Control device and vehicle

Abstract

A control device according to an embodiment of the present disclosure comprises a control circuit that can determine whether a vehicle is slipping, that, during a period in which the vehicle is slipping, can determine the torque of an electric motor on the basis of a torque command value corresponding to a driving operation by a driver of the vehicle, that, during a period in which the vehicle is not slipping, can determine the torque of the electric motor on the basis of the torque command value and a damping torque command value for suppressing vibration of the vehicle, and that, during a prescribed period from the timing at which slipping of the vehicle has been eliminated, can perform suppression processing for decreasing the damping torque command value by a prescribed amount.

Description

Control device and vehicle

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

[0002] Vehicles such as automobiles may slip depending on road conditions, etc. For example, Patent Document 1 discloses a control device for an electric vehicle that aims to suppress slippage.

[0003] Japanese Patent Application Laid-Open No. 2020-127281

[0004] A control device according to one embodiment of the present disclosure is equipped with a control circuit that can determine whether a vehicle is slipping, and that can determine the torque of the electric motor based on a torque command value corresponding to the driving operation of the vehicle driver while the vehicle is slipping, and that can determine the torque of the electric motor based on the torque command value and a damping torque command value for suppressing vibrations of the vehicle while the vehicle is not slipping, and that can perform suppression processing to weaken the damping torque command value by a predetermined amount for a predetermined period from the time when the vehicle slip is resolved.

[0005] A vehicle according to an embodiment of the present disclosure includes an electric motor, a power control device, and a control circuit. The electric motor is capable of generating a driving force used for running the vehicle. The power control device is capable of supplying electric 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, and while the vehicle is slipping, is capable of generating the electric motor torque command value based on a torque command value corresponding to a driving operation by a driver of the vehicle, and while the vehicle is not slipping, is capable of generating the electric motor torque command value based on the torque command value and a damping torque command value for suppressing vibrations of the vehicle, and is capable of performing suppression processing to weaken the damping torque command value by a predetermined amount for a predetermined period from the timing when the vehicle slip is resolved.

[0006] The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification. The drawings illustrate one embodiment and, together with the description, serve to explain the principles of the disclosure.

[0007] FIG. 1 is an explanatory diagram illustrating an example of a vehicle according to an embodiment of the present disclosure. FIG. 2 is a block diagram illustrating an example configuration of a control circuit shown in FIG. 1. FIG. 3 is a flowchart illustrating an example operation of the control circuit shown in FIG. 1. FIG. 4 is a waveform diagram illustrating an example of a process for suppressing vibration torque in the control circuit shown in FIG. 2. FIG. 5 is another waveform diagram illustrating an example of a process for suppressing vibration torque in the control circuit shown in FIG. 2. FIG. 6 is another waveform diagram illustrating an example of a process for suppressing vibration torque in the control circuit shown in FIG. 2. FIG. 7 is a waveform diagram illustrating an example of the number of lines of the motor shown in FIG. 1.

[0008] In a vehicle, the driver can grasp the behavior of the vehicle by receiving the behavior of the vehicle through, for example, the seat, various pedals, etc. It is desirable for the driver to be able to easily grasp the behavior of the vehicle.

[0009] It is desirable to provide a control device and a vehicle that allow the driver to easily understand the behavior of the vehicle.

[0010] Some exemplary embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Note that the following description illustrates one specific example of the present disclosure and should not be construed as limiting the present disclosure. For example, each element, including numerical values, shapes, materials, parts, the position of each part, and the connection method of each part, is merely an example and should not be construed as limiting the present disclosure. Furthermore, in the following exemplary embodiments, components not described in independent claims based on the highest concept of the present disclosure are optional and may be provided as needed. The drawings are schematic and are not intended to be drawn to scale. Throughout this specification and the drawings, components having substantially the same function and configuration are designated by the same reference numerals, and redundant description will be omitted. Furthermore, components not directly related to one embodiment of the present disclosure are not shown in the drawings.

