Control devices and vehicles

Abstract

One embodiment of the control device disclosed herein includes: a control circuit capable of determining whether a vehicle is slipping; during a vehicle slippage, determining the torque of a motor based on a torque command value corresponding to the driver's driving operation; and during a period when the vehicle is not slipping, determining the torque of the motor based on the torque command value and a damping torque command value for suppressing vehicle vibration; and for a predetermined period starting from the moment the vehicle slippage is eliminated, performing a suppression process to reduce the damping torque command value by a predetermined amount.

Description

Technical Field

[0001] This disclosure relates to a control device for controlling the operation of an electric motor, and a vehicle equipped with such a control device. Background Technology

[0002] Vehicles such as cars may skid due to road conditions. For example, Patent Document 1 discloses a control device for suppressing skidding in electric vehicles.

[0003] Existing technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2020-127281 Summary of the Invention

[0004] One embodiment of the control device disclosed herein includes: a control circuit capable of determining whether a vehicle is slipping; during a vehicle slippage, determining the torque of an electric motor based on a torque command value corresponding to the driver's driving operation; and during a period when the vehicle is not slipping, determining the torque of the electric motor based on the torque command value and a damping torque command value for suppressing vehicle vibration; and for a predetermined period starting from the moment the vehicle slippage is eliminated, performing a suppression process to reduce the damping torque command value by a predetermined amount.

[0005] One embodiment of the vehicle disclosed herein includes an electric motor, an electric control device, and a control circuit. The electric motor is capable of generating a driving force for vehicle movement. The electric control device is capable of supplying power to the electric motor based on an electric motor torque command value. The control circuit is capable of generating the electric motor torque command value. The control circuit is capable of determining whether the vehicle is slipping; during vehicle slippage, it is capable of generating the electric motor torque command value based on a torque command value corresponding to the driver's driving operation; and during periods when the vehicle is not slipping, it is capable of generating the electric motor torque command value based on the torque command value and a damping torque command value for suppressing vehicle vibration. Furthermore, for a predetermined period starting from the moment the vehicle slippage is eliminated, a suppression process is performed to reduce the damping torque command value by a predetermined amount. Attached Figure Description

[0006] The accompanying drawings are provided to further understand this disclosure and are incorporated in and form part of this specification. The drawings illustrate one embodiment and, together with the description, serve to illustrate the principles of this disclosure.

[0007] Figure 1 This is an explanatory diagram illustrating an example of a vehicle according to one embodiment of the present disclosure.

[0008] Figure 2 It means Figure 1 A block diagram of an example structure of the control circuit shown.

[0009] Figure 3 It means Figure 1 The flowchart shows an example of an operation of the control circuit.

[0010] Figure 4 It means Figure 2 The waveform diagram shows an example of the vibration damping torque suppression process in the control circuit shown.

[0011] Figure 5 It means Figure 2 Another waveform diagram of an example of the vibration damping torque suppression process in the control circuit shown.

[0012] Figure 6 It means Figure 2 Another waveform diagram of an example of the vibration damping torque suppression process in the control circuit shown.

[0013] Figure 7 It means Figure 1 The waveform diagram shows an example of the motor's rotational speed. Detailed Implementation

[0014] In a vehicle, the vehicle's actions can be transmitted to the driver through the seat or various pedals, allowing the driver to control the vehicle's movements. Ideally, the driver should be able to easily control the vehicle's actions.

[0015] The aim is to provide a control device and vehicle that allow the driver to easily control the vehicle's movements.

[0016] The following detailed description of some exemplary embodiments of the present disclosure is provided with reference to the accompanying drawings. It should be noted that the following description illustrates only a specific example of the present disclosure and should not be construed as limiting the present disclosure. For example, elements including numerical values, shapes, materials, components, the positions of the components, and the connection methods of the components are merely examples and should not be construed as limiting the present disclosure. Furthermore, in the following exemplary embodiments, constituent elements based on the highest-level concept of the present disclosure but not described in the independent claims are arbitrary and can be configured as needed. The drawings are schematic and are not intended to be illustrated at their original dimensions. Throughout this specification and the drawings, constituent elements having substantially the same function and substantially the same structure are labeled with the same reference numerals, and repeated descriptions are omitted. Additionally, constituent elements not directly related to an embodiment of the present disclosure are not illustrated in the drawings.

