Vibration damping control device

Abstract

To provide a vibration damping control device capable of more effectively suppressing vibrations of a vehicle during towing.SOLUTION: A vibration damping control device comprises: a calculation unit that calculates the weight of a trailer on the basis of an acceleration and a driving force when a vehicle driven by a motor tows the trailer; an estimation unit that estimates a resonance frequency between the vehicle and the trailer on the basis of the weight of the trailer and the weight of the vehicle; and a vibration damping control unit that executes vibration damping control that reduces excitation of the resonance frequency on the motor.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a vibration control device. [Background technology]

[0002] In a powertrain with a stepped automatic transmission that has a motor mounted on the output shaft, when a vehicle tows a trailer, vibrations are generated due to resonance between the vehicle and the trailer. For this reason, vibration control technology is available to reduce vehicle vibrations.

[0003] Patent Document 1 discloses a technology that determines whether the vehicle is in a towing state, and if so, suppresses or stops pitch and bounce vibration suppression control to reduce vehicle vibration. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-137722 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technology of Patent Document 1 does not take into consideration resonance between the vehicle and the trailer, and therefore cannot be said to provide sufficient vibration damping control due to changes in the trailer's weight.

[0006] The present disclosure has been made in consideration of the above, and aims to provide a vibration damping control device that can further suppress vibrations of a vehicle during towing. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the objectives, the vibration control device of the present disclosure includes a calculation unit that calculates the weight of the trailer based on the acceleration and driving force when a vehicle driven by a motor tows a trailer, an estimation unit that estimates the resonant frequency between the vehicle and the trailer based on the weight of the trailer and the weight of the vehicle, and a vibration control unit that performs vibration control on the motor to reduce excitation of the resonant frequency. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to achieve the effect of further suppressing vibration of a vehicle during towing. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a vibration damping control device according to an embodiment. [Figure 2] FIG. 2 is a diagram for explaining resonance between a vehicle and a trailer during towing. [Figure 3] FIG. 3 is a diagram showing an example of the relationship between the trailer weight and the resonance frequency. [Figure 4] FIG. 4 is a diagram for explaining an example of vibration suppression control of the F / B system according to the embodiment. [Figure 5] FIG. 5 is a diagram for explaining an example of vibration suppression control of the F / F system according to the embodiment. [Figure 6] FIG. 6 is a flowchart showing the flow of vibration damping control processing executed by the vibration damping control device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] The vibration damping control device that is the subject of operation of the embodiments of the present disclosure will be described below with reference to the drawings. Note that the components in the following embodiments include those that are easily replaceable by those skilled in the art, or those that are substantially identical.

[0011] (Configuration of vibration damping control device 10) Fig. 1 is a diagram showing an example of the configuration of a vibration damping control device according to an embodiment. The vibration damping control device 10 shown in Fig. 1 is, for example, an information processing device mounted on a vehicle having a powertrain with a stepped automatic transmission in which a motor is disposed on the output shaft. The vibration damping control device 10 also has, for example, a storage unit 20 and a control unit 30.

[0012] The storage unit 20 is a storage device such as a RAM (Random Access Memory) or a ROM (Read Only Memory) that stores various data and programs executed by the control unit 30, for example.

[0013] The control unit 30 is a processor such as a CPU (Central Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), a GPU (Graphics Processing Unit), etc. The control unit 30 also includes a calculation unit 31, an estimation unit 32, and a vibration suppression control unit 33, for example.

[0014] The calculation unit 31 calculates the weight of the trailer based on, for example, the acceleration and driving force during towing. More specifically, the calculation unit 31 calculates the weight of the trailer using, for example, the equation of motion "F=(m+M)A." In this equation of motion, F represents the driving force, m represents the weight of the vehicle, M represents the weight of the trailer, and A represents the acceleration of the vehicle (and the trailer). The driving force F is calculated based on, for example, the torque of the vehicle. The acceleration A is detected, for example, by an acceleration sensor. The vehicle weight m may be, for example, a known value. The vehicle weight m may also be calculated from an equation of motion that uses the acceleration and driving force when the vehicle is traveling alone.

[0015] The estimation unit 32 estimates the resonance frequency between the vehicle and the trailer based on, for example, the weight M of the trailer and the weight m of the vehicle. Figure 2 is a diagram for explaining resonance between the vehicle and the trailer during towing. As shown in Figure 2, for example, during towing, the vehicle and trailer act as masses, and the hitch member (coupler) acts as a spring, causing resonance between the vehicle and the trailer.

[0016] Figure 3 is a diagram showing an example of the relationship between trailer weight and resonance frequency when the vehicle weight is constant. As shown in Figure 3, the resonance frequency between the vehicle and trailer during towing changes depending on the trailer weight when the vehicle weight is constant. Therefore, if the resonance between the vehicle and trailer is not taken into consideration when performing vibration suppression control, a discrepancy will occur between the resonance frequency of the control target and the resonance frequency that should actually be controlled, and vibration will remain.

