JP5477030B2 - 電動車両の制御装置 - Google Patents
電動車両の制御装置 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
- B60L15/007—Physical arrangements or structures of drive train converters specially adapted for the propulsion motors of electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/46—Series type
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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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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/20—Reducing vibrations in the driveline
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/34—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the absence of energy storing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/085—Power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/086—Power
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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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
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- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
- Control Of Eletrric Generators (AREA)
- Control Of Ac Motors In General (AREA)
Description
Jw :駆動輪18のイナーシャ
M :車両1の質量
KD :駆動系のねじり剛性
KT :タイヤと路面の摩擦に関する係数
N :駆動モータ15の出力軸から駆動輪18までのオーバーオールギヤ比
r :タイヤの過重半径
ωm :駆動モータ15の角速度
Tm :駆動モータ15のトルク
TD :駆動輪18のトルク
F :車両1に加えられる力
V :車速
ωw :駆動輪18の角速度
2Jw・ω*w=TD−rF ・・・(2)
MV*=F ・・・(3)
TD=KD∫(ωm/N−ωw)dt ・・・(4)
F=KT(rωw−V) ・・・(5)
/s(a4s3+a3s2+a2s+a1) ・・・(6)
a4=2Jm・Jw・M ・・・(7)
a3=Jm(2Jw+Mr2)KT ・・・(8)
a2=(Jm+2Jw/N2)M・KD ・・・(9)
a1=(Jm+2Jw/N2+Mr2/N2)KD・KT ・・・(10)
b3=2Jw・M ・・・(11)
b2=(2Jw+Mr2)KT ・・・(12)
b1=M・KD ・・・(13)
b0=KD・KT ・・・(14)
したがって、(15)式においてα=βと近似して極零相殺を行うことにより、次式(16)の通り、伝達関数Gp(s)の次数を(2次)/(3次)に下げることができる。
Gm(s)/Gp(s)=(a3′s2+a2′s+a1′)/(aref3*s2+aref2s+aref1) ・・・(20)
PGD0=PD0+PIN (PD0<0) ・・・(22)
PGD1=0 (PIN>PGD0>−PIN) ・・・(23)
PGD1=PGD0+POUT (PGD0≦−POUT)
PGB=Ge(s)・{Gm(s)/Gp(s)}・PGB0 ・・・(26)
上記の発電機・駆動補助電力目標値PGDと発電電力指令値PG*からバッテリ充放電電力目標値PGBを算出する演算は、図12のバッテリ充放電電力目標値演算215にあたる。
aref2/(2・(aref1・aref3)1/2)≧1 ・・・(29)
11 エンジン
12 発電機
13 発電機インバータ
14 駆動インバータ
15 駆動モータ
17 バッテリ
18 駆動輪
20 システムコントローラ
21 エンジンコントローラ
22 発電機コントローラ
23 バッテリコントローラ
24 駆動モータコントローラ
f 制振フィルタ(制振制御部)
Claims (5)
- 駆動輪に伝達する駆動トルクを発生する駆動モータと、
少なくとも発電機を有し前記駆動モータへ電力を供給する電力供給源と、
を有する電動車両の制御装置において、
車両の走行状態に基づいて必要駆動トルクを算出する必要駆動トルク算出手段と、
