vehicle

Abstract

To provide a vehicle capable of appropriately calculating power distribution ratios of respective wheels even in a travel state in which rotation speeds of respective wheels differ.SOLUTION: A vehicle comprises: a plurality of wheels; a plurality of rotating electrical machines which individually generate drive force or braking force for each of the plurality of wheels; an electric storage device which exchanges electric power with the plurality of rotating electrical machines; torque calculation means which calculates demand torque for each of the plurality of wheels; and rotation speed detection means which detects a rotation speed of each of the plurality of wheels. The vehicle also has a control device which executes control to calculate power distribution ratios, distribution ratios of the electric power from the electric storage device to the plurality of rotating electrical machines, on the basis of the demand torque and the rotation speed of each of the plurality of wheels.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a vehicle. [Background technology]

[0002] Patent Document 1 discloses a technology in which a control device calculates a power distribution ratio, which is the distribution ratio of power from a battery to each of the drive motors for the front and rear wheels, in a vehicle equipped with drive motors corresponding to each of the front and rear wheels. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-053782 A Summary of the Invention [Problem to be solved by the invention]

[0004] When the front and rear wheels are driven by in-wheel motors or the like, the rotation speeds of the left and right wheels in the front and rear are not necessarily the same. However, in the technology disclosed in Patent Document 1, the rotation speeds of each wheel are not taken into account when calculating the power distribution ratio.

[0005] The present invention has been made in consideration of the above-mentioned problems, and an object of the present invention is to provide a vehicle that can appropriately calculate the power distribution ratio of each wheel even in a driving condition in which the rotation speeds of the wheels are different. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the vehicle of the present invention is a vehicle comprising a plurality of wheels, a plurality of rotating electric machines that generate driving force or braking force independently for each of the plurality of wheels, an electric storage device that exchanges power between the plurality of rotating electric machines, a torque calculation means that calculates the required torque of each of the plurality of wheels, and a rotation speed detection means that detects the rotation speed of each of the plurality of wheels, and is characterized in that the vehicle is equipped with a control device that performs control to calculate a power distribution ratio, which is the distribution ratio of power from the electric storage device to the plurality of rotating electric machines, based on the required torque of each of the plurality of wheels and the rotation speed of each of the plurality of wheels.

[0007] In addition, in the above, the control device may calculate torque command values ​​for each of the multiple wheels based on the power that can be supplied from the storage device to each of the multiple rotating electric machines, calculated using the power distribution ratio and the power that can be input and output to and from the storage device, and control the multiple rotating electric machines.

[0008] This allows each rotating electric machine to be appropriately controlled, ensuring maximum running performance of the vehicle.

[0009] In the above, the plurality of wheels may be left and right front wheels and left and right rear wheels.

[0010] This makes it possible to appropriately calculate the power distribution ratio in a four-wheel drive vehicle in which multiple rotating electric machines are provided corresponding to the left and right front wheels and the left and right rear wheels, even when the rotation speeds of the left and right front wheels and the left and right rear wheels are different. Effect of the Invention

[0011] The vehicle according to the present invention has an advantage that the power distribution ratio of each wheel can be appropriately calculated even in a running state in which the rotation speeds of the wheels are different. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of a vehicle according to an embodiment. [Diagram 2] FIG. 2 is a diagram showing another schematic configuration of the vehicle according to the embodiment. [Diagram 3] FIG. 3 is a diagram showing still another schematic configuration of the vehicle according to the embodiment. [Figure 4] FIG. 4 is a flowchart showing an example of control performed by the MG-ECU according to the embodiment. [Diagram 5] FIG. 5 is a diagram for explaining a control procedure from when the MG-ECU calculates the power distribution ratio for each wheel to when it outputs a torque command signal for each wheel. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle according to the present invention will be described below. However, the present invention is not limited to the embodiment.

[0014] Fig. 1 is a diagram showing a schematic configuration of a vehicle 1 according to an embodiment. The vehicle 1 according to the embodiment is provided with an in-wheel motor capable of individually controlling the torque applied to a plurality of drive wheels, and Fig. 1 shows an example of the configuration of a vehicle provided with in-wheel motors that individually apply torque to each of the front, rear, left and right wheels.

