JP7359318B2 - 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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- 238000000034 method Methods 0.000 title claims description 32
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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
-
- 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
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
-
- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/465—Slip
-
- 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
- B60L2260/28—Four wheel or all wheel drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/18—Propelling the vehicle
- B60Y2300/188—Controlling power parameters of the driveline, e.g. determining the required power
-
- 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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
以下、第1実施形態について説明する。
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。
Claims (5)
- 前輪を駆動する第1電動機と後輪を駆動する第2電動機を備える車両において実行され、前記車両の走行状態に応じて走行駆動用の要求駆動力を所定の配分比で分配して前記第1電動機及び前記第2電動機により出力させる駆動力制御方法であって、
前記車両の走行状態に基づく前記配分比の変化に応じて、一方の電動機から他方の電動機に出力トルクを移動させ、
前記車両のスリップ状態を表すスリップ状態パラメータを設定し、
前記スリップ状態パラメータが所定の閾値以下である場合に、移動させる前記出力トルクの変化速度の上限を相対的に小さい第1上限値に設定し、
前記スリップ状態パラメータが前記閾値を超える場合に、前記変化速度の上限を相対的に大きい第2上限値に設定し、
前記要求駆動力が大きいほど、前記第1上限値を大きく設定する、
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、
前記要求駆動力が所定の駆動力閾値以下である場合には、前記第1上限値を前記要求駆動力の変化に対する一定値に設定し、
前記要求駆動力が前記駆動力閾値を超える場合には、前記第1上限値を前記要求駆動力の増加に応じて増加する変動値に設定し、
前記駆動力閾値は、前記車両の発進シーンを判断する観点から定められる、
駆動力制御方法。 - 請求項1又は2に記載の駆動力制御方法であって、
前記スリップ状態パラメータは、前記前輪と前記後輪の間の回転速度の差である前後輪速度差を含み、
前記閾値として所定の速度差閾値を設定し、
前記前後輪速度差が前記速度差閾値に近づくように、前記前輪及び前記後輪のうちのスリップ輪から非スリップ輪に移動させる前記出力トルクを補正する、
駆動力制御方法。 - 請求項1~3の何れか1項に記載の駆動力制御方法であって、
移動させる前記出力トルクを前記第1上限値又は前記第2上限値により制限したことで定まる前記第2電動機のトルク指令値を演算し、
前記要求駆動力から前記第2電動機のトルク指令値を減算して前記第1電動機のトルク指令値を演算し、
前記第1電動機のトルク指令値及び前記第2電動機のトルク指令値に基づいて、前記第1電動機及び前記第2電動機のそれぞれの前記出力トルクを制御する、
駆動力制御方法。 - 前輪を駆動する第1電動機と後輪を駆動する第2電動機を備える車両に設けられ、前記車両の走行状態に応じて走行駆動用の要求駆動力を所定の配分比で分配して前記第1電動機及び前記第2電動機により出力させる駆動力制御装置であって、
前記車両の走行状態に基づく前記配分比の変化に応じて、一方の電動機から他方の電動機に出力トルクを移動させるトルク移動部と、
前記車両のスリップ状態を表すスリップ状態パラメータを設定するスリップ状態パラメータ設定部と、
移動させる前記出力トルクの変化速度を制限する変化速度制限部と、を有し、
前記変化速度制限部は、
前記スリップ状態パラメータが所定の閾値以下である場合に、移動させる前記出力トルクの変化速度の上限を相対的に小さい第1上限値に設定し、
前記スリップ状態パラメータが前記閾値を超える場合に、移動させる前記出力トルクの変化速度の上限を相対的に大きい第2上限値に設定し、
前記要求駆動力が大きいほど、前記第1上限値を大きく設定する、
駆動力制御装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2020/039416 WO2022085082A1 (ja) | 2020-10-20 | 2020-10-20 | 駆動力制御方法及び駆動力制御装置 |
Publications (3)
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JPWO2022085082A1 JPWO2022085082A1 (ja) | 2022-04-28 |
JPWO2022085082A5 JPWO2022085082A5 (ja) | 2023-08-08 |
JP7359318B2 true JP7359318B2 (ja) | 2023-10-11 |
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JP2022556864A Active JP7359318B2 (ja) | 2020-10-20 | 2020-10-20 | 駆動力制御方法及び駆動力制御装置 |
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US (1) | US20230391204A1 (ja) |
EP (1) | EP4238810A4 (ja) |
JP (1) | JP7359318B2 (ja) |
CN (1) | CN116323292A (ja) |
MX (1) | MX2023004460A (ja) |
WO (1) | WO2022085082A1 (ja) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006246607A (ja) | 2005-03-03 | 2006-09-14 | Toyota Motor Corp | 車両およびその制御方法 |
JP2007221894A (ja) | 2006-02-15 | 2007-08-30 | Toyota Motor Corp | 電動車両の制御装置 |
JP2013193524A (ja) | 2012-03-16 | 2013-09-30 | Toyota Motor Corp | 制動力制御装置 |
JP5835583B2 (ja) | 2012-04-27 | 2015-12-24 | 三菱自動車工業株式会社 | 電動車両の駆動力制御装置 |
Family Cites Families (3)
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JP4842011B2 (ja) * | 2006-05-10 | 2011-12-21 | 日立オートモティブシステムズ株式会社 | 電動機の制御装置 |
JP6350003B2 (ja) * | 2014-06-19 | 2018-07-04 | 三菱自動車工業株式会社 | 車両の制御装置 |
JP2019188923A (ja) * | 2018-04-20 | 2019-10-31 | トヨタ自動車株式会社 | 4輪駆動車両の制御装置 |
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2020
- 2020-10-20 US US18/032,642 patent/US20230391204A1/en active Pending
- 2020-10-20 EP EP20958635.3A patent/EP4238810A4/en active Pending
- 2020-10-20 WO PCT/JP2020/039416 patent/WO2022085082A1/ja unknown
- 2020-10-20 MX MX2023004460A patent/MX2023004460A/es unknown
- 2020-10-20 CN CN202080106352.9A patent/CN116323292A/zh active Pending
- 2020-10-20 JP JP2022556864A patent/JP7359318B2/ja active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006246607A (ja) | 2005-03-03 | 2006-09-14 | Toyota Motor Corp | 車両およびその制御方法 |
JP2007221894A (ja) | 2006-02-15 | 2007-08-30 | Toyota Motor Corp | 電動車両の制御装置 |
JP2013193524A (ja) | 2012-03-16 | 2013-09-30 | Toyota Motor Corp | 制動力制御装置 |
JP5835583B2 (ja) | 2012-04-27 | 2015-12-24 | 三菱自動車工業株式会社 | 電動車両の駆動力制御装置 |
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Publication number | Publication date |
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WO2022085082A1 (ja) | 2022-04-28 |
CN116323292A (zh) | 2023-06-23 |
MX2023004460A (es) | 2023-04-28 |
EP4238810A1 (en) | 2023-09-06 |
US20230391204A1 (en) | 2023-12-07 |
JPWO2022085082A1 (ja) | 2022-04-28 |
EP4238810A4 (en) | 2024-03-13 |
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