当該必要駆動トルク算出手段により算出した必要駆動トルクに基づいて前記電力供給源が前記駆動モータに供給する供給電力を算出する供給電力算出手段と、
前記供給電力算出手段に備えられ、前記供給電力から車両の駆動系のねじり振動と同等の周波数成分を低減した制振処理済みの電力を前記駆動モータに供給するように前記電力供給源を制御する供給電力指令手段と、
前記供給電力指令手段により前記制振処理が施された電力に基づいて前記駆動モータに指令する駆動トルクを算出し、当該駆動トルクに基づいて前記駆動モータを制御する駆動トルク指令手段と、
を備えることを特徴とする電動車両の制御装置。 - 前記電力供給源として前記発電機の他に蓄電池を備え、
前記供給電力指令手段は、前記供給電力算出手段により算出された前記供給電力が前記蓄電池から前記駆動モータに供給可能な電力を超える場合には、前記蓄電池が充電可能な電力を前記供給電力に加えた電力を発電電力指令値とし、当該発電電力指令値に前記制振処理を施した値に基づいて前記発電機を制御し、
さらに、前記制振処理後の前記発電電力指令値から前記駆動モータに供給する発電電力の目標値を差し引いて前記蓄電池の充放電電力目標値を算出し、かつ当該充放電電力目標値に前記制振処理を施す充放電電力目標値算出手段と、
実際の発電電力から前記制振処理後の前記充放電電力目標値を差し引いた発電機駆動補助電力指令値を算出する発電機駆動補助電力指令値算出手段と、
前記供給電力に対して、実際の発電電力並びに前記蓄電池の出力可能電力及び入力可能電力に基づいて上下限制限を施し、当該上下限制限後の値に対し、前記充放電電力目標値並びに前記蓄電池の出力可能電力及び入力可能電力に基づいて上下限制限した値を駆動制振フィルタ実施電力指令値とする駆動制振フィルタ実施電力指令値算出手段と、
を備えることを特徴とする請求項1に記載の電動車両の制御装置。 - 前記駆動制振フィルタ実施電力指令値に対して前記制振処理を施した値と前記発電機駆動補助電力指令値との和を駆動電力指令値とし、
当該駆動電力指令値、前記駆動モータの回転数、及び前記蓄電池の電圧に基づいて前記駆動モータの駆動損失を算出し、
前記駆動電力指令値から前記駆動損失を差し引いた後の値を前記駆動モータの回転数で除した値を駆動モータトルク指令値とする駆動モータトルク指令値算出手段を備えることを特徴とする請求項2に記載の電動車両の制御装置。 - 前記充放電電力目標値算出手段は、前記制振処理後の前記発電電力指令値から前記駆動モータに供給する発電電力の目標値を差し引いた値に、エンジン応答遅れフィルタと前記制振フィルタを施した値を前記バッテリ充放電電力目標値とすることを特徴とする請求項2または3に記載の電動車両の制御装置。
- 前記駆動制振フィルタ実施電力指令値算出手段は、前記供給電力に対して、前記実際の発電電力に前記蓄電池が出力可能な電力を加えた値を上限値とし、前記実際の発電電力から前記蓄電池に充電可能な電力を差し引いた値を下限値とする制限を施し、当該制限後の値に対して、前記実際の発電電力のうち前記蓄電池の充電に当てられる電力と前記蓄電池の出力可能電力の和を上限値とし、前記実際の発電電力のうち前記蓄電池の放電に当てられる電力と前記蓄電池の入力可能電力の差を下限値とする制限を施した値を駆動制振フィルタ実施電力指令値とすることを特徴とする請求項2から4のいずれかに記載の電動車両の制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010027964A JP5477030B2 (ja) | 2009-05-22 | 2010-02-10 | 電動車両の制御装置 |
PCT/JP2010/056796 WO2010134402A1 (ja) | 2009-05-22 | 2010-04-09 | 電動車両の制御装置及び制御方法 |
CN201080022529.3A CN102438870B (zh) | 2009-05-22 | 2010-04-09 | 电动车辆的控制装置及控制方法 |
EP10777637.9A EP2433841B1 (en) | 2009-05-22 | 2010-04-09 | Device for controlling electric vehicle |
US13/258,145 US9174524B2 (en) | 2009-05-22 | 2010-04-09 | Control device and control method for electric motor vehicle |
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CN113561792A (zh) * | 2021-06-30 | 2021-10-29 | 东风汽车集团股份有限公司 | 混合动力汽车功率平衡控制方法、计算机设备及存储介质 |
CN113561792B (zh) * | 2021-06-30 | 2023-04-25 | 东风汽车集团股份有限公司 | 混合动力汽车功率平衡控制方法、计算机设备及存储介质 |
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EP2433841A4 (en) | 2017-07-19 |
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