[0011] <Embodiment> [Configuration Example] Fig. 1 shows an example configuration of a vehicle 1 equipped with a control device according to an embodiment. 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. Fig. 2 shows an example configuration of control circuit 20. For ease of explanation, Fig. 2 also illustrates power control device 12 and motor 13.

[0012] The battery 11 is configured to store power and to supply DC power to the power control device 12. The battery 11 is also configured to store power supplied from the power control device 12.

[0013] The power control device 12 is configured to control the power supplied to the motor 13. The power control device 12 is configured to include, for example, an inverter, and converts the DC power supplied from the battery 11 into AC power based on a motor torque command value supplied from the control circuit 20, and supplies the AC power to the motor 13. The power control device 12 is also configured to supply the power supplied from the motor 13 to the battery 11.

[0014] The motor 13 is configured to generate driving force, which is mechanical energy, based on the AC power supplied from the power control device 12. In the vehicle 1, this driving force is transmitted to the wheels of the vehicle 1 via various members such as a drive shaft. As a result, the vehicle 1 is able to run based on this driving force. The motor 13 can also operate as a generator, and is able to supply the generated AC power to the power control device 12.

[0015] 2, the motor 13 has a rotation speed sensor 13A. The rotation speed sensor 13A is configured to detect the rotation speed of the motor 13. The rotation speed sensor 13A supplies data on the detected rotation speed of the motor 13 to the control circuit 20.

[0016] The driving operation unit 14 includes a steering wheel, an accelerator pedal, a brake pedal, various levers, and the like that are operated by the driver when driving the vehicle 1 .

[0017] Control circuit 20 is, for example, an ECU (Electronic Control Unit) and is configured using, for example, one or more processors, one or more memories, etc. Control circuit 20 can operate as torque command value generation unit 21, vibration damping torque command value generation unit 22, slip determination unit 23, and motor torque command value generation unit 24 by executing installed software.

[0018] The torque command value generating unit 21 is configured to generate a torque command value that indicates a command value for the torque of the motor 13 based on the operation of the accelerator pedal of the driving operation unit 14 by the driver.

[0019] Vibration-reducing torque command value generating unit 22 is configured to generate a vibration-reducing torque command value indicating a command value for the torque of motor 13 for reducing vibrations of vehicle 1, based on the detection result of rotation speed sensor 13A.

[0020] In vehicle 1, due to the physical characteristics of the drive shaft, twisting in the rotational direction may occur in the drive shaft. In vehicle 1, when an attempt is made to keep the rotational speed of the drive shaft constant, the degree of twisting of the drive shaft may periodically change, causing the rotational speed to oscillate rather than remain constant. The frequency of this vibration is, for example, about 10 Hz. When vibration occurs in the rotational speed in this way, the speed of vehicle 1 may increase or decrease at this frequency, causing vehicle 1 to vibrate. The driver may feel this vibration through, for example, the seat or accelerator pedal, and may find the vibration unpleasant.

[0021] Therefore, vibration damping torque command value generator 22 detects vibrations in the rotation speed of the drive shaft based on the rotation speed of motor 13, and generates a vibration damping torque command value to cancel out this vibration. As a result, the rotation speed of the drive shaft in vehicle 1 can be stabilized, and vibrations in vehicle 1 can be suppressed.

[0022] The slip determination unit 23 is configured to determine whether the vehicle 1 is slipping due to the wheels of the vehicle 1 slipping on the road surface of the road. Specifically, the slip determination unit 23 calculates the traveling speed of the vehicle 1 by, for example, integrating the detection results of an acceleration sensor (not shown) provided on the vehicle 1, and also calculates the traveling speed of the vehicle 1 based on the rotational speed of the wheels. The slip determination unit 23 can then determine whether the vehicle 1 is slipping by comparing these two traveling speeds. Note that the method for determining slip is not limited to this, and any method capable of determining slip may be used.

