment start timing. Specifically, the controller 50 determines a suitable timing for starting the adjustment of the command torque before the idling period in which the sign of the torque is reversed.
- front torque adjustment start time t f_s the timing of starting the adjustment is also referred to as “front torque adjustment start time t f_s ”.
- rear torque adjustment start time tr_s the timing at which the adjustment is started.
- step S130 the controller 50 sets the torque adjustment end timing. Specifically, the controller 50 determines a suitable timing for terminating the torque adjustment after the idling period in which the sign of the torque is reversed.
- step S140 the controller 50 performs torque adjustment. Specifically, from the adjustment start timing determined in step S120 to the adjustment end timing determined in step S130, the controller 50 changes the command torque from the value corresponding to the basic distribution of the control mode of the transition source to the total required torque. Switch to a value close to T sum .
- step S150 the controller 50 ends the torque adjustment. Specifically, the controller 50 restores the command torque to a value corresponding to the basic distribution of the control mode to which the transition is made, using the adjustment end timing as a base point.
- step S120 of FIG. 2 the rear torque adjustment start time tr_s is set to the command front torque T * f (more specifically, the command front torque T * f according to the different phase basic distribution) is set to the front torque threshold value.
- the timing is determined to match T f_th .
- the front torque threshold T f_th is set such that the command front torque T*f reaches a predetermined time before entering the front idling period (that is, when the command front torque T* f becomes zero ).
- the value is determined by experiments or simulations.
- the front torque threshold value T f_th is such that the actual rear torque T r_re changes in accordance with the adjusted command rear torque T * r during the period from the rear torque adjustment start time t r_s to the time when the front idle running period starts. It is determined to be equal to or less than the upper limit.
- the allowable upper limit of the change in the actual rear torque Tr_re is determined so that the change in the actual rear torque Tr_re does not cause longitudinal acceleration fluctuations (longitudinal G fluctuations) that make the occupants of the vehicle 100 uncomfortable.
- the rear torque adjustment end time tr_e is set so as to coincide with the time when the front idle running period ends (the time when the rotational play is reduced).
- the end point of the front idling period can be determined in advance by experiments or simulations according to the characteristics of the driving force transmission system on the front wheel side in vehicle 100 .
- FIG. 3 is a timing chart showing an example of the control result of the distribution adjustment control of this embodiment.
- the actual front torque Tf_re and the actual rear torque Tr_re respectively correspond to the different-phase basic distribution defined by the different-phase mode that is the source of the mode transition. It changes following the commanded front torque T * f ( ⁇ 0) and the commanded rear torque T * r (>0).
- the control mode transitions from the first different-phase mode to the common-phase mode.
- the command front torque T * f maintains the basic distribution (more specifically, it follows the switching from the different-phase basic distribution before the mode transition to the same-phase basic distribution after the mode transition).
- the actual front torque Tf_re cannot follow the change in the command front torque T * f due to the occurrence of rotation play caused by the phase delay of the driving force transmission during the front idling period, and is substantially zero.
- the actual rear torque Tr_re changes following the command rear torque T * r adjusted with the rear torque adjustment start time tr_s as a base point, and is the total from the time of entry into the front idle running period to the end of the front idle running period. Matches the required torque Tsum .
- FIG. 4A is a timing chart explaining the results of the control of the comparative example
- FIG. 4B is a timing chart explaining the effect of the control of the example (control of this embodiment).
- the control command control in which the rear torque T * r is not corrected.
- the actual rear torque Tr_re changes so as to follow the corrected command rear torque T * r and coincide with the total required torque Tsum during the front idling period. do. Therefore, the front and rear G step is suppressed during the front idling period.
- the total output torque (total torque T f+r ) of the front wheel motor 10f that drives the front wheels 11f of the vehicle 100 and the rear wheel motor 10r that drives the rear wheels 11r of the vehicle 100 satisfies the total required torque T sum of the vehicle 100. , to control the torque distribution of the motors 10f and 10r.