[0017] <Implementation Method> [Structure Example] Figure 1This describes a structural example of a vehicle 1 having a control device according to one embodiment. The vehicle 1 is an electric vehicle and includes a battery 11, a power control device 12, a motor 13, a driving operation unit 14, and a control circuit 20. Figure 2 This is a diagram showing a structural example of the control circuit 20. Furthermore, for ease of explanation, in Figure 2 The diagram also shows the power control device 12 and the motor 13.

[0018] The battery 11 is configured to store electricity and supply DC power to the power control device 12. In addition, the battery 11 can also store the electricity supplied by the power control device 12.

[0019] The power control device 12 is configured to control the power supplied to the motor 13. For example, the power control device 12 includes an inverter that converts the direct current supplied by the battery 11 into alternating current based on the motor torque command value provided by the control circuit 20, and supplies the alternating current to the motor 13. Furthermore, the power control device 12 can also supply power supplied by the motor 13 to the battery 11.

[0020] The motor 13 is configured to generate a driving force as mechanical energy based on the alternating current supplied by the power control device 12. In the vehicle 1, this driving force is transmitted to the wheels of the vehicle 1 through various components such as the drive shaft. As a result, the vehicle 1 is able to move based on this driving force. In addition, the motor 13 can also operate as a generator, supplying the generated alternating current to the power control device 12.

[0021] like Figure 2 As shown, the motor 13 has a speed sensor 13A. The speed sensor 13A is configured to detect the speed of the motor 13. Furthermore, the speed sensor 13A provides the detected speed-related data of the motor 13 to the control circuit 20.

[0022] The driving control unit 14 includes a steering wheel, accelerator pedal, brake pedal, and various control levers operated by the driver when driving the vehicle 1.

[0023] The control circuit 20 is, for example, an ECU (electronic control unit), which may consist of one or more processors, one or more memories, etc. By executing the installed software, the control circuit 20 can operate as a torque command value generation unit 21, a damping torque command value generation unit 22, a slippage determination unit 23, and a motor torque command value generation unit 24.

[0024] The torque command value generation unit 21 is configured to generate a torque command value based on the driver's operation of the accelerator pedal on the driving operation unit 14. This torque command value indicates the command value of the torque of the motor 13.

[0025] The damping torque command value generation unit 22 is configured to generate a damping torque command value that indicates the torque command value of the motor 13 for suppressing the vibration of the vehicle 1, based on the detection result of the speed sensor 13A.

[0026] In vehicle 1, due to the physical characteristics of the drive shaft, the drive shaft may experience torsion in its rotational direction. When attempting to maintain a constant rotational speed in vehicle 1, the periodic variation in the degree of torsion of the drive shaft may cause vibrations in the rotational speed, making it impossible to maintain a constant rotational speed. The frequency of this vibration is, for example, around 10 Hz. When the rotational speed vibrates in this way, the speed of vehicle 1 will increase or decrease at this frequency, thus causing vibration in vehicle 1. The driver may feel this vibration, for example, through the seat, accelerator pedal, etc., and experience discomfort from it.

[0027] Therefore, the vibration damping torque command value generation unit 22 detects the vibration of the drive shaft rotation speed based on the rotation speed of the motor 13, and generates a vibration damping torque command value to counteract the vibration. As a result, the rotation speed of the drive shaft can be stabilized in the vehicle 1, and the vibration of the vehicle 1 can be suppressed.

[0028] The slippage determination unit 23 is configured to determine whether vehicle 1 has slipped due to the wheels of vehicle 1 slipping relative to the road surface. Specifically, the slippage determination unit 23 calculates the vehicle 1's speed by integrating the detection results from an acceleration sensor installed on vehicle 1 (not shown in the figure), and simultaneously calculates the vehicle 1's speed based on the wheel rotation speed. Then, the slippage determination unit 23 determines whether vehicle 1 has slipped by comparing these two speeds. It should be noted that the slippage determination method is not limited to this method; it can be any method capable of determining slippage.

