JPWO2017033753A1 - 電動車両の制御方法、及び、制御装置 - Google Patents
電動車両の制御方法、及び、制御装置 Download PDFInfo
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Abstract
Description
図1は、第1実施形態における車両の制御装置を備えた電気自動車の主要構成を示すブロック図である。特に、本実施形態における車両の制御装置は、アクセルペダルの操作のみで車両の加減速や停止を制御することができる車両に適用することができる。この車両では、ドライバは、加速時にアクセルペダルを踏み込み、減速時や停止時には、踏み込んでいるアクセルペダルの踏み込み量を減らすか、または、アクセルペダルの踏み込み量をゼロとする。なお、登坂路においては、車両の後退を防ぐためにアクセルペダルを踏み込みつつ停止状態に近づく場合もある。
Jm:電動モータのイナーシャ
Jw:駆動輪のイナーシャ
M:車両の重量
Kd:駆動系の捻り剛性
Kt:タイヤと路面の摩擦に関する係数
N:オーバーオールギヤ比
r:タイヤの荷重半径
ωm:モータ回転速度
Tm:トルク目標値Tm*
Td:駆動輪のトルク
F:車両に加えられる力
V:車両の速度
ωw:駆動輪の角速度
Tb:摩擦制動量(モータ軸換算トルク)(≧0)
次に、図2のフローチャートのステップS203で行われる停止制御処理の詳細について説明する。
図8は、本実施形態において、図2のステップS204において実行される切り替え処理の流れを示すフローチャートである。
第2実施形態の電動車両の制御装置は、第1実施形態とは、切り替えフラグの設定方法が異なる。より具体的には、切り替えフラグ設定において考慮する車両状態が異なる。以下では、第2実施形態の電動車両の制御装置について、第1実施形態との相違点を中心に説明する。
第3実施形態の電動車両の制御装置は、第1、第2実施形態とは、切り替えフラグの設定において考慮される車両状態が相違する。以下では、第3実施形態の電動車両の制御装置について、切り替えフラグ設定に係る上述した実施形態との相違点を中心に説明する。
第4実施形態の電動車両の制御装置は、第1〜第3実施形態とは、切り替えフラグの設定において考慮される車両状態が相違する。以下では、第4実施形態の電動車両の制御装置について、切り替えフラグ設定に係る上述した実施形態との相違点を中心に説明する。
Claims (12)
- 走行駆動源として機能するとともに、車両に回生制動力を与えるモータと、
車両に摩擦制動力を与える摩擦制動部と、を備える電動車両の制御方法において、
前記電動車両の走行速度に比例する速度パラメータを検出し、
前記モータに作用する外乱トルクを推定し、
前記速度パラメータの低下とともに、モータトルクが前記外乱トルクの推定値に収束するように制御し、
前記速度パラメータが概ねゼロとなった場合に、前記摩擦制動部の摩擦制動量が前記外乱トルクの推定値に基づいて定まる値に収束するように制御するとともに、前記モータトルクを概ねゼロに収束させる、
電動車両の制御方法。 - 請求項1に記載の電動車両の制御方法において、
前記摩擦制動量を収束させる値は、前記外乱トルクの推定値と前記モータトルクとの差分以上である、
電動車両の制御方法。 - 請求項1または2に記載の電動車両の制御方法において、
前記モータトルクを前記所定値へ収束させる時の当該モータトルクの変化率は、前記摩擦制動量の指令値に対する応答遅れに応じて調整される、
電動車両の制御方法。 - 請求項1に記載の電動車両の制御方法において、
車両情報に基づいて第1のトルク目標値を設定し、
前記速度パラメータの低下とともに前記外乱トルクの推定値に収束する第2のトルク目標値を設定し、
前記第1のトルク目標値と前記第2のトルク目標値とを比較し、大きい方の値を第3のトルク目標値として設定し、