[0015] The vehicle 1 according to the embodiment includes left and right front wheels 2FR, 2FL, left and right rear wheels 2RR, 2RL, in-wheel motors 3FR, 3FL which are rotating electric machines provided on the left and right front wheels, in-wheel motors 3RR, 3RL which are provided on the left and right rear wheels 2RR, 3RL, a battery 4 which is an electricity storage device, an inverter 5, an MG-ECU 6, a main ECU 7, and wheel rotation speed sensors 10FR, 10FL, 10RR, 10RL.

[0016] The wheels 2FR, 2FL, 2RR, 2RL are suspended from the body of the vehicle 1 via independent suspension mechanisms. In the following description, when the wheels 2FR, 2FL, 2RR, 2RL are not particularly distinguished from each other, they are also simply referred to as wheels 2. In-wheel motors 3FR, 3FL, 3RR, 3RL, which are rotating electric machines, are provided inside the wheels 2FR, 2FL, 2RR, 2RL, respectively. In the following description, when the in-wheel motors 3FR, 3FL, 3RR, 3RL are not particularly distinguished from each other, they are also simply referred to as in-wheel motors 3FR. The in-wheel motors 3FR, 3FL, 3RR, 3RL generate driving forces or braking forces (regenerative braking forces) independently for the wheels 2FR, 2FL, 2RR, 2RL by controlling the rotations of the in-wheel motors 3FR, 3FL, 3RR, 3RL individually and independently by the MG-ECU 6.

[0017] These in-wheel motors 3FR, 3FL, 3RR, 3RL are configured, for example, by AC synchronous motors and are connected to a battery 4 via an inverter 5. Therefore, when the in-wheel motors 3FR, 3FL, 3RR, 3RL are driven, the DC power of the battery 4 is converted to AC power by the inverter 5, and the AC power is supplied to the in-wheel motors 3FR, 3FL, 3RR, 3RL, whereby the in-wheel motors 3FR, 3FL, 3RR, 3RL are power-controlled and a drive torque is applied to the wheels 2FR, 2FL, 2RR, 2RL.

[0018] The in-wheel motors 3FR, 3FL, 3RR, 3RL can also perform regenerative control by utilizing the rotational energy of the wheels 2FR, 2FL, 2RR, 2RL. That is, during regenerative power generation by the in-wheel motors 3FR, 3FL, 3RR, 3RL, the rotational energy of the wheels 2FR, 2FL, 2RR, 2RL is converted into electrical energy by the in-wheel motors 3FR, 3FL, 3RR, 3RL, and the electric power generated at this time is stored in the battery 4 via the inverter 5. At this time, a braking torque based on the regenerative power generation is applied to the wheels 2FR, 2FL, 2RR, 2RL.

[0019] The inverter 5 is connected to the MG-ECU 6 that controls the rotational states of the in-wheel motors 3FR, 3FL, 3RR, and 3RL. The MG-ECU 6 is physically an electronic circuit mainly made up of a well-known microcomputer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and an interface. The MG-ECU 6 performs calculations using data input to the RAM and data stored in the ROM, and outputs the calculation results as command signals.

[0020] The MG-ECU 6 is configured to receive detection signals from various sensors, such as wheel rotation speed sensors 10FR, 10FL, 10RR, 10RL, which are rotation speed detection means for detecting the rotation speed of each wheel 2, and a rotation angle sensor for detecting the rotation angle of the output shaft of the in-wheel motors 3FR, 3FL, 3RR, 3RL, and information signals from the inverter 5. Based on the signals input from the inverter 5 to the MG-ECU 6, the output torques (motor torques) of the in-wheel motors 3FR, 3FL, 3RR, 3RL are calculated and determined by the MG-ECU 6. For example, when it is detected by the input signal from the inverter 5 that the in-wheel motors 3FR, 3FL, 3RR, 3RL are being powered, the amount of power or current value supplied to the in-wheel motors 3FR, 3FL, 3RR, 3RL at that time can be detected, and the motor torques of the in-wheel motors 3FR, 3FL, 3RR, 3RL can be calculated based on the detected power or current. Furthermore, the rotation speeds of the in-wheel motors 3FR, 3FL, 3RR, and 3RL can also be calculated based on the current values ​​when controlling the rotation of the in-wheel motors 3FR, 3FL, 3RR, and 3RL.