[0029] The motor torque command value generation unit 24 is configured to generate a motor torque command value that indicates the torque command value of the motor 13 based on the torque command value generated by the torque command value generation unit 21, the vibration reduction torque command value generated by the vibration reduction torque command value generation unit 22, and the determination result of the slippage determination unit 23.

[0030] Specifically, when, for example, vehicle 1 slips, the motor torque command value generation unit 24 generates a motor command value based on the torque command value generated by the torque command value generation unit 21. That is, in this case, the motor torque command value generation unit 24 does not use the damping torque command value, but instead uses the torque command value to generate the motor command value. When vehicle 1 slips, for example, the vibration frequency of the drive shaft's rotational speed may change. Furthermore, since the wheels of vehicle 1 slip relative to the road surface, even if the wheel rotational speed changes due to the vibration of the drive shaft's rotational speed, the speed of vehicle 1 hardly changes, and therefore vehicle 1 vibrates very little. Therefore, the motor torque command value generation unit 24 generates a motor command value instead of using the damping torque command value.

[0031] Furthermore, for example, when vehicle 1 does not slip, the motor torque command value generation unit 24 generates a motor command value based on the torque command value generated by the torque command value generation unit 21 and the damping torque command value generated by the damping torque command value generation unit 22. Specifically, the motor torque command value generation unit 24 generates the motor command value by adding the torque command value generated by the torque command value generation unit 21 to the damping torque command value generated by the damping torque command value generation unit 22. As a result, the rotational speed of the drive shaft in vehicle 1 can be stabilized, and the vibration of vehicle 1 can be suppressed.

[0032] As described later, the control circuit 20 performs a damping torque suppression process for a predetermined period of time after the vehicle 1 has finished slipping. Specifically, during this period, the motor torque command value generation unit 24 causes the damping torque command value to change towards zero by a predetermined value. As a result, the vibration of the drive shaft rotation speed in the vehicle 1 is reduced, but the vibration continues. Therefore, because the vehicle 1 vibrates less, the driver can feel this smaller vibration through the seat or accelerator pedal. Thus, the driver can feel that the slippage of the vehicle 1 has been eliminated.

[0033] Here, motor 13 corresponds to a specific example of an "electric motor" in one embodiment of this disclosure. Power control device 12 corresponds to a specific example of a "power control device" in one embodiment of this disclosure. Control circuit 20 corresponds to a specific example of a "control circuit" in one embodiment of this disclosure.

[0034] [Actions and Functions] Next, the operation and function of vehicle 1 in this embodiment will be explained.

[0035] (Overall Action Summary) First refer to Figure 2The operation of vehicle 1 will be described. Battery 11 stores electricity and supplies direct current (DC) power to power control device 12. Power control device 12 controls the power supplied to motor 13. Motor 13 generates driving force as mechanical energy based on the alternating current (AC) power supplied by power control device 12. Speed ​​sensor 13A of motor 13 detects the speed of motor 13. In addition, motor 13 also operates as a generator, supplying the generated AC power to power control device 12. In this case, power control device 12 supplies the power supplied by motor 13 to battery 11, and battery 11 stores the power supplied by power control device 12.

[0036] The torque command value generation unit 21 of the control circuit 20 generates a torque command value that indicates the torque command value of the motor 13 based on the driver's operation of the accelerator pedal on the driving operation unit 14. The damping torque command value generation unit 22 generates a damping torque command value that indicates the torque command value of the motor 13 to suppress the vibration of the vehicle 1 based on the detection result of the speed sensor 13A. The slippage determination unit 23 determines whether the vehicle 1 is slipping. The motor torque command value generation unit 24 generates a motor torque command value that indicates the torque command value of the motor 13 based on the torque command value generated by the torque command value generation unit 21, the damping torque command value generated by the damping torque command value generation unit 22, and the determination result of the slippage determination unit 23. The power control device 12 supplies power to the motor 13 based on this motor torque command value.

