JP6690712B2 - 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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- 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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- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- 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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- B60L15/00—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
- 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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- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
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- B60L2240/00—Control parameters of input or output; Target parameters
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
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- B60L2240/423—Torque
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- 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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
- B60L2250/28—Accelerator pedal thresholds
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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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/24—Coasting mode
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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
- B60W2510/081—Speed
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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
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal 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
- B60W2710/08—Electric propulsion units
- B60W2710/083—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
- B60Y2200/90—Vehicles comprising electric prime movers
- B60Y2200/91—Electric 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
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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
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Power Engineering (AREA)
- Automation & Control Theory (AREA)
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- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
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 (8)
- 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し、
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又は2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1〜3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1〜4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1〜5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1〜6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し、
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トルク制御装置。
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US (1) | US10486546B2 (ja) |
EP (1) | EP3486111B1 (ja) |
JP (1) | JP6690712B2 (ja) |
KR (1) | KR102012159B1 (ja) |
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CA (1) | CA3030812C (ja) |
MX (1) | MX2019000575A (ja) |
MY (1) | MY196096A (ja) |
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JP7176360B2 (ja) * | 2018-11-06 | 2022-11-22 | トヨタ自動車株式会社 | 電動車両 |
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***、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***有限公司 | 一种车辆的单踏板模式控制方法 |
CN111688664B (zh) * | 2020-05-11 | 2021-11-30 | 武汉理工大学 | 一种无人驾驶碰撞目标平台车的车速控制方法及*** |
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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 |
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JPH0549106A (ja) * | 1991-08-09 | 1993-02-26 | Nissan Motor Co Ltd | モータ制御装置 |
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US10486546B2 (en) | 2019-11-26 |
CN109476235B (zh) | 2020-05-01 |
MX2019000575A (es) | 2019-07-04 |
KR102012159B1 (ko) | 2019-08-19 |
EP3486111A4 (en) | 2019-07-31 |
BR112019000747A2 (pt) | 2019-04-24 |
JPWO2018011968A1 (ja) | 2019-05-16 |
EP3486111B1 (en) | 2020-09-23 |
CA3030812C (en) | 2023-01-24 |
CN109476235A (zh) | 2019-03-15 |
KR20190021347A (ko) | 2019-03-05 |
CA3030812A1 (en) | 2018-01-18 |
EP3486111A1 (en) | 2019-05-22 |
BR112019000747B1 (pt) | 2023-04-11 |
US20190241075A1 (en) | 2019-08-08 |
RU2714094C1 (ru) | 2020-02-11 |
WO2018011968A1 (ja) | 2018-01-18 |
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