[0023] Motor torque command value generation unit 24 is configured to generate a motor torque command value indicating the command value of the torque of motor 13 based on the torque command value generated by torque command value generation unit 21, the vibration-damping torque command value generated by vibration-damping torque command value generation unit 22, and the judgment result of slip judgment unit 23.

[0024] Specifically, for example, when vehicle 1 is slipping, motor torque command value generation unit 24 generates a motor command value based on the torque command value generated by torque command value generation unit 21. That is, in this case, motor torque command value generation unit 24 generates a motor command value using the torque command value without using the vibration-damping torque command value. When vehicle 1 is slipping, for example, the frequency of vibration of the rotational speed of the drive shaft may change. Furthermore, because the wheels of vehicle 1 are slipping on the road surface, even if the rotational speed of the wheels changes in response to the vibration of the rotational speed of the drive shaft, the speed of vehicle 1 hardly changes, and therefore vehicle 1 does not vibrate much. Therefore, motor torque command value generation unit 24 generates a motor command value without using the vibration-damping torque command value.

[0025] Furthermore, for example, when vehicle 1 is not slipping, motor torque command value generation unit 24 generates a motor command value based on the torque command value generated by torque command value generation unit 21 and the damping torque command value generated by damping torque command value generation unit 22. Specifically, motor torque command value generation unit 24 generates the motor command value by adding together the torque command value generated by torque command value generation unit 21 and the damping torque command value generated by damping torque command value generation unit 22. This makes it possible to stabilize the rotational speed of the drive shaft in vehicle 1 and suppress vibrations in vehicle 1.

[0026] As will be described later, control circuit 20 performs processing to suppress the vibration damping torque for a predetermined period of time after vehicle 1 has finished slipping. Specifically, motor torque command value generator 24 changes the vibration damping torque command value by a predetermined value toward zero during this period. As a result, in vehicle 1, vibrations in the rotational speed of the drive shaft weaken, but these vibrations continue. As a result, vehicle 1 vibrates slightly, and the driver can feel these small vibrations through the seat, accelerator pedal, etc. This allows the driver to sense that the vehicle 1 has stopped slipping.

[0027] Here, the motor 13 corresponds to a specific example of an "electric motor" in an embodiment of the present disclosure. The power control device 12 corresponds to a specific example of a "power control device" in an embodiment of the present disclosure. The control circuit 20 corresponds to a specific example of a "control circuit" in an embodiment of the present disclosure.

[0028] [Operation and Function] Next, the operation and function of the vehicle 1 of this embodiment will be described.

[0029] (Overall Operation Overview) First, the operation of the vehicle 1 will be described with reference to Figure 2. The battery 11 stores electric power and supplies DC power to the power control device 12. The power control device 12 controls the electric power supplied to the motor 13. The motor 13 generates driving force, which is mechanical energy, based on the AC power supplied from the power control device 12. A rotation speed sensor 13A of the motor 13 detects the rotation speed of the motor 13. The motor 13 also operates as a generator and supplies the generated AC power to the power control device 12. In this case, the power control device 12 supplies the electric power supplied from the motor 13 to the battery 11, and the battery 11 stores the electric power supplied from the power control device 12.

[0030] Torque command value generation unit 21 of control circuit 20 generates a torque command value indicating a command value for torque of motor 13, based on the driver's operation of the accelerator pedal of driving operation unit 14. Damping torque command value generation unit 22 generates a damping torque command value indicating a command value for torque of motor 13 for damping vibrations of vehicle 1, based on the detection result of rotation speed sensor 13A. Slip determination unit 23 determines whether vehicle 1 is slipping. Motor torque command value generation unit 24 generates a motor torque command value indicating a command value for torque of motor 13, based on the torque command value generated by torque command value generation unit 21, the damping torque command value generated by damping torque command value generation unit 22, and the determination result of slip determination unit 23. Power control device 12 supplies power to motor 13 based on this motor torque command value.