[0021] On the other hand, the MG-ECU 6 is configured to output signals for controlling the rotation of each of the in-wheel motors 3FR, 3FL, 3RR, 3RL via the inverter 5. That is, control signals for controlling the current supplied to the in-wheel motors 3FR, 3FL, 3RR, 3RL in order to control the rotation (power running / regeneration) of the in-wheel motors 3FR, 3FL, 3RR, 3RL or for controlling the current recovered from the in-wheel motors 3FR, 3FL, 3RR, 3RL are output from the MG-ECU 6 to the inverter 5. The MG-ECU 6 is also connected to the main ECU 7.

[0022] The main ECU 7 is a higher-level electronic control device that controls other ECUs, and is configured to monitor and control various electronic control devices such as the electronic control device that controls the MG-ECU 6 and the battery 4. The main ECU 7 is physically an electronic circuit mainly made up of a well-known microcomputer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and an interface. The main ECU 7 performs calculations using data input to the RAM and data stored in the ROM, and outputs the calculation results as command signals.

[0023] The main ECU 7 is configured to receive detection signals from various sensors, such as wheel rotation speed sensors 10FR, 10FL, 10RR, and 10RL that detect the rotation speed (wheel speed) of each wheel 2, and rotation angle sensors that detect the rotation angle of the output shaft of the in-wheel motors 3FR, 3FL, 3RR, and 3RL, as well as information signals from the inverter 5, either directly or via another electronic control unit (ECU).

[0024] A brake mechanism is provided on each wheel 2. Each brake mechanism is a known braking device such as a disc brake or a drum brake, and various types of braking devices are appropriately selected and installed.

[0025] In addition, FIG. 1 shows a configuration example of a four-wheel drive vehicle 1 in which the left and right front wheels 2FR, 2FL and the left and right rear wheels 2RR, 2RL are provided with in-wheel motors 3FR, 3FL, 3RR, 3RL, respectively, but for example, as shown in FIG. 2, a four-wheel drive vehicle 1A in which the left and right front wheels 2FR, 2FL are provided with in-wheel motors 3FR, 3FL, respectively, and a drive unit consisting of a motor 8 and a differential gear 9 for driving the left and right rear wheels 2RR, 2RL may be provided. Furthermore, as shown in FIG. 3, a two-wheel drive vehicle 1B in which the left and right wheels 2R, 2L are provided with in-wheel motors 3R, 3L, respectively, and the rotation speeds of the left and right wheels 2R, 2L are detected by wheel rotation speed sensors 10R, 10L may be provided. In short, the vehicle targeted by the present invention may be configured such that a plurality of drive wheels can directly drive the left and right drive wheels independently, for example, as in the above-mentioned in-wheel motors 3.

[0026] In the vehicle 1 according to the embodiment, the MG-ECU 6 calculates and determines the required torque of each wheel 2 (left and right front wheels 2FR, 2FL and left and right rear wheels 2RR, 2RL) based on the required driving force of the vehicle 1 according to, for example, the accelerator opening and the vehicle speed. That is, the MG-ECU 6 functions as a torque calculation means that calculates the required torque of each wheel 2. Then, the MG-ECU 6 determines the required power of each wheel 2, which is the electric power required from the battery 4 to each in-wheel motor 3 (in-wheel motors 3FR, 3FL, 3RR, 3RL) provided on each wheel 2, from the required torque of each wheel 2 and the rotation speed of each wheel 2, and calculates the power distribution ratio of each wheel 2, which is the distribution ratio of the electric power from the battery 4 to each in-wheel motor 3 of each wheel 2. As a result, in the vehicle 1 according to the embodiment, even in a running state in which the rotation speed of each wheel 2 is different, the MG-ECU 6 can appropriately calculate the power distribution ratio of each wheel 2. The control for calculating the power distribution ratio of each wheel 2 may be performed by the main ECU 7 instead of the MG-ECU 6, or by the MG-ECU 6 and the main ECU 7 working together.