前記電動車両が前記摩擦制動量によって停車状態を保持した状態から発進する場合は、前記モータトルクを前記第3のトルク目標値に収束させるとともに、当該摩擦制動量をゼロに収束させる、
電動車両の制御方法。 - 請求項4に記載の電動車両の制御方法において、
前記モータトルクを前記第3のトルク目標値に収束させる時の当該モータトルクの変化率は、前記摩擦制動量の指令値に対する応答遅れに応じて調整される、
電動車両の制御方法。 - 請求項1に記載の電動車両の制御方法において、
前記速度パラメータが概ねゼロとなり、且つ、前記車両状態を示す指標であって、前記速度パラメータとは異なるパラメータが所定値以上である場合に、前記摩擦制動部の摩擦制動量が前記外乱トルクの推定値に基づいて定まる値に収束するように制御するとともに、前記モータトルクを概ねゼロに収束させる、
電動車両の制御方法。 - 請求項6に記載の電動車両の制御方法において、
前記パラメータは、前記モータに作用する外乱トルクの推定値であって、
前記速度パラメータが概ねゼロとなり、且つ、前記外乱トルクの推定値が所定の閾値以上の場合に、前記摩擦制動部の摩擦制動量が前記外乱トルクの推定値に基づいて定まる値に収束するように制御するとともに、前記モータトルクを概ねゼロに収束させる、
電動車両の制御方法。 - 請求項6に記載の電動車両の制御方法において、
前記パラメータとしての前記モータの温度を検出し、
前記速度パラメータが概ねゼロとなり、且つ、前記モータの温度が所定の閾値以上の場合に、前記摩擦制動部の摩擦制動量が前記外乱トルクの推定値に基づいて定まる値に収束するように制御するとともに、前記モータトルクを概ねゼロに収束させる、
電動車両の制御方法。 - 請求子6に記載の電動車両の制御方法において、
前記パラメータとしての前記電動車両の停車時間を算出し、
前記速度パラメータが概ねゼロとなり、且つ、前記停車時間が所定の閾値以上の場合に、前記摩擦制動部の摩擦制動量が前記外乱トルクの推定値に基づいて定まる値に収束するように制御するとともに、前記モータトルクを概ねゼロに収束させる、
電動車両の制御方法。 - 請求項6に記載の電動車両の制御方法において、
前記パラメータとしての前記モータの消費電力を算出し、
前記速度パラメータが概ねゼロとなり、且つ、前記消費電力が所定の閾値以上の場合に、前記摩擦制動部の摩擦制動量が前記外乱トルクの推定値に基づいて定まる値に収束するように制御するとともに、前記モータトルクを概ねゼロに収束させる、
電動車両の制御方法。 - 請求項6から10のいずれか一項に記載の電動車両の制御方法において、
アクセルペダルの操作状態であるアクセル操作量を検出し、
前記摩擦制動部の摩擦制動量が前記外乱トルクの推定値に基づいて定まる値に収束するとともに、前記モータトルクが概ねゼロに収束するように制御された場合は、前記アクセル操作量が上昇するまで前記摩擦制動量が前記外乱トルクに収束した状態を維持する、
電動車両の制御方法。 - 走行駆動源として機能するとともに、車両に回生制動力を与えるモータと、
車両に摩擦制動力を与える摩擦制動部と、を備える電動車両の制御装置において、
前記電動車両の走行速度に比例する速度パラメータを検出する速度パラメータ検出部と、
前記モータに作用する外乱トルクを推定する外乱トルク推定部と、
前記電動車両に摩擦制動力を与える摩擦制動部と、
前記摩擦制動部の摩擦制動量を制御する摩擦制動量制御部と、
前記モータのトルクを制御するモータトルク制御部と、を備え、
前記速度パラメータが概ねゼロとなった場合に、前記摩擦制動量調整部が前記摩擦制動量を前記外乱トルクの推定値に基づいて定まる値に電気的に収束させるとともに、前記モータトルク制御部は、前記モータトルクを概ねゼロに収束させる、
電動車両の制御装置。
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