[0031] (Detailed Operation) FIG. 3 shows an example of the operation of the control circuit 20. As shown in FIG.

[0032] First, the slip determination unit 23 checks whether the vehicle 1 is slipping (step S101). If the vehicle 1 is not slipping ("N" in step S101), this process ends.

[0033] If vehicle 1 is slipping ("Y" in step S101), motor torque command value generation unit 24 sets the operation mode to operation mode M1 in which a motor torque command value is generated based on the torque command value generated by torque command value generation unit 21 (step S102). That is, in this operation mode M1, motor torque command value generation unit 24 generates a motor command value using the torque command value without using the vibration damping torque command value.

[0034] Next, the slip determination unit 23 checks whether the slip of the vehicle 1 has been resolved (step S103). If the slip of the vehicle 1 has not been resolved ("N" in step S103), the slip determination unit 23 repeats the process of step S103 until the slip of the vehicle 1 is resolved ("Y" in step S103).

[0035] Then, when the slip of vehicle 1 is resolved ("Y" in step S103), motor torque command value generation unit 24 sets the operation mode to operation mode M2 ​​in which a motor command value is generated based on the torque command value generated by torque command value generation unit 21 and the damping torque command value generated by damping torque command value generation unit 22 (step S104). That is, in this operation mode M2, motor torque command value generation unit 24 generates a motor command value based on both the torque command value and the damping torque command value.

[0036] Then, the motor torque command value generating unit 24 starts the process of suppressing the vibration damping torque (step S105).

[0037] 4 and 5 show an example of the damping torque suppression process. In Figures 4 and 5, the dashed lines show an example of damping torque command value A1 generated by damping torque command value generation unit 22, and the solid lines show an example of damping torque command value A2 corrected by the damping torque suppression process.

[0038] 4, at timing t1, vehicle 1 is released from slip. After timing t1, damping torque command value generator 22 generates damping torque command value A1 based on the detection result of rotation speed sensor 13A so as to cancel out vibrations in the rotation speed of the drive shaft. Damping torque command value A1 alternates between positive and negative values ​​so as to cancel out vibrations in the rotation speed.

[0039] Motor torque command value generation unit 24 performs processing to suppress vibration damping torque based on vibration damping torque command value A1. Specifically, motor torque command value generation unit 24 generates vibration damping torque command value A2 by changing vibration damping torque command value A1 generated by vibration damping torque command value generation unit 22 by a predetermined value toward zero. Specifically, as shown in FIG. 5 , in period P1 when vibration damping torque command value A1 is a positive value, motor torque command value generation unit 24 generates vibration damping torque command value A2 by decreasing vibration damping torque command value A1 by value ΔA toward zero. If the result of subtracting value ΔA from vibration damping torque command value A1 is a negative value, motor torque command value generation unit 24 sets vibration damping torque command value A2 to zero. Similarly, in period P2 when vibration damping torque command value A1 is a negative value, motor torque command value generation unit 24 generates vibration damping torque command value A2 by increasing vibration damping torque command value A1 by value ΔA toward zero. When the result of adding value ΔA to vibration damping torque command value A1 is a positive value, motor torque command value generation unit 24 sets vibration damping torque command value A2 to zero. As a result, vibration damping torque command value A2 becomes smaller than vibration damping torque command value A1 by value ΔA, except for the period when vibration damping torque command value A1 is near zero. Here, period P1 corresponds to a specific example of a "first period" in an embodiment of the present disclosure. Period P2 corresponds to a specific example of a "second period" in an embodiment of the present disclosure.

[0040] 6 shows another example of the process of suppressing vibration-damping torque. In this example, motor torque command value generation unit 24 generates vibration-damping torque command value A2 by varying vibration-damping torque command value A1, generated by vibration-damping torque command value generation unit 22, by a predetermined value toward zero. In this example, value ΔA is large, so vibration-damping torque command value A2 is zero for most of the period except for the first signal portion.