[0027] Fig. 4 is a flowchart showing an example of control performed by the MG-ECU 6 according to the embodiment. Fig. 5 is a diagram for explaining a control procedure until the MG-ECU 6 calculates the power distribution ratio of each wheel 2 and outputs a torque command signal for each wheel 2.

[0028] As shown in FIG. 4, first, the MG-ECU 6 calculates the required driving force of the vehicle 1 according to the accelerator opening, the vehicle speed, etc. (Step S1). Next, the MG-ECU 6 determines the required torque of each wheel 2 of the left and right front wheels 2FR, 2FL and the left and right rear wheels 2RR, 2RL based on the required driving force of the vehicle 1 (Step S2). Next, as shown in FIG. 5, the MG-ECU 6 multiplies the required torque of each wheel 2 by the rotation speed of each wheel 2 to determine the required power of each wheel 2 (FR required power, FL required power, RR required power, RL required power), which is the electric power required from the battery 4 to each in-wheel motor 3 (in-wheel motors 3FR, 3FL, 3RR, 3RL) provided on each wheel 2 (Step S3). Next, as shown in FIG. 5, the MG-ECU 6 divides the required power of each wheel 2 by the total required power to determine the power distribution ratio of each wheel 2, which is the distribution ratio of the electric power from the battery 4 to each in-wheel motor 3 of each wheel 2 (Step S4). Next, as shown in Fig. 5, the MG-ECU 6 multiplies the power distribution ratio of each wheel 2 by the amount of power (Win·Wout) that can be input and output to the battery 4 (inverter 5) to determine upper and lower limit powers (FR upper and lower limit powers, FL upper and lower limit powers, RR upper and lower limit powers, RL upper and lower limit powers) of each wheel 2, which are the upper and lower limits of the power that can be supplied from the battery 4 to each in-wheel motor 3 of each wheel 2. Next, as shown in Fig. 5, the MG-ECU 6 calculates a torque command value for each wheel 2 based on the upper and lower limit powers of each wheel 2 corrected by performing upper and lower limit processing, and outputs a torque command signal for controlling each in-wheel motor 3 to the inverter 5 (step S5).

[0029] As a result, the MG-ECU 6 can appropriately control each in-wheel motor 3 even in driving conditions where the input / output power of the battery 4 is limited due to thermal or power constraints and the rotation speeds of each wheel 2 on which each in-wheel motor 3 is installed are different, thereby ensuring maximum driving functionality of the vehicle 1. [Explanation of symbols]

[0030] 1, 1A, 1B Vehicles 2,2FR,2FL,2RR,2RL,2R,2L wheels 3,3FR,3FL,3RR,3RL,3R,3L In-wheel motor 4 Battery 5. Inverter 6 MG-ECU 7 Main ECU 8 Motor 9 Differential device 10FR, 10FL, 10RR, 10RL, 10R, 10L Wheel rotation speed sensor

Claims

1. Multiple wheels and a plurality of rotating electric machines each generating a driving force or a braking force independently for each of the plurality of wheels; an electricity storage device that exchanges electric power with the plurality of rotating electric machines; a torque calculation means for calculating a required torque for each of the plurality of wheels based on a required driving force of the vehicle; A rotation speed detection means for detecting the rotation speed of each of the plurality of wheels; A vehicle equipped with a control device that performs control to determine a required power, which is the electric power required for each of the plurality of rotating electric machines, from the required torque of each of the plurality of wheels calculated by the torque calculation means and the rotation speed of each of the plurality of wheels detected by the rotation speed detection means, and to calculate a power distribution ratio, which is the distribution ratio of electric power from the power storage device to the plurality of rotating electric machines, by dividing the required power of each of the plurality of rotating electric machines by a total required power, which is the sum of the required powers of each of the plurality of rotating electric machines.

2. 2. The vehicle according to claim 1, wherein the control device calculates a torque command value for each of the plurality of wheels based on the electric power that can be supplied from the electric storage device to each of the plurality of rotating electric machines, the torque command value being calculated using the power distribution ratio and the electric power that can be input and output from the electric storage device, and controls the plurality of rotating electric machines.

3. 3. The vehicle according to claim 1, wherein the plurality of wheels are left and right front wheels and left and right rear wheels.

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