Motor control apparatus and motor control method
First Claim
1. A motor control apparatus that controls a motor, which is mounted on a vehicle and outputs power to a drive shaft linked to drive wheels, said motor control apparatus comprising:
- a skid detection module that detects a skid due to wheel spin of the drive wheels;
a torque restriction control module that, in response to detection of a skid by said skid detection module, sets torque restriction for reduction of the skid and controls said motor under the torque restriction; and
a torque restriction cancellation control module that, in response to at least a reducing tendency of the skid, cancels the torque restriction, which is set by said torque restriction control module, to a specific degree corresponding to a variation in a driver'"'"'s accelerator operation, and controls said motor under at least partly cancelled torque restriction.
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Accused Products
Abstract
In response to detection of a skid of drive wheels based on an increase in angular acceleration α of a rotating shaft of a motor, the control procedure of the invention refers to a map representing a variation in maximum torque Tmax against the angular acceleration α and sets torque restriction of the motor to limit the torque level of the motor to the maximum torque Tmax corresponding to a peak value of the angular acceleration α. When the torque restriction sufficiently lowers the angular acceleration α to detect convergence of the skid, the control procedure cancels the torque restriction to a certain level of the maximum torque Tmax corresponding to a torque restoration limit δ1, which is set according to the degree of the skid. The torque restoration limit δ1 (that is, the maximum torque Tmax) is cancelled in a stepwise manner by a cancellation rate and a cancellation time corresponding to an additional accelerator depression relative to an accelerator opening at the time of detection of the skid. The control procedure sets the greater cancellation rate and the shorter cancellation time with an increase in additional accelerator depression.
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Citations
18 Claims
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1. A motor control apparatus that controls a motor, which is mounted on a vehicle and outputs power to a drive shaft linked to drive wheels, said motor control apparatus comprising:
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a skid detection module that detects a skid due to wheel spin of the drive wheels;
a torque restriction control module that, in response to detection of a skid by said skid detection module, sets torque restriction for reduction of the skid and controls said motor under the torque restriction; and
a torque restriction cancellation control module that, in response to at least a reducing tendency of the skid, cancels the torque restriction, which is set by said torque restriction control module, to a specific degree corresponding to a variation in a driver'"'"'s accelerator operation, and controls said motor under at least partly cancelled torque restriction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 17)
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12. A motor control method that controls a motor, which is mounted on a vehicle and outputs power to a drive shaft linked to drive wheels, said motor control method comprising the steps of:
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(a) detecting a skid due to wheelspin of the drive wheels;
(b) in response to detection of a skid by said step (a), setting torque restriction for reduction of the skid and controlling said motor under the torque restriction; and
(c) in response to at least a reducing tendency of the skid, canceling the torque restriction, which is set by said step (b), to a specific degree corresponding to a variation in a driver'"'"'s accelerator operation, and controlling said motor under at least partly cancelled torque restriction. - View Dependent Claims (13, 14, 15, 16, 18)
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Specification