- this driving force control method there is a common-mode mode in which the positive and negative of the output torques (front torque T f and rear torque T r ) of the motors 10f and 10r are the same, and the positive and negative of the output torques of the motors 10f and 10r are different from each other.
- distribution adjustment control is executed to adjust the torque distribution when the control mode is switched between the in-phase mode and the out-of-phase mode.
- the rear torque Tr is corrected, so that the deviation of the total torque Tf +r from the total required torque Tsum can be compensated favorably. be able to.
- occurrence of an unintended front and rear G step is suppressed, and the shock given to the occupant can be reduced.
- the control mode is changed from the different-phase mode to the common-phase mode during acceleration of the vehicle 100 .
- the command value of the rear torque Tr (command rear torque T * r ) is adjusted so that the actual value of the rear torque Tr (actual rear torque Tr_re ) matches the total required torque Tsum .
- This implements a more specific control logic for compensating for the deviation of the total torque Tf +r from the total required torque Tsum in the front idling period.
- the command rear torque T * r is started to be adjusted.
- the adjustment of the command rear torque T * r is completed in accordance with the end of the front idling period.
- the present embodiment provides a controller 50 that functions as a driving force control device for executing the driving force control method described above.
- the controller 50 satisfies the total required torque T sum of the vehicle 100 by the total output torque (total torque T f+r ) of the front wheel motor 10f that drives the front wheels 11f of the vehicle 100 and the rear wheel motor 10r that drives the rear wheels 11r. It controls the torque distribution of each motor 10f, 10r.
- the controller 50 operates in an in-phase mode in which the positive and negative of the output torques (front torque T f and rear torque T r ) of the motors 10f and 10r are the same, and a different-phase mode in which the positive and negative of the output torques of the motors 10f and 10r are mutually different. , or Furthermore, the controller 50 executes distribution adjustment control that adjusts the torque distribution when the control mode is switched between the in-phase mode and the out-of-phase mode.
- the second output torque whose sign is not reversed (rear torque T r ) is adjusted so as to approach the total required torque T sum .
- FIG. 5 shows an example of the control result of the distribution adjustment control of this embodiment.
- the controller 50 starts the zero torque command when the commanded front torque T * f matches a predetermined process start threshold T f_th1 ( ⁇ 0).
- the controller 50 also starts adjusting the command rear torque T * r described in the first embodiment in accordance with the start of the zero torque command.
- the processing start threshold T f_th1 is set so that the occupant of the vehicle 100 does not feel discomfort when the change in the command rear torque T * r (actual rear torque T r_re ) caused by the change in the command front torque T * f due to the execution of the zero torque command. is set to an appropriate value from the viewpoint of keeping the range within which the front-rear G variation does not occur.
- the controller 50 terminates the zero torque command when the commanded front torque T * f matches the predetermined processing end threshold value Tf_th2 . Further, the controller 50 terminates the adjustment of the commanded rear torque T * r at the end of the zero torque command.
- the processing end threshold T f_th2 is set to an appropriate value from the viewpoint of quickly returning the torque distribution after the zero torque command ends to the basic distribution defined in the in-phase mode after the transition.
- the front-rear G fluctuation caused by the backlash in the front idling period is suppressed by executing the zero torque command, and the actual rear torque is obtained by adjusting the command rear torque T * r .
- Tr_re can be caused to follow the total required torque T sum in a suitable manner, thereby suppressing the occurrence of a front-rear G step.
- the torque distribution can be quickly performed after the zero torque command to achieve the basic distribution (especially, in-phase mode).
- a third embodiment will be described below. Elements similar to those of the first embodiment or the second embodiment are assigned the same reference numerals, and descriptions thereof are omitted.
- first half transition a scene in which the control mode is first transitioned
- second half transition a scene in which the control mode is next transitioned
- the control mode in the first half transition during deceleration, the control mode is transitioned from the in-phase mode (front-wheel powering and rear-wheel powering) to the different-phase mode (front-wheel powering and rear-wheel regeneration).