[0041] Motor torque command value generation unit 24 performs this process of suppressing the vibration-damping torque. Then, motor torque command value generation unit 24 generates a motor command value, for example, by adding the vibration-damping torque command value processed in this manner and the torque command value generated by torque command value generation unit 21.

[0042] Then, the motor torque command value generator 24 checks whether a predetermined time has elapsed (step S106). This predetermined time is set to, for example, 10 seconds. If the predetermined time has not elapsed ("N" in step S106), the motor torque command value generator 24 repeats the process of step S106 until the predetermined time has elapsed ("Y" in step S106).

[0043] If the predetermined time has elapsed ("Y" in step S106), motor torque command value generation unit 24 ends the damping torque suppression process (step S107). As a result, motor torque command value generation unit 24 thereafter generates a motor command value by adding together the damping torque command value generated by damping torque command value generation unit 22 and the torque command value generated by torque command value generation unit 21.

[0044] This is the end of the process. The control circuit 20 repeats this process while the vehicle 1 is running.

[0045] 7 shows an example of the rotation speed of the motor 13. The solid line indicates a case where the damping torque suppression process is performed after the slip of the vehicle 1 is resolved, and the dashed line indicates a case where the control torque suppression process is not performed after the slip of the vehicle 1 is resolved.

[0046] If damping torque suppression processing is not performed after slippage is resolved, motor torque command value generation unit 24 generates a motor command value based on the torque command value generated by torque command value generation unit 21 and the damping torque command value generated by damping torque command value generation unit 22. The damping torque command value is generated so as to cancel out vibrations in the rotational speed of motor 13, and therefore, as shown by the dashed line in Figure 7, vibrations in the rotational speed of motor 13 are suppressed and the rotational speed is stabilized.

[0047] On the other hand, control circuit 20 performs a process of suppressing vibration-damping torque for a predetermined time (for example, 10 seconds) after the slip has been resolved. As a result, vibration-damping torque command value A2 becomes smaller than vibration-damping torque command value A1 by value ΔA. Therefore, in vehicle 1, as shown by the solid line in FIG. 7, the vibrations in the rotation speed of motor 13 are not completely canceled out, and an amount corresponding to this value ΔA remains. As a result, vehicle 1 vibrates slightly, and the driver can feel this small vibration through the seat, accelerator pedal, etc. This allows the driver to sense that the slip of vehicle 1 has been resolved.

[0048] In this way, the vehicle 1 is configured to vibrate for a predetermined period of time after the slip of the vehicle 1 is resolved, thereby enabling the driver to feel that the slip of the vehicle 1 has been resolved.

[0049] That is, when the vehicle 1 is slipping, as described above, even if the rotational speed of the wheels changes in response to vibrations in the rotational speed of the drive shaft, the speed of the vehicle 1 changes very little, and therefore the vehicle 1 does not vibrate very much. Furthermore, if the process of suppressing the vibration damping torque is not performed after the vehicle 1 has stopped slipping, the vibrations in the rotational speed of the motor 13 are suppressed, as shown by the dashed line in Figure 7, and the vehicle 1 does not vibrate very much. As a result, the driver is unlikely to notice that the vehicle 1 has stopped slipping.

[0050] On the other hand, in the vehicle 1 according to this embodiment, the vibration damping torque is suppressed after the slip of the vehicle 1 is resolved. As a result, as shown by the solid line in Fig. 7 , the vibrations in the rotation speed of the motor 13 are not completely canceled out and remain, causing the vehicle 1 to vibrate slightly. As a result, the driver can feel that the slip of the vehicle 1 has been resolved.

[0051] The value ΔA indicating the amount of damping torque suppression is set to a value that will not damage the drive shaft of vehicle 1 and will allow the driver to feel the vibration. For example, if the amount of damping torque suppression (value ΔA) is large, a mechanical force such as twisting may be generated in the drive shaft over a long period of time, potentially damaging the drive shaft. Also, for example, if the amount of damping torque suppression (value ΔA) is small, the vibration of vehicle 1 is small, and the driver may not notice the vibration of vehicle 1. Therefore, the amount of damping torque suppression (value ΔA) is set to a value that satisfies these two conditions.