[0037] (Detailed actions) Figure 3 This is a diagram illustrating an example of the operation of the control circuit 20.

[0038] First, the slip determination unit 23 confirms whether vehicle 1 has slipped (step S101). When vehicle 1 has not slipped ("No" in step S101), the process ends.

[0039] When vehicle 1 slips ("Yes" in step S101), the operating mode of the motor torque command value generation unit 24 is set to operating mode M1, that is, the motor torque command value is generated based on the torque command value generated by the torque command value generation unit 21 (step S102). That is, in this operating mode M1, the motor torque command value generation unit 24 does not use the damping torque command value, but uses the torque command value to generate the motor command value.

[0040] Next, the slip determination unit 23 checks whether the slip of vehicle 1 has been eliminated (step S103). If the slip of vehicle 1 has not been eliminated ("No" in step S103), the slip determination unit 23 repeats the process of step S103 until the slip of vehicle 1 is eliminated ("Yes" in step S103).

[0041] However, when the slippage of vehicle 1 has been eliminated ("Yes" in step S103), the operating mode of the motor torque command value generation unit 24 is set to operating mode M2, that is, the motor command value is generated based on the torque command value generated by the torque command value generation unit 21 and the damping torque command value generated by the damping torque command value generation unit 22 (step S104). That is, in this operating mode M2, the motor torque command value generation unit 24 generates the motor command value based on both the torque command value and the damping torque command value.

[0042] Then, the motor torque command value generation unit 24 begins to perform vibration damping torque suppression processing (step S105).

[0043] Figure 4 and Figure 5 This is a diagram illustrating an example of vibration damping torque suppression treatment. In Figure 4 and Figure 5 In the diagram, the dashed line represents an example of a vibration reduction torque command value A1 generated by the vibration reduction torque command value generation unit 22, and the solid line represents an example of a vibration reduction torque command value A2 after being corrected by the vibration reduction torque suppression processing.

[0044] exist Figure 4 In the process, the slippage of vehicle 1 is eliminated at time t1. After time t1, the damping torque command value generation unit 22 generates a damping torque command value A1 based on the detection result of the speed sensor 13A to counteract the vibration of the drive shaft's rotational speed. In order to counteract the vibration of the rotational speed, the damping torque command value A1 alternately repeats positive and negative values.

[0045] The motor torque command value generation unit 24 performs vibration reduction torque suppression processing based on the vibration reduction torque command value A1. Specifically, the motor torque command value generation unit 24 generates a vibration reduction torque command value A2 by causing the vibration reduction torque command value A1 generated by the vibration reduction torque command value generation unit 22 to change by a predetermined value toward zero. Specifically, as follows... Figure 5As shown, during the period P1 when the vibration damping torque command value A1 is positive, the motor torque command value generation unit 24 generates a vibration damping torque command value A2 by decreasing the vibration damping torque command value A1 by a value ΔA towards zero. If the result of subtracting the value ΔA from the vibration damping torque command value A1 is negative, then the motor torque command value generation unit 24 sets the vibration damping torque command value A2 to zero. Similarly, during the period P2 when the vibration damping torque command value A1 is negative, the motor torque command value generation unit 24 generates a vibration damping torque command value A2 by increasing the vibration damping torque command value A1 by a value ΔA towards zero. If the result of adding the value ΔA to the vibration damping torque command value A1 is positive, then the motor torque command value generation unit 24 sets the vibration damping torque command value A2 to zero. Therefore, except for the period when the vibration damping torque command value A1 is close to zero, the vibration damping torque command value A2 is a value ΔA smaller than the vibration damping torque command value A1. Here, period P1 corresponds to a specific example of the "first period" in one embodiment of this disclosure. Period P2 corresponds to a specific example of a “second period” in one embodiment of this disclosure.

