MOTOR CONTROL DEVICE FOR VEHICLE

• US 20120235612A1
• Filed: 11/11/2011
• Published: 09/20/2012
• Est. Priority Date: 03/18/2011
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: Akashi, Yohei, Tanaka, Hideyuki, Tanaka, Kazuyuki
• Granted Patent: US 8,841,873 B2
• Time in Patent Office: Days
• US Class Current: 318/400.23
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2270/145 Structure borne vibrations
• CPC Class Codes: H02P 6/10 Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

The motor control device includes: a vehicle control device (1) for generating a first torque command value Tref according to state quantities of the vehicle acquired from various sensors (7); a vehicle-resonance-compensation calculation unit (23) for extracting a frequency component generating a vehicle resonance from torque ripple components detected from an electrical angle ω of a motor for traveling (3) by a vehicle resonance component extraction filter (24), and generating a second torque command value Tcmp as a resonance compensation value for carrying out feedback control for the extracted frequency component; and an adder (20) for generating a torque command value Tref_cmp by subtracting the second torque command value Tcmp from the first torque command value Tref, and the motor (3) is controlled according to the torque command value. With this, it is possible to restrain the resonance of the vehicle caused by the torque ripple of the motor (3).

Claims

1. A motor control device for vehicle for controlling a motor for traveling installed on a vehicle, comprising:

a first torque generation unit for generating a first torque command value for controlling drive of the motor for traveling according to a state quantity of the vehicle supplied from at least one type of sensor provided on the vehicle;

a second torque generation unit for extracting a frequency component generating a resonance of the vehicle which is one of frequency components of an oscillation source of the vehicle generated when the motor for traveling is driven, and generating a second torque command value serving as a resonance compensation value for the first torque command value based on the extracted frequency component; and

a drive torque generation unit for subtracting the second torque command value generated by the second torque generation unit from the first torque command value generated by the first torque generation unit, thereby outputting a result of the subtraction as a drive torque command value for the motor for traveling,

wherein the motor for traveling is driven based on the drive torque command value.

2. A motor control device for vehicle according to claim 1, wherein:

the second torque generation unit extracts the frequency component generating the resonance of the vehicle from the frequency components of the oscillation source according to a drive state of the motor for traveling so as to generate the second torque command value; and

the drive state of the motor for traveling comprises at least one of a motor electrical angle, an estimated value of the motor electrical angle, a motor speed, an estimated value of the motor speed, a motor torque, and a motor current of the motor for traveling.

3. A motor control device for vehicle according to claim 1 or 2, wherein:

the motor for traveling includes drive state detection means for detecting the drive state of the motor for traveling; and

the second torque generation unit extracts the frequency component generating the resonance of the vehicle from the frequency components of the oscillation source according to the drive state of the motor for traveling detected by the drive state detection means so as to generate the second torque command value.

4. A motor control device for vehicle according to claim 1, wherein the second torque generation unit includes a first-order lead/lag filter, and generates the second torque command value using the first-order lead/lag filter.

5. A motor control device for vehicle according to claim 4, wherein:

the vehicle includes vehicle-resonance-frequency detection means for detecting a resonance frequency of the vehicle; and

the second torque generation means changes a time constant of the first-order lead/lag filter according to the detected resonance frequency of the vehicle.

6. A motor control device for vehicle according to claim 1, wherein the second torque generation unit further includes a limiter for limiting the second torque command value by an upper limit and a lower limit.

7. A motor control device for vehicle according to claim 1, wherein the second torque generation unit further includes a vehicle speed input unit for receiving an input of a speed of the vehicle, and switches on and off of an operation for generating the second torque command value according to the speed of the vehicle.