JP5688908B2 - ハイブリッド車両のアンチジャーク制御装置及び方法 - Google Patents
ハイブリッド車両のアンチジャーク制御装置及び方法 Download PDFInfo
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- JP5688908B2 JP5688908B2 JP2010025666A JP2010025666A JP5688908B2 JP 5688908 B2 JP5688908 B2 JP 5688908B2 JP 2010025666 A JP2010025666 A JP 2010025666A JP 2010025666 A JP2010025666 A JP 2010025666A JP 5688908 B2 JP5688908 B2 JP 5688908B2
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- jerk
- drive shaft
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- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000036461 convulsion Effects 0.000 claims description 5
- 238000013016 damping Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000013017 mechanical damping Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
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Classifications
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- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
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- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/904—Component specially adapted for hev
- Y10S903/906—Motor or generator
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Description
これは、モータートルク指令値/慣性モーメントからドラッグトルク/慣性モーメントを差し引いた駆動軸の総トルク/慣性モーメント即ち角加速度を積分して計算される。
ハイブリッド車両の走行時、駆動軸の振動発生と合せて、ショック及びジャークのような振動現象が発生するため、振動成分を含むモーターの実際速度が計算される。
20 モーター
30 自動変速機
40 クラッチ
50 バッテリー
60 インバーター
70 HSG
80 駆動輪
90 駆動軸
100 モデル速度算出部
200 振動発生判定部
202 低域通過フィルター
300 補正トルク演算部
Claims (5)
- エンジン、モーターおよび自動変速機が一軸上に直結され、エンジンとモーターの間にはクラッチが配列されたハイブリッド車両のアンチジャーク制御装置において、
駆動軸の振動が無視された状態でモーターのモデル速度を算出するモデル速度算出部と、
前記モーターのモデル速度と実際速度間の速度偏差から基準速度偏差及び速度偏差の平均値を算出すると同時に速度振動成分を検出して、駆動軸の振動発生可否を判定する振動発生判定部と、
前記振動発生判定部で駆動軸の振動が発生したと判定すると、駆動軸の振動を低減させるためのアンチジャーク用モーター補正トルク量を算出して、モータートルクを制御する補正トルク演算部と、を含めて構成されることを特徴とするハイブリッド車両のアンチジャーク制御装置。
- 前記補正トルク演算部は、モーターのモデル速度と実際速度間の速度偏差が0となるように負のフィードバック制御を通してモータートルクを制御することを特徴とする請求項1に記載のハイブリッド車両のアンチジャーク制御装置。
- 駆動軸の振動が無視された状態でモーターのモデル速度を計算する段階と、
前記モーターの実際速度を計算する段階と、
前記モーターのモデル速度と実際速度間の速度偏差を求めて、基準速度偏差及び速度偏差の平均値を計算する段階と、
前記基準速度偏差と速度偏差の平均値を比較して、基準速度偏差が速度偏差の平均値より大きいあるいは小さい速度振動成分が検出されると、駆動軸の振動が発生したと判定する段階と、
駆動軸の振動を低減させるためのアンチジャーク用モーター補正トルク量を決定する段階と、
前記モーターのモデル速度と実際速度間の速度偏差が0となるようにアンチジャーク用モータートルク補正量を印加する負のフィードバック制御を通してモータートルクを制御する段階と、からなることを特徴とするハイブリッド車両のアンチジャーク制御方法。
- 前記アンチジャーク用モーター補正トルク量は、数式[補正トルク=ゲイン×((モデル速度−実際速度)−速度偏差の平均値)]により決定されることを特徴とする請求項3に記載のハイブリッド車両のアンチジャーク制御方法。
- 前記ゲインは、アンチジャークを必要とするクラッチ解除時、ギア変速時、チップインまたはチップアウト時、ブレーキ時に応じてあらかじめ異なる値で定められることを特徴とする請求項4に記載のハイブリッド車両のアンチジャーク制御方法。
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JP2011098709A (ja) | 2011-05-19 |
US9893661B2 (en) | 2018-02-13 |
CN102050112A (zh) | 2011-05-11 |
US20110112709A1 (en) | 2011-05-12 |
US20150263657A1 (en) | 2015-09-17 |
KR101117970B1 (ko) | 2012-02-15 |
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