Sprung mass damping control system of vehicle

• US 8,892,280 B2
• Filed: 05/11/2010
• Issued: 11/18/2014
• Est. Priority Date: 05/13/2009
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kinoshita, Gohki, Muta, Koichiro, Hashimoto, Toshiya, Fukushiro, Eiji, Aoki, Takanori, Kimura, Akihiro, Oyama, Shunsuke, Itabashi, Kaiji, Oikawa, Yoshitaka, Saito, Takashi, Yamamoto, Masaya
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): Do, Truc M
• Application Number:
  US13/320,439
• Publication Number:
  US 20120059544A1
• Time in Patent Office: 1,652 Days
• Field of Search: 701/1, 701/37, 701/38, 701/51, 701/70, 701/104, 701/111, 318/139, 318/400.15, 318/432, 318/609
• US Class Current: 701/22
• CPC Class Codes: B60G 17/0164 mainly during accelerating or braking
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 2300/50 Electric vehicles; Hybrid vehicles
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/208 of wheel rotation
• CPC Class Codes: B60G 2400/302 Selected gear ratio; Transmission function
• CPC Class Codes: B60G 2400/32 Torque on propulsion shaft
• CPC Class Codes: B60G 2400/34 Accelerator pedal position
• CPC Class Codes: B60G 2500/10 Damping action or damper
• CPC Class Codes: B60G 2600/09 Feedback signal
• CPC Class Codes: B60G 2600/11 Feedforward signal
• CPC Class Codes: B60G 2600/187 Digital Controller Details and Signal Treatment
• CPC Class Codes: B60G 2800/014 Pitch; Nose dive
• CPC Class Codes: B60G 2800/162 Reducing road induced vibrations
• CPC Class Codes: B60G 2800/213 by applying forward/backward torque on each wheel individually
• CPC Class Codes: B60G 2800/215 by applying a braking action on each wheel individually
• CPC Class Codes: B60G 2800/85 System Prioritisation
• CPC Class Codes: B60G 2800/916 Body Vibration Control
• CPC Class Codes: B60G 2800/922 EBV - Electronic brake force distribution
• CPC Class Codes: B60G 2800/952 Electronic driving torque distribution
• CPC Class Codes: B60K 1/02 : comprising more than one electric motor
• CPC Class Codes: B60K 6/365 : with the gears having orbital motion
• CPC Class Codes: B60K 6/445 : Differential gearing distribution type
• CPC Class Codes: B60L 2240/423 : Torque
• CPC Class Codes: B60W 10/06 : including control of combustion engines
• CPC Class Codes: B60W 10/08 : including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 20/00 : Control systems specially adapted for hybrid vehicles hybrid vehicle design, B60K6/00; electric vehicles B60L
• CPC Class Codes: B60W 20/15 : Control strategies specially adapted for achieving a particular effect
• CPC Class Codes: B60W 2050/0031 : Mathematical model of the vehicle
• CPC Class Codes: B60W 2510/244 : Charge state
• CPC Class Codes: B60W 2710/0666 : Engine torque
• CPC Class Codes: B60W 2710/083 : Torque
• CPC Class Codes: Y02T 10/40 : Engine management systems
• CPC Class Codes: Y02T 10/62 : Hybrid vehicles
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

A sprung mass damping control system of a vehicle, which aims to suppress sprung mass vibration generated in a vehicle body of a vehicle provided with at least a motor-generator (first and second motor-generators) as a drive source, includes a sprung mass damping control amount calculating device that sets a sprung mass damping control amount for suppressing the sprung mass vibration, and a drive source control device (a motor-generator control device) that executes sprung mass damping control by controlling a motor-generator control amount of the motor-generator to realize the sprung mass damping control amount.