[0052] The time for which the damping torque suppression process is performed is set, for example, to a time that will not damage the drive shaft of the vehicle 1 and will allow the driver to feel the vibration. For example, if the time for which the damping torque suppression process is performed is long, mechanical forces such as twisting may be generated in the drive shaft for a long period of time, which may damage the drive shaft. Also, for example, if the time for which the damping torque suppression process is performed is short, the time for which the vehicle 1 vibrates is short, so there is a possibility that the driver will not notice the vibration of the vehicle 1. Therefore, the time for which the damping torque suppression process is performed is set, for example, to a time that satisfies these two conditions.

[0053] In this way, vehicle 1 is provided with control circuit 20 that can determine whether vehicle 1 is slipping, determine the torque of the electric motor (motor 13) based on a torque command value corresponding to the driving operation of the vehicle driver while vehicle 1 is slipping, and determine the torque of the electric motor (motor 13) based on the torque command value and a damping torque command value for suppressing vibrations of vehicle 1 while vehicle 1 is not slipping, and perform suppression processing to weaken the damping torque command value by a predetermined amount for a predetermined period from the timing when vehicle 1 is no longer slipping. As a result, the driver of vehicle 1 can know that vehicle 1 has no longer slipped by the small vibrations of vehicle 1 during this predetermined period. As a result, vehicle 1 makes it easier for the driver to understand the behavior of vehicle 1.

[0054] Furthermore, in vehicle 1, the vibration damping torque command value has a positive value in a first period (period P1) within the predetermined period, and a negative value in a second period (period P2) within the predetermined period. When performing the suppression process, control circuit 20 is able to change the vibration damping torque command value toward zero by a predetermined amount in each of the first period (period P1) and the second period (period P2). As a result, vibrations in the rotation speed of motor 13 are not completely canceled out, but remain by an amount corresponding to this value ΔA. As a result, vehicle 1 vibrates less by an amount corresponding to this value ΔA, allowing the driver to feel this vibration. As a result, vehicle 1 makes it easier for the driver to grasp the behavior of vehicle 1.

[0055] [Effects] As described above, in this embodiment, a control circuit is provided that can determine whether vehicle 1 is slipping, that can determine the torque of the electric motor based on a torque command value corresponding to the driving operation of the vehicle driver when vehicle 1 is slipping, that can determine the torque of the electric motor based on the torque command value and a damping torque command value for suppressing vehicle vibrations when the vehicle is not slipping, and that can perform suppression processing to weaken the damping torque command value by a predetermined amount for a predetermined period from the timing when vehicle slip is resolved. This makes it easier for the driver to understand the behavior of the vehicle.

[0056] In this embodiment, the vibration damping torque command value has a positive value in a first period within a predetermined period, and a negative value in a second period within the predetermined period. When performing suppression processing, the control circuit is able to change the vibration damping torque command value toward zero by a predetermined amount in each of the first period and the second period. This makes it easier for the driver to grasp the behavior of the vehicle.

[0057] Although several embodiments of the present disclosure have been described above by way of example with reference to the accompanying drawings, the present disclosure is by no means limited to the above-described embodiments. Those skilled in the art will understand that various modifications and variations can be made without departing from the scope defined by the appended claims. The present disclosure is intended to encompass such modifications and variations to the extent that they fall within the scope of the appended claims and their equivalents.

[0058] For example, the processing procedure of the control circuit 20 shown in FIG. 3 is an example, and the present invention is not limited to this processing procedure.

[0059] The effects described in this specification are merely examples, and the effects of the present disclosure are not limited to the effects described in this specification. Therefore, other effects may be obtained with respect to the present disclosure.

[0060] Furthermore, the present disclosure may take the following aspects.