[0017] Therefore, for example, the relationship between the trailer weight and the resonant frequency is stored as mapping data in the storage unit 20, and the estimation unit 32 estimates (specifies) the resonant frequency using the mapping data. Note that the mapping data may be three-dimensional mapping data that indicates the relationship between the trailer weight, the resonant frequency, and the vehicle weight.

[0018] The vibration damping control unit 33 executes vibration damping control using a motor, for example, based on the estimated resonance frequency. More specifically, the vibration damping control unit 33 executes vibration damping control using a motor, for example, so as to reduce excitation at the estimated resonance frequency. This vibration damping control will be described in more detail with reference to FIGS. 4 and 5.

[0019] FIG. 4 is a diagram for explaining an example of vibration suppression control of an F / B (feedback) system according to the embodiment. In FIG. 4, T m is the MG (Motor Generator) torque, ω m is the MG rotation speed, ω tirerepresents the tire rotation speed, and K represents the gain. The vibration suppression control unit 33 determines the parameters of an observer model, which is an example of a motor motion model, based on the estimated resonance frequency. The vibration suppression control unit 33 determines the parameters of the observer model, which is an example of a motor motion model, based on the MG torque T m , MG rotation speed ω m is input to the observer model whose parameters have been determined, and the tire rotation speed ω tire Next, the vibration damping control unit 33 outputs the tire rotation speed ω tire and MG rotation speed ω m By adjusting the gain K based on the difference between the two, excitation at the resonant frequency is reduced.

[0020] 5 is a diagram illustrating an example of vibration suppression control of an F / F (feedforward) system according to an embodiment. The vibration suppression control unit 33 generates an inverse model for suppressing excitation of the resonant frequency of the controlled object based on the input MG torque and the estimated resonant frequency. Next, the vibration suppression control unit 33 performs feedforward control using the generated inverse model to reduce excitation at the resonant frequency.

[0021] It should be noted that the vibration suppression control described with reference to FIGS. 4 and 5 is merely an example, and vibration suppression control may be performed using a method other than these vibration suppression controls.

[0022] (Vibration control processing) Next, there will be explained the vibration suppression control process executed by the vibration suppression control device 10. Fig. 6 is a flowchart showing the flow of the vibration suppression control process executed by the vibration suppression control device according to the embodiment.

[0023] 6, the vibration damping control device 10 calculates the weight of the trailer based on the acceleration and driving force during towing (step S101). Here, the acceleration during towing is detected by an acceleration sensor installed in the vehicle or trailer, and the driving force is calculated based on the MG torque.

[0024] Next, the vibration damping control device 10 estimates the resonance frequency between the vehicle and the trailer based on the trailer weight calculated in step S101 and the known vehicle weight (step S102). Here, the vehicle weight may be calculated in advance based on the acceleration and driving force when not towing.

[0025] Next, the vibration damping control device 10 executes vibration damping control using the motor based on the resonance frequency estimated in step S102 (step S103). After executing step S103, the vibration damping control process shown in FIG.

[0026] According to the embodiment described above, the vibration control device 10 is equipped with a calculation unit that calculates the weight of the trailer based on the acceleration and driving force when the vehicle driven by the motor tows the trailer, an estimation unit that estimates the resonant frequency between the vehicle and the trailer based on the weight of the trailer and the weight of the vehicle, and a vibration control unit that performs vibration control on the motor to reduce excitation of the resonant frequency, thereby enabling better suppression of vehicle vibration during towing.

[0027] Further advantages and modifications can be readily derived by those skilled in the art, and the broader aspects are not limited to the specific details and representative embodiments shown and described above. Therefore, various modifications are possible without departing from the spirit or scope of the general inventive concept defined by the appended claims and their equivalents. Furthermore, the embodiments of the present application are merely examples, and the present invention can be embodied in other forms that incorporate various modifications and improvements based on the knowledge of those skilled in the art, including the embodiments described in the disclosure of the present invention. [Explanation of symbols]

[0028] 10 Vibration control device 20 Memory section 30 Control Unit 31 Arithmetic section 32 Estimation part 33 Vibration control section

Claims

1. a calculation unit that calculates the weight of the trailer based on the acceleration and driving force when the vehicle driven by the motor tows the trailer; an estimation unit that estimates a resonance frequency between the vehicle and the trailer based on a weight of the trailer and a weight of the vehicle; a vibration suppression control unit that executes vibration suppression control on the motor to reduce excitation of the resonance frequency; A vibration control device comprising:

2. The estimation unit 2. The vibration damping control device according to claim 1, wherein the resonant frequency corresponding to the trailer weight calculated by the calculation unit is estimated by using mapping data that provides a relationship between the trailer weight and the resonant frequency.

3. The vibration damping control device according to claim 1 or 2, wherein the calculation unit calculates the weight of the vehicle based on the acceleration and driving force when the vehicle is not being towed.

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