Claims

1. A sprung mass damping control system of a vehicle, which is configured to suppress sprung mass vibration generated in a vehicle body of a vehicle provided with at least one of a motor-generator, a motor, or a generator capable of operating as motor, as a drive source, the sprung mass damping control system comprising:

a sprung mass damping control amount calculating device that sets a sprung mass damping control amount for suppressing the sprung mass vibration;

a drive source control device that executes sprung mass damping control by controlling a motor-generator control amount of the motor-generator or a motor control amount of the motor or the generator to realize the sprung mass damping control amount, and

a sprung mass damping control responsiveness compensating device that, when the sprung mass damping control responsiveness decreases due to a smoothing process being performed on the set sprung mass damping control amount, performs a compensating process that compensates for that decrease in order to achieve a desired sprung mass damping control responsiveness.

2. The sprung mass damping control system according to claim 1, wherein, when the vehicle is a hybrid vehicle that is also provided with an engine as a drive source, sprung mass damping control is executed by controlling the motor-generator control amount of the motor-generator or the motor control amount of the motor or the generator even while the engine is operating.

3. The sprung mass damping control system according to claim 1, further comprising:

a required vehicle driving amount calculating device that overlaps the sprung mass damping control amount with a required vehicle driving amount when setting a final required vehicle driving amount of a hybrid vehicle that is also provided with an engine as the drive source;

an engine control amount calculating device that sets an engine control amount of the engine; and

a motor-generator control amount calculating device that calculates the motor-generator control amount of the motor-generator by subtracting the engine control amount from the final required vehicle driving amount, or calculates the motor control amount of the motor or the generator by subtracting the engine control amount from the final required vehicle driving amount.

4. The sprung mass damping control system according to claim 1, further comprising:

a required vehicle driving amount calculating device that overlaps the sprung mass damping control amount with the required vehicle driving amount before a basic performance compensating amount of the hybrid vehicle is overlapped with the required vehicle driving amount, when setting a final required vehicle driving amount of a hybrid vehicle that is also provided with an engine as the drive source.

5. The sprung mass damping control system according to claim 1, wherein the vehicle is a hybrid vehicle that is also provided with an engine as the drive source, and the sprung mass damping control using the motor-generator, the motor, or the generator is executed in a region where sprung mass damping control is not possible using the engine.

6. The sprung mass damping control system according to claim 1, wherein the compensating process for the sprung mass damping control responsiveness is a process in which the set sprung mass damping control amount is input to an inverse function of a transfer function of the smoothing process, or a process that compensates for a phase lag amount of the sprung mass damping control amount that results from the smoothing process.

7. A sprung mass damping control system of a vehicle, which is configured to suppress sprung mass vibration generated in a vehicle body of a vehicle provided with at least one of a motor-generator, a motor, or a generator capable of operating as motor, as a drive source, the sprung mass damping control system comprising:

a sprung mass damping control amount calculating device that sets a sprung mass damping control amount for suppressing the sprung mass vibration; and

a drive source control device that executes sprung mass damping control by controlling a motor-generator control amount of the motor-generator or a motor control amount of the motor or the generator to realize the sprung mass damping control amount, wherein

i) when the motor-generator control amount is a value that is the same as or close to a voltage increase determining threshold value of a system voltage of an inverter, sprung mass damping control using the motor-generator is restricted by prohibiting sprung mass damping control using the motor-generator or by reducing the sprung mass damping control amount, or

ii) when the motor control amount is a value that is the same as or close to a voltage increase determining threshold value of a system voltage of an inverter, sprung mass damping control using the motor or the generator is restricted by prohibiting sprung mass damping control using the motor or the generator or by reducing the sprung mass damping control amount.

8. The sprung mass damping control system according to claim 7, wherein a voltage increase determining threshold value of a system voltage of an inverter is changed according to whether sprung mass damping control using the motor-generator, the motor, or the generator is being executed.