- the control mode in the second half transition, is transitioned from the different phase mode (front wheel power running and rear wheel regeneration) to the same phase mode (front wheel regeneration and rear wheel regeneration).
- FIG. 6 shows an example of the control result of the distribution adjustment control of this embodiment.
- the command front torque T * f in the rear idle running period is adjusted.
- the specific method for adjusting the commanded front torque T * f is the same as the commanded rear torque T * r in the first embodiment, except that the front torque Tf is adjusted instead of the rear torque Tr . is similar to the adjustment of
- the command rear torque T * r is adjusted in the front idling period.
- a specific method for adjusting the command rear torque T * r is the same as the adjustment of the command rear torque T * r described in the first embodiment, except that the direction in which the sign of the front torque Tf changes is different. be.
- the first half transition for transitioning the control mode from the common phase mode to the different phase mode and the second half transition for transitioning the control mode from the different phase mode to the common phase mode are sequentially executed.
- the command value of the second output torque is adjusted so that the actual value of the second output torque matches the total required torque Tsum .
- the command front torque T * f is adjusted so that the actual front torque Tf_re in the rear idling period matches the total required torque Tsum .
- the command rear torque T * r is adjusted so that the actual rear torque Tr_re in the front idling period matches the total required torque Tsum .
- the actual front torque T f_re and the actual rear torque Tr_re are respectively calculated as the total requested torque T sum in the rear idle running period and the front idle running period at each transition. can be suitably matched. As a result, even when the vehicle 100 decelerates, the generation of an unintended front-rear G step is suppressed, and the shock given to the occupant can be reduced.
- the command rear torque T * r during the latter half transition is determined by determining the adjustment start/end timing of the command rear torque T * r by the same control logic as in the first embodiment.
- the torque distribution of the vehicle 100 can be quickly restored to the basic distribution (distribution that realizes good vehicle characteristics during deceleration) in the transition destination in-phase mode.
- FIG. 7 shows an example of the control result of the distribution adjustment control of this embodiment.
- the command rear torque T * r is maintained at zero in the zero torque command in the first half transition.
- the command front torque T * f is maintained at zero in the zero torque command in the second half transition. Note that the specific control logic of the zero torque command (start and end timings, and the relationship between the start and end timings of each commanded torque) is the same as in the second embodiment.
- the zero torque command and the command torque are adjusted in the first half transition and the second half transition of the deceleration of the vehicle 100, respectively, so that the front and rear G fluctuations and steps are reduced in both the first half transition and the second half transition. can be suppressed.
- the specific control logic for determining the start/end timing of the adjustment of the command rear torque T * r or the command front torque T * f in the distribution adjustment control is not limited to those shown in each of the above embodiments. It is possible to make appropriate changes in consideration of the balance between the effect of suppressing , and the prompt return to the basic distribution after the completion of the adjustment of the command torque.