[0046] Figure 6 This diagram illustrates another example of vibration damping torque suppression processing. In this example, the motor torque command value generation unit 24 generates a vibration damping torque command value A2 by causing the vibration damping torque command value A1 generated by the vibration damping torque command value generation unit 22 to change towards zero by a predetermined value. In this example, since the value ΔA is relatively large, the vibration damping torque command value A2 is zero for most of the time, except for the initial first signal portion.

[0047] The motor torque command value generation unit 24 performs such vibration reduction torque suppression processing. Then, the motor torque command value generation unit 24 generates a motor command value, for example, by adding the processed vibration reduction torque command value to the torque command value generated by the torque command value generation unit 21.

[0048] Then, the motor torque command value generation unit 24 checks whether a predetermined time has elapsed (step S106). This predetermined time is set to 10 seconds, for example. If the predetermined time has not elapsed ("No" in step S106), the motor torque command value generation unit 24 repeats the process of step S106 until the predetermined time has elapsed ("Yes" in step S106).

[0049] When the predetermined time has elapsed ("Yes" in step S106), the motor torque command value generation unit 24 ends the vibration damping torque suppression process (step S107). Thereafter, the motor torque command value generation unit 24 generates a motor command value by adding the vibration damping torque command value generated by the vibration damping torque command value generation unit 22 to the torque command value generated by the torque command value generation unit 21.

[0050] This process is now complete. The control circuit 20 repeats this process while the vehicle 1 is in motion.

[0051] Figure 7 This is an example representing the rotational speed of motor 13. The solid line indicates the case where damping torque suppression is performed after the slippage of vehicle 1 is eliminated, and the dashed line indicates the case where no control torque suppression is performed after the slippage of vehicle 1 is eliminated.

[0052] Once slippage is eliminated, if no damping torque suppression process is performed, the motor torque command value generation unit 24 generates a motor command value based on the torque command value generated by the torque command value generation unit 21 and the damping torque command value generated by the damping torque command value generation unit 22. Since the damping torque command value is generated to counteract the vibration of the motor 13's rotational speed, therefore... Figure 7 As shown by the dashed line, the vibration of the rotational speed of motor 13 is suppressed, and the rotational speed is stable.

[0053] On the other hand, after the slippage is eliminated, the control circuit 20 performs damping torque suppression processing for a specified time (e.g., 10 seconds). Therefore, the damping torque command value A2 is a smaller value ΔA than the damping torque command value A1. Therefore, in vehicle 1, as... Figure 7 As shown by the solid line, the vibration of the motor 13's rotational speed is not completely canceled out; instead, the amount corresponding to the value ΔA is retained. Therefore, because the vehicle 1 vibrates only slightly, the driver can feel this slight vibration through the seat or accelerator pedal. Thus, the driver can perceive that the slippage of the vehicle 1 has been eliminated.

[0054] Thus, in vehicle 1, after the slippage of vehicle 1 is eliminated, vehicle 1 will vibrate for a specified period of time. As a result, the driver can feel that the slippage of vehicle 1 has been eliminated.

[0055] That is, when vehicle 1 slips, as described above, even if the rotational speed of the wheels changes due to vibration corresponding to the rotational speed of the drive shaft, the speed of vehicle 1 remains almost unchanged, therefore vehicle 1 vibrates very little. Furthermore, if no damping torque suppression treatment is performed after the slippage of vehicle 1 is eliminated, then as... Figure 7 As shown by the dashed line, the vibration of the rotational speed of motor 13 is suppressed, so vehicle 1 vibrates very little. As a result, the driver can hardly feel that the slippage of vehicle 1 has been eliminated.

[0056] On the other hand, in vehicle 1 of this embodiment, after the slippage of vehicle 1 is eliminated, a process to suppress the damping torque is performed. Therefore, as Figure 7 As shown by the solid line, the vibration at the rotational speed of motor 13 is not completely canceled out and some remains, so vehicle 1 vibrates less. As a result, the driver can feel that the slippage of vehicle 1 has been eliminated.