9. A sprung mass damping control system of a vehicle, which is configured to suppress sprung mass vibration generated in a vehicle body of a vehicle provided with at least one of a motor-generator, a motor, or a generator capable of operating as motor, as a drive source, the sprung mass damping control system comprising:

a sprung mass damping control amount calculating device that sets a sprung mass damping control amount for suppressing the sprung mass vibration; and

a drive source control device that executes sprung mass damping control by controlling a motor-generator control amount of the motor-generator or a motor control amount of the motor or the generator to realize the sprung mass damping control amount, wherein

the control mode of sprung mass damping control is determined according to the usage state of the motor-generator, the motor, or the generator, wherein the usage state of the motor-generator, the motor, or the generator is a state in which output of the motor-generator, the motor, or the generator is being used to execute damping control other than the sprung mass damping control, wherein the other damping control is drive train damping control that suppresses drive train vibration in the vehicle, and when the drive train damping control is executed simultaneously with sprung mass damping control using the motor-generator, the motor, or the generator, sprung mass damping control using the motor-generator, the motor, or the generator is restricted by prohibiting sprung mass damping control using the motor-generator, the motor, or the generator, or by reducing the sprung mass damping control amount.

10. The sprung mass damping control system according to claim 9, wherein when motor load ratio restricting control of the motor-generator, the motor, or the generator is being executed, sprung mass damping control using the motor-generator, the motor, or the generator is restricted by prohibiting sprung mass damping control using the motor-generator, the motor, or the generator, or by reducing the sprung mass damping control amount.

11. A sprung mass damping control system of a vehicle, which is configured to suppress sprung mass vibration generated in a vehicle body of a vehicle provided with at least one of a motor-generator, a motor, or a generator capable of operating as motor, as a drive source, the sprung mass damping control system comprising:

a sprung mass damping control amount calculating device that sets a sprung mass damping control amount for suppressing the sprung mass vibration; and

a drive source control device that executes sprung mass damping control by controlling a motor-generator control amount of the motor-generator or a motor control amount of the motor or the generator to realize the sprung mass damping control amount, wherein

the control mode of sprung mass damping control is determined according to the usage state of the motor-generator, the motor, or the generator,

wherein the vehicle is a hybrid vehicle that is also provided with an engine as the drive source, sprung mass damping control using the motor-generator, the motor, or the generator is restricted by prohibiting sprung mass damping control using the motor-generator, the motor, or the generator, or by reducing the sprung mass damping control amount, when a crank angle position is being controlled using output from the motor-generator, the motor, or the generator while the engine is stopped.

12. The spring mass damping control system according to claim 11, wherein when motor load ratio restricting control of the motor-generator, the motor, or the generator is being executed, sprung mass damping control using the motor-generator, the motor, or the generator is restricted by prohibiting sprung mass damping control using the motor-generator, the motor, or the generator, or by reducing the sprung mass damping control amount.

13. A sprung mass damping control system of a vehicle, which is configured to suppress sprung mass vibration generated in a vehicle body of a vehicle provided with at least one of a motor-generator, a motor, or a generator capable of operating as motor, as a drive source, the sprung mass damping control system comprising:

a sprung mass damping control amount calculating device that sets a sprung mass damping control amount for suppressing the sprung mass vibration; and

a drive source control device that executes sprung mass damping control by controlling a motor-generator control amount of the motor-generator or a motor control amount of the motor or the generator to realize the sprung mass damping control amount,

wherein, when there is a possibility of resonance that accompanies execution of the sprung mass damping control being amplified, sprung mass damping control using the motor-generator, the motor, or the generator is restricted by prohibiting sprung mass damping control using the motor-generator, the motor, or the generator, or by reducing the sprung mass damping control amount,

wherein the vehicle is a hybrid vehicle that is also provided with an engine as the drive source, and there is a possibility of resonance that accompanies execution of the sprung mass damping control being amplified when i) there is a misfire in the engine, ii) catalyst degradation suppressing control of the engine is being executed, or iii) the speed of the engine is being controlled by the output of the motor-generator, the motor, or the generator.

14. The sprung mass damping control system according to claim 13, wherein there is a possibility of resonance that accompanies execution of the sprung mass damping control being amplified when the speed of the drive source is within a predetermined range.

15. The sprung mass damping control system according to claim 13, wherein the sprung mass damping control is restricted by filtering an input signal to the sprung mass damping control amount calculating device at a predetermined frequency.