VIBRATION-INHIBITION CONTROL APPARATUS FOR ELECTRICALLY DRIVEN VEHICLE, AND VIBRATION-INHIBITION CONTROL METHOD FOR ELECTRICALLY DRIVEN VEHICLE
First Claim
1. A vibration suppression system for an electrically driven vehicle having an electrically driven motor as a power source, comprising:
- a rotation speed detector configured to detect a motor rotation speed;
a motor torque target calculation unit configured to calculate a motor torque target value in response to a driver request;
a first torque target calculation unit configured to calculate a first torque target by feedforward (F/F) operation using a model transfer characteristic between a torque input and the motor rotation speed with respect to the motor torque target value;
a second torque target calculation unit configured to calculate a second torque target by feedback (F/B) operation using the model transfer characteristic between the torque input and the motor rotation speed with respect to the motor rotation speed);
a motor torque command setting mechanism configured to add the first torque target and the second torque target to obtain a motor torque command to the motor;
a determination mechanism configured to determine whether or not the model transfer characteristic between the torque input and motor rotation speed matches an actual transfer characteristic; and
a vibration suppression mechanism configured to set the motor torque target value as the motor torque command during a time period in which the transfer characteristic between the torque input and motor rotation speed is not determined to match the actual transfer characteristic, while stopping the F/F operation of the first torque target using the first torque target calculation unit and the F/B operation of the second torque target using the second torque target calculation mechanism.
1 Assignment
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Accused Products
Abstract
Provided is an electrically driven vehicle, wherein unexpected vibration or shock is prevented during interruption of torque transmission. An electric vehicle having an electric motor as its power source is provided with an F/F calculation or operation unit, an F/B calculation or operation unit, an adder, model determination units, and target torque value switching units. The F/F calculation unit calculates a first target torque value by F/F operation. The F/B calculation unit calculates a second target torque value by F/B operation using a model. The adder adds the first target torque value and the second target torque value, to obtain a motor torque command value. The model determination units evaluate whether or not an interruption in the torque transmission to drive shafts occurs. The target torque value switching units stop the F/F- and F/B operations while torque transmission interruption is confirmed.
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Citations
10 Claims
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1. A vibration suppression system for an electrically driven vehicle having an electrically driven motor as a power source, comprising:
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a rotation speed detector configured to detect a motor rotation speed; a motor torque target calculation unit configured to calculate a motor torque target value in response to a driver request; a first torque target calculation unit configured to calculate a first torque target by feedforward (F/F) operation using a model transfer characteristic between a torque input and the motor rotation speed with respect to the motor torque target value; a second torque target calculation unit configured to calculate a second torque target by feedback (F/B) operation using the model transfer characteristic between the torque input and the motor rotation speed with respect to the motor rotation speed); a motor torque command setting mechanism configured to add the first torque target and the second torque target to obtain a motor torque command to the motor; a determination mechanism configured to determine whether or not the model transfer characteristic between the torque input and motor rotation speed matches an actual transfer characteristic; and a vibration suppression mechanism configured to set the motor torque target value as the motor torque command during a time period in which the transfer characteristic between the torque input and motor rotation speed is not determined to match the actual transfer characteristic, while stopping the F/F operation of the first torque target using the first torque target calculation unit and the F/B operation of the second torque target using the second torque target calculation mechanism. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vibration suppression method for an electrically driven vehicle that includes an electric motor as a power source to operate drive wheels by torque transmission through a drive shaft, comprising:
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setting a motor torque command to the electric motor by adding a first torque target value of F/F operation and a second torque target value of F/B operation, during a matched state in which a model transfer characteristic between a torque input and a motor rotation speed is consistent with an actual transfer characteristic; setting the motor torque target command to the electric motor to a steady state torque target determined based on the driver request during an unmatched state in which the model transfer characteristic between torque input and motor rotation speed does not match the actual transfer characteristic while stopping the F/F and F/B operations; and upon determination of transition from the unmatched state between the model transfer characteristic between the torque input and the motor rotation speed and the actual transfer characteristic to the matched state, F/F operation in response to the change in steady state torque is started at an earlier timing of the actual match with the previously assumed model to set the first torque target as the motor torque command, while starting the F/B operation at a later timing of the actual match of transfer characteristic with the previously assumed model to set the motor torque command by adding the first torque target value preceded by the F/F operation and the second torque target value.
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Specification