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Controller and controlling method of electric vehicle

A technology for electric vehicles and controllers, applied in electric controllers, electric vehicles, single motor speed/torque control, etc., can solve problems such as vibration caused by output torque

Active Publication Date: 2012-10-17
NISSAN MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Thus, when the transmission characteristics of the vehicle deviate from the identified model Gp(s), the output torque (feedback torque) may vibrate according to the resonance characteristic of 1 / Gp(s)

Method used

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  • Controller and controlling method of electric vehicle
  • Controller and controlling method of electric vehicle
  • Controller and controlling method of electric vehicle

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Experimental program
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no. 1 approach

[0040] figure 1 is a block diagram schematically showing the configuration of the controller of the electric vehicle according to the first embodiment of the present invention. Will utilize the battery from the ( figure 1 A motor 1 that operates with electric power not shown in ) is mounted in the electric vehicle according to the first embodiment. The output shaft of motor 1 is connected to the reducer ( figure 1 not shown). The power from the motor 1 is transmitted to the left drive wheel 3 and the right drive wheel 4 via the speed reducer and the drive shaft 2 . Between the battery and the motor 1, an inverter ( figure 1 not shown). The DC power of the battery is converted into three-phase AC power via the inverter, and supplied to the motor 1 .

[0041] A controller 5 for controlling the output torque of the motor 1 is installed in the electric vehicle. The controller 5 includes a torque setter 6 , a vibration damping controller 7 and a torque controller 8 . As the...

no. 2 approach

[0089] Hereinafter, a controller 5 of an electric vehicle according to a second embodiment of the present invention will be explained. The controller 5 according to the second embodiment differs from the controller 5 according to the first embodiment in the control method using the damping controller 7 . In addition, explanations of the same components and parts as those according to the first embodiment will be omitted, so differences will be mainly explained below.

[0090] Figures 5A to 5D is a Bode diagram of the transfer characteristic H(s)·s×1 / (s·Gp(s)) as a result of frequency analysis according to the first embodiment of the present invention. Figure 5A shows the gain Ga with respect to the frequency F, Figure 5B Phase Ph with respect to frequency F is shown. also, Figure 5C show Figure 5A Partial enlarged view of , and Figure 5D show Figure 5B Enlarged view of part of . Here, among the respective parameters Ga and Ph, parameters added with "c" indicate ...

no. 3 approach

[0119] Hereinafter, a controller 5 of an electric vehicle according to a third embodiment of the present invention will be explained. The controller 5 according to the third embodiment differs from the controller 5 according to the first embodiment in the control method using the vibration damping controller 7 . In addition, the explanation of the same components and parts as those according to the first embodiment will be omitted, so differences will be mainly explained below.

[0120] According to the second embodiment, as a result of replacing the attenuation coefficient ξz, the transfer characteristic H(s) with bandpass filter characteristics is used to correct the transfer characteristic H(s)·s×1 / (s·Gp(s) Phase difference γ generated at the frequency of the control object. According to the third embodiment, the phase difference γ generated when the transfer characteristic 1 / (s·Gp(s) is defined as Mathematical Expression 5-(2) is derived from the following Mathematical Exp...

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PUM

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Abstract

A controller of electric vehicle includes: sensor sensing vehicle information; torque target value setter; torque command value calculator; first paragraph calculator implementing first filtering treatment of the torque command value, the first filtering treatment including transmission characteristic having hand pass filter characteristic; second paragraph calculator implementing second filtering treatment of motor revolution speed which is one of pieces of the vehicle information, the second filtering treatment including: the transmission characteristic having band pass filter characteristic, and model of a transmission characteristic between: torque input to the vehicle, and the motor revolution speed; torque target value calculator calculating the second torque target value. Based on the first torque target value and the second torque target value, the torque command value calculator calculates the torque command value. In the second filtering treatment, the second paragraph calculator uses attenuation coefficient which is larger than identification value of the model of the transmission characteristic.

Description

technical field [0001] The invention relates to a controller and a control method of an electric vehicle. Background technique [0002] Japanese Patent Laid-Open No. 2003-9566 (JP2003009566: corresponding to US2002190683) discloses a controller for a vehicle using an electric motor. For vibration damping control, the controller includes a control block having a transfer characteristic represented by Gp(s), a subtractor for obtaining the deviation between the output of the control block and the motor rotational speed, and a control block having a value represented by H(s ) / Gp(s) represents the control block of the transfer characteristic. In this case, the difference between the denominator degree of H(s) and the numerator degree of H(s) is set to be greater than or equal to the difference between the denominator degree of Gp(s) and the numerator degree of Gp(s) . According to this, a vibration damping effect can be produced even when the accelerator is stepped on from a s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60L15/20H02P6/10H02P6/06
CPCB60L15/20B60L15/18B60L15/28G05B11/32Y02T10/64Y02T10/72
Inventor 藤本觉苅込卓明芦泽裕之
Owner NISSAN MOTOR CO LTD