[0057] The value ΔA representing the amount of vibration damping torque suppression is set to a value that prevents damage to the drive shaft of vehicle 1 while still allowing the driver to feel the vibration. For example, if the amount of vibration damping torque suppression (value ΔA) is large, mechanical forces such as torsion may be generated on the drive shaft over a longer period of time, potentially causing damage to the drive shaft. Conversely, if the amount of vibration damping torque suppression (value ΔA) is small, the vibration of vehicle 1 will be small, and the driver may not be able to perceive the vibration of vehicle 1. Therefore, the amount of vibration damping torque suppression (value ΔA) is set to a value that satisfies both of these conditions.

[0058] The duration of the torque suppression process is set to a time that prevents damage to the drive shaft of vehicle 1 while still allowing the driver to feel the vibration. For example, if the torque suppression process is too long, mechanical forces such as torsion may be generated on the drive shaft over a longer period, potentially causing damage. Conversely, if the torque suppression process is too short, the vibration of vehicle 1 will be brief, and the driver may not perceive it. Therefore, the torque suppression process is set to a time that satisfies both conditions.

[0059] Thus, a control circuit 20 is provided in vehicle 1, which can determine whether vehicle 1 is slipping. During the slipping period, the torque of the electric motor (motor 13) is determined based on the torque command value corresponding to the driver's driving operation. During the non-slipping period, the torque of the electric motor (motor 13) is determined based on the torque command value and the damping torque command value used to suppress the vibration of vehicle 1. Furthermore, during a predetermined period starting from the moment when the slipping of vehicle 1 is eliminated, a suppression process is performed to reduce the damping torque command value by a predetermined amount. Therefore, the driver of vehicle 1 can know that the slipping of vehicle 1 has been eliminated by the smaller vibration of vehicle 1 during this predetermined period. As a result, the driver can easily control the movement of vehicle 1.

[0060] Furthermore, in vehicle 1, the damping torque command value has a positive value in the first period (period P1) and a negative value in the second period (period P2) within a specified period. When performing suppression processing, the control circuit 20 can change the damping torque command value towards zero by a specified amount in both the first period (period P1) and the second period (period P2). Therefore, the vibration at the rotational speed of motor 13 is not completely canceled out, but rather a value corresponding to ΔA is retained. Consequently, since vehicle 1 vibrates at a smaller amount corresponding to ΔA, the driver can feel the vibration. As a result, the driver can easily control the movement of vehicle 1.

[0061] [Effect] As described above, in this embodiment, a control circuit is provided that can determine whether vehicle 1 is slipping. During the slipping period, the torque of the electric motor is determined based on the torque command value corresponding to the driver's driving operation. During the non-slipping period, the torque of the electric motor is determined based on the torque command value and the damping torque command value used to suppress vehicle vibration. Furthermore, for a predetermined period starting from the moment the vehicle slippage is eliminated, a suppression process is performed to reduce the damping torque command value by a predetermined amount. This allows the driver to easily control the vehicle's movements.

[0062] In this embodiment, the damping torque command value has a positive value in a first period within a specified period and a negative value in a second period within the specified period. During suppression processing, the control circuit can cause the damping torque command value to change by a specified amount towards zero in both the first and second periods. This allows the driver to easily control the vehicle's movements.

[0063] The above description of several embodiments of this disclosure, with reference to the accompanying drawings, is provided as an example, but this disclosure is not limited to the above embodiments. Those skilled in the art will understand that various modifications or alterations can be made without departing from the scope defined by the appended claims. This disclosure is intended to include all such modifications or alterations as long as they fall within the scope of the appended claims and their equivalents.

[0064] For example, Figure 3 The processing flow of the control circuit 20 shown is just an example and is not limited to this processing flow.

[0065] The effects described in this specification are merely illustrative, and the effects of this disclosure are not limited to those described in this specification. Therefore, other effects can also be obtained with respect to this disclosure.