[0061] (1) A control device comprising a control circuit capable of determining whether a vehicle is slipping, and capable of determining the torque of an electric motor based on a torque command value corresponding to a driving operation of a driver of the vehicle during a period when the vehicle is slipping, and 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 during a period when the vehicle is not slipping, and capable of performing suppression processing to weaken the damping torque command value by a predetermined amount during a predetermined period from a timing when the vehicle is no longer slipping. (2) The control device according to (1), wherein the damping torque command value has a positive value during a first period within the predetermined period and a negative value during a second period within the predetermined period, and the control circuit is capable of changing the damping torque command value toward zero by the predetermined amount during each of the first period and the second period when performing the suppression processing. (3) The control device according to (1) or (2), wherein the control circuit is capable of generating the damping torque command value based on a rotational speed of the electric motor. (4) A vehicle comprising: an electric motor capable of generating a driving force used for running the vehicle; a power control device capable of supplying power to the electric motor based on an electric motor torque command value; and a control circuit capable of generating the electric motor torque command value, wherein the control circuit is capable of determining whether the vehicle is slipping, and while the vehicle is slipping, is capable of generating the electric motor torque command value based on a torque command value corresponding to a driving operation by a driver of the vehicle, and while the vehicle is not slipping, is capable of generating the electric motor torque command value based on the torque command value and a vibration suppression torque command value for suppressing vibration of the vehicle, and is capable of performing suppression processing to weaken the vibration suppression torque command value by a predetermined amount for a predetermined period from the timing when the vehicle is no longer slipping.

[0062] The control circuit 20 shown in FIG. 2 can be implemented by circuitry including at least one semiconductor integrated circuit, such as at least one processor (e.g., a central 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 can be configured to perform all or a portion of the various functions of the control circuit 20 shown in FIG. 2 by reading instructions from at least one non-transitory, tangible computer-readable medium. Such medium can take various forms, including, but not limited to, 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 memories. Volatile memories can include DRAM and SRAM. Non-volatile memories can include ROM and NVRAM. An ASIC is an integrated circuit (IC) specialized to perform all or a portion of the various functions of the control circuit 20 shown in FIG. 2. An FPGA is an integrated circuit designed to be configurable after manufacture to perform all or a portion of the various functions of the control circuit 20 shown in FIG. 2.

Claims

1. A control device comprising a control circuit capable of determining whether a vehicle is slipping, and during a period when the vehicle is slipping, capable of determining the torque of an electric motor based on a torque command value corresponding to the driving operation of the driver of the vehicle, and during a period when the vehicle is not slipping, capable of determining the torque of the electric motor based on the torque command value and a vibration-damping torque command value for suppressing vibrations of the vehicle, and capable of performing suppression processing to weaken the vibration-damping torque command value by a predetermined amount for a predetermined period from the time when the vehicle has stopped slipping.

2. The control device according to claim 1, wherein the vibration-damping torque command value has a positive value in a first period within the predetermined period, and a negative value in a second period within the predetermined period, and the control circuit is capable of changing the vibration-damping torque command value by the predetermined amount toward zero in each of the first period and the second period when performing the suppression process.

3. The control device according to claim 1, wherein the control circuit is capable of generating the vibration damping torque command value based on the rotation speed of the electric motor.

4. A vehicle comprising: an electric motor capable of generating a driving force used for running the vehicle; a power control device capable of supplying power to the electric motor based on an electric motor torque command value; and a control circuit capable of generating the electric motor torque command value, wherein the control circuit is capable of determining whether the vehicle is slipping, and while the vehicle is slipping, is capable of generating the electric motor torque command value based on a torque command value corresponding to the driving operation of the driver of the vehicle, and while the vehicle is not slipping, is capable of generating the electric motor torque command value based on the torque command value and a damping torque command value for suppressing vibrations of the vehicle, and is capable of performing suppression processing to weaken the damping torque command value by a predetermined amount for a predetermined period from the time when the vehicle has stopped slipping.

Images