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Abstract
Description
図1は、各実施形態の駆動力制御方法が実行される車両100の前提構成を説明する図である。
図2は、各実施形態に共通するの配分調節制御の制御ロジックを説明するフローチャートである。なお、コントローラ50は、車両100の加速時又は減速時において、図2に示す各処理を所定の演算周期毎に繰り返し実行する。
本実施形態では、車両100の加速時に、制御モードが異相モード(前輪回生且つ後輪力行)から同相モード(前輪力行且つ後輪力行)に遷移するシーンに適用される配分調節制御を説明する。すなわち、本実施形態では、制御モードの遷移に応じてフロントトルクTfが負から正に反転する場合に、フロント空走期間において指令リアトルクT* rを調節する配分調節制御について説明する。
以下、第2実施形態について説明する。なお、第1実施形態と同様の要素には同一の符号を付し、その説明を省略する。
以下、第3実施形態について説明する。なお、第1実施形態又は第2実施形態と同様の要素には同一の符号を付し、その説明を省略する。特に、本実施形態では、車両100の減速時に、初めに制御モードを遷移させるシーン(以下、「前半遷移」とも称する)、及び次に制御モードを遷移させるシーン(以下、「後半遷移」とも称する)のそれぞれ、配分調節制御を適用する例について説明する。
以下、第4実施形態について説明する。なお、第1~第3実施形態の何れかと同様の要素には同一の符号を付し、その説明を省略する。
Claims (6)
- 前輪を駆動する前輪モータ及び後輪を駆動する後輪モータの合算出力トルクによって車両の総要求トルクを満たすように、各モータのトルク配分を制御する駆動力制御方法であって、
前記トルク配分を定める制御モードとして、各モータの出力トルクの正負が相互に一致する同相モードと、各モータの前記出力トルクの正負が相互に異なる異相モードと、の何れかを設定し、
前記制御モードを前記同相モード及び前記異相モードの間で相互に遷移させる際に前記トルク配分を調節する配分調節制御を実行し、
前記配分調節制御では、
前記制御モードの遷移時に正負が反転する方の第1出力トルクの空走期間において、正負が反転しない方の第2出力トルクを前記総要求トルクに近づけるように調節する、
駆動力制御方法。 - 請求項1に記載の駆動力制御方法であって、
前記車両の加速時において前記制御モードを前記異相モードから前記同相モードに遷移させ、
前記配分調節制御では、
前記空走期間における前記第2出力トルクの実値が前記総要求トルクに一致するように、前記第2出力トルクの指令値を調節する、
駆動力制御方法。 - 請求項1に記載の駆動力制御方法であって、
前記車両の減速時において、前記制御モードを前記同相モードから前記異相モードに遷移させる前半遷移、及び前記制御モードを前記異相モードから前記同相モードに遷移させる後半遷移を順に実行し、
前記前半遷移及び前記後半遷移の双方において前記配分調節制御を実行し、
それぞれの前記配分調節制御において、
前記第2出力トルクの実値が前記総要求トルクに一致するように、前記第2出力トルクの指令値を調節する、
駆動力制御方法。 - 請求項2又は3に記載の駆動力制御方法であって、
前記配分調節制御では、
前記第1出力トルクの指令値が所定のトルク閾値に一致すると、前記第2出力トルクの指令値の調節を開始し、
前記空走期間の終了に合わせて、前記第2出力トルクの指令値の調節を終了する、
駆動力制御方法。 - 請求項2又は3に記載の駆動力制御方法であって、
前記配分調節制御では、
前記第1出力トルクの指令値が所定の処理開始閾値と一致すると、前記第1出力トルクの指令値をゼロに維持するゼロトルク指令を開始し、
前記ゼロトルク指令の開始に合わせて、前記第2出力トルクの指令値の調節を開始し、
前記第1出力トルクの指令値が所定の処理終了閾値と一致すると、前記ゼロトルク指令を終了し、
前記ゼロトルク指令の終了に合わせて、前記第2出力トルクの指令値の調節を終了する、
駆動力制御方法。 - 前輪を駆動する前輪モータ及び後輪を駆動する後輪モータの合算出力トルクによって車両の総要求トルクを満たすように、各モータのトルク配分を制御する駆動力制御装置であって、
前記トルク配分を定める制御モードとして、各モータの出力トルクの正負が相互に一致する同相モードと、各モータの前記出力トルクの正負が相互に異なる異相モードと、の何れかを設定し、
前記制御モードを前記同相モード及び前記異相モードの間で相互に遷移させる際に前記トルク配分を調節する配分調節制御を実行し、
前記配分調節制御では、
前記制御モードの遷移時に正負が反転する方の第1出力トルクの空走期間において、正負が反転しない方の第2出力トルクを前記総要求トルクに近づけるように調節する、
駆動力制御装置。
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