[0066] In addition, this disclosure may be made in the following ways. (1) A control device includes: a control circuit capable of determining whether a vehicle is slipping; during the period of vehicle slippage, capable of determining the torque of an electric motor based on a torque command value corresponding to a driving operation by the driver of the vehicle; and during the period when the vehicle is not slipping, capable of determining the torque of the electric motor based on the torque command value and a damping torque command value for suppressing vibrations of the vehicle; and capable of performing a suppression process for a predetermined period starting from the moment the vehicle slippage is eliminated, so that the damping torque command value is reduced by a predetermined amount. (2) According to the control device described in (1) above, the damping torque command value has a positive value in the first period of the specified period and a negative value in the second period of the specified period. When performing the suppression process, the control circuit can change the vibration reduction torque command value toward zero by a predetermined amount during the first period and the second period, respectively. (3) According to the control device described in (1) or (2) above, the control circuit is capable of generating the damping torque command value based on the rotational speed of the motor. (4) A vehicle comprising: An electric motor is capable of generating driving force for a vehicle to move. A power control device capable of supplying power to the motor based on a motor torque command value; and The control circuit is capable of generating the torque command value for the electric motor. The control circuit is capable of determining whether the vehicle is skidding. During the vehicle skidding, the electric motor torque command value can be generated based on the torque command value corresponding to the driver's driving operation. During the period when the vehicle is not slipping, the motor torque command value can be generated based on the torque command value and the damping torque command value used to suppress the vibration of the vehicle. Furthermore, during a specified period starting from the moment the vehicle's slippage is eliminated, a suppression process can be performed to reduce the damping torque command value by a specified amount.

[0071] Figure 2 The control circuit 20 shown can be implemented by a circuit comprising at least one semiconductor integrated circuit, such as at least one processor (e.g., a central arithmetic processing unit (CPU)), at least one application-specific integrated circuit (ASIC), and / or at least one field-programmable gate array (FPGA). The at least one processor may be configured to execute instructions by reading instructions from at least one non-transitory and tangible computer-readable medium. Figure 2 This refers to all or part of the various functions in the control circuit 20 shown. Such a medium can take various forms, but is not limited to, including, various magnetic media such as hard disks, various optical media such as CDs or DVDs, and various semiconductor memories (i.e., semiconductor circuits) such as volatile or non-volatile memory. Volatile memory can include DRAM and SRAM. Non-volatile memory can include ROM and NVRAM. ASIC is specifically designed for executing... Figure 2The control circuit 20 shown is an integrated circuit (IC) that performs all or some of the various functions. An FPGA is designed to be configured after manufacturing to execute... Figure 2 The integrated circuit of the control circuit 20 shown represents all or part of its various functions.

Claims

1. A control device comprising: The control circuit is capable of determining whether the vehicle is slipping. During the slipping period, it can determine the torque of the electric motor based on the torque command value corresponding to the driver's driving operation. During the non-slipping period, it can determine the torque of the electric motor based on the torque command value and the damping torque command value for suppressing the vibration of the vehicle. Furthermore, during a predetermined period starting from the moment the vehicle slipping is eliminated, it can perform a suppression process to reduce the damping torque command value by a predetermined amount.

2. The control device according to claim 1, wherein, The vibration damping torque command value has a positive value in the first period of the specified period and a negative value in the second period of the specified period. When performing the suppression process, the control circuit can change the vibration reduction torque command value toward zero by a predetermined amount during the first period and the second period, respectively.

3. The control device according to claim 1, wherein, The control circuit can generate the vibration damping torque command value based on the rotational speed of the motor.

4. A vehicle comprising: An electric motor is capable of generating driving force for a vehicle to move. A power control device that can supply power to the motor based on a motor torque command value; as well as The control circuit is capable of generating the torque command value for the electric motor. The control circuit is capable of determining whether the vehicle is skidding. During the vehicle skidding, the electric motor torque command value can be generated based on the torque command value corresponding to the driver's driving operation. During the period when the vehicle is not slipping, the motor torque command value can be generated based on the torque command value and the damping torque command value used to suppress the vibration of the vehicle. Furthermore, during a specified period starting from the moment the vehicle's slippage is eliminated, a suppression process can be performed to reduce the damping torque command value by a specified amount.

Images