JP5946524B2 - 車両の制御装置、及びそれを備える自動二輪車 - Google Patents
車両の制御装置、及びそれを備える自動二輪車 Download PDFInfo
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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
- 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
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1882—Controlling power parameters of the driveline, e.g. determining the required power characterised by the working point of the engine, e.g. by using engine output chart
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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
- 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
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/101—Infinitely variable gearings
- B60W10/107—Infinitely variable gearings with endless flexible members
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/1005—Driving resistance
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
- F02D11/105—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D9/00—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits
- F02D9/02—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits concerning induction conduits
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0022—Gains, weighting coefficients or weighting functions
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
- B60W2050/0054—Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
- B60W2050/0056—Low-pass filters
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0605—Throttle position
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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
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
-
- 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
- B60W2710/10—Change speed gearings
- B60W2710/1005—Transmission ratio engaged
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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
- B60W2710/10—Change speed gearings
- B60W2710/105—Output torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/0002—Controlling intake air
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/021—Introducing corrections for particular conditions exterior to the engine
- F02D41/0215—Introducing corrections for particular conditions exterior to the engine in relation with elements of the transmission
- F02D41/0225—Introducing corrections for particular conditions exterior to the engine in relation with elements of the transmission in relation with the gear ratio or shift lever position
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Physics & Mathematics (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
- Control Of Transmission Device (AREA)
Description
G1(s)=1/(T×s+1)
ここでTは時定数であり、sは演算子である。
G2(s)=(P×L×s+1)/(L×s+1)
ここでPは1より大きな値に設定された比例ゲインであり、Lは時定数である。
なお、G2(s)は次のように変形され得る。
G2(s)=P−(P−1)/(Ls+1)
ここでPの項は伝達関数G(s)の比例要素となる。
したがって、フィルタ関数の伝達関数G(s)は次の式により表される。
G(s)=G1(s)×G2(s)
Claims (7)
- 無段変速機の変速比とスロットル開度とを制御する車両の制御装置において、
アクセル操作量とエンジン回転数とを関係付けるマップを参照しセンサで検知したアクセル操作量に基づいて、又はスロットル開度とエンジン回転数とを関係付けるマップを参照しセンサで検知したアクセル操作量から換算されるスロットル開度に基づいて、基準目標エンジン回転数を算出する基準回転数算出部と、
前記基準目標エンジン回転数を補正し、補正により得られた回転数を目標エンジン回転数として算出する回転数補正部と、
実際のエンジン回転数が補正により得られた前記目標エンジン回転数になるように目標変速比を算出する目標変速比算出部と、
前記基準目標エンジン回転数に基づいて車両の駆動力に関する目標値である駆動力目標値を算出する駆動力目標算出部と、
前記駆動力目標値に基づいて目標スロットル開度を算出する目標スロットル開度算出部と、
エンジンの出力特性により規定される出力特性情報であって、スロットル開度とエンジン回転数とエンジントルクとの関係を表す情報又はスロットル開度とエンジン回転数とエンジン出力との関係を表す情報が予め格納された記憶装置と、を備え、
前記駆動力目標算出部は前記出力特性情報を参照して、センサーにより検知したアクセル操作値から換算されたスロットル開度と前記基準目標エンジン回転数とに基づいて前記駆動力目標値を算出し、
前記目標スロットル開度算出部は前記出力特性情報を参照して、前記駆動力目標値と前記補正により得られた前記目標エンジン回転数とに基づいて前記目標スロットル開度を算出する、
ことを特徴とする車両の制御装置。 - 請求項1に記載の車両の制御装置において、
前記記憶装置には、前記出力特性情報として、第1出力特性情報と、前記第1出力特性情報とは異なる第2出力特性情報とが格納され、
前記駆動力目標算出部は前記第1出力特性情報を参照して、センサーにより検知したアクセル操作値から換算されたスロットル開度と前記基準目標エンジン回転数とに基づいて前記駆動力目標値を算出し、
前記目標スロットル開度算出部は前記第2出力特性情報を参照し、前記駆動力目標値と前記補正により得られた前記目標エンジン回転数とに基づいて前記目標スロットル開度を算出する、
ことを特徴とする車両の制御装置。 - 請求項2に記載の車両の制御装置において、
前記第1出力特性情報と前記第2出力特性情報のそれぞれは、スロットル開度とエンジン回転数とエンジントルクとの関係を表し、
前記第2出力特性情報において規定されるスロットル開度とエンジン回転数とエンジントルクとの関係は、前記第1出力特性情報に比して、エンジンの実際の出力特性に近い、
ことを特徴とする車両の制御装置。 - 請求項1に記載の車両の制御装置において、
エンジン回転数の変化により生じる慣性トルクを算出する慣性トルク算出部をさらに備え、
前記目標スロットル開度算出部は、前記駆動力目標値と前記慣性トルクとに基づいて前記目標スロットル開度を算出する、
ことを特徴とする車両の制御装置。 - 無段変速機の変速比とスロットル開度とを制御する車両の制御装置において、
アクセル操作量とエンジン回転数とを関係付けるマップを参照しセンサで検知したアクセル操作量に基づいて、又はスロットル開度とエンジン回転数とを関係付けるマップを参照しセンサで検知したアクセル操作量から換算されるスロットル開度に基づいて、基準目標エンジン回転数を算出する基準回転数算出部と、
前記基準目標エンジン回転数を補正し、補正により得られた回転数を目標エンジン回転数として算出する回転数補正部と、
実際のエンジン回転数が補正により得られた前記目標エンジン回転数になるように目標変速比を算出する目標変速比算出部と、
前記基準目標エンジン回転数に基づいて車両の駆動力に関する目標値である駆動力目標値を算出する駆動力目標算出部と、
前記駆動力目標値に基づいて目標スロットル開度を算出する目標スロットル開度算出部と、を備え、
前記駆動力目標算出部は、前記駆動力目標値として、エンジントルクに関する目標値であるエンジントルク目標値と、駆動輪のトルクに関する目標値である駆動輪トルク目標値とを算出し、
前記駆動力目標算出部は、
前記基準目標エンジン回転数に基づいて、基準となるエンジントルク目標値である基準エンジントルク目標値を算出する基準エンジントルク目標算出部と、
前記基準エンジントルク目標値を駆動輪トルク目標値に換算する換算部と、
前記換算部により換算された駆動輪トルク目標値を補正する補正部と、
前記補正後の駆動輪トルク目標値をエンジントルク目標値に換算する逆換算部と、を含み、
前記目標スロットル開度算出部は、前記逆換算部により換算された前記エンジントルク目標値に基づいて、前記目標スロットル開度を算出する、
ことを特徴とする車両の制御装置。 - 請求項5に記載の車両の制御装置において、
エンジン回転数の変化による慣性トルクを算出する慣性トルク算出部をさらに備え、
前記換算部は、前記慣性トルクを利用することなく、前記基準エンジントルク目標値から前記駆動輪トルク目標値を算出し、
前記逆換算部は、前記補正後の駆動輪トルク目標値と前記慣性トルクとに基づいて前記エンジントルク目標値を算出する、
ことを特徴とする車両の制御装置。 - 請求項1乃至6のいずれかに記載の制御装置を備える自動二輪車。
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DE4312415A1 (de) * | 1993-04-16 | 1994-10-20 | Bosch Gmbh Robert | Verfahren zur Übersetzungseinstellung eines Getriebes |
JP3754188B2 (ja) | 1997-09-08 | 2006-03-08 | 日産自動車株式会社 | 車両の駆動力制御装置 |
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