Dual-Axle Torque Control Using Sum-Difference Vibration Models
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Solution Overview
Problem
Existing vehicle control systems face complexity in suppressing vibrations on left and right axles due to different behaviors during straight and cornering states, requiring complex decoupling controls that interfere with each other.
Innovation Solution
A vehicle control device and method that separates control into sum-mode and difference-mode instruction torques using equivalent sum and difference values applied to respective models, independently controlling left and right driving sources to suppress vibrations without interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If separate controls are constructed for running-straight state and cornering state, then vibration suppression performance is improved, but control configuration complexity increases
Solution Approach 1:
The control system is segmented into two independent models: a sum model for running-straight state and a difference model for cornering state. Each model processes only the relevant torque component (sum or difference), avoiding the need for complex decoupling controls while maintaining effective vibration suppression for each driving condition
Solution Approach 2:
The control system dynamically switches between sum model and difference model based on the vehicle's traveling state. By calculating equivalent sum value and equivalent difference value from requested torques, the system adapts the appropriate model to current conditions, simplifying control configuration while improving vibration suppression performance
2Reliability
If control for suppressing vibration of one axle is performed, then vibration on that axle is reduced, but the other axle is also affected requiring decoupling control
Solution Approach 1:
The control system segments vibration suppression into independent sum-mode and difference-mode channels. The sum model handles symmetric vibration components affecting both axles, while the difference model handles asymmetric components. This segmentation allows each model to suppress vibrations independently without interfering with the other axle, eliminating the need for complex decoupling controls
Solution Approach 2:
The equivalent sum value and equivalent difference value act as intermediaries that decouple the control of left and right axles. By transforming the requested torques into sum and difference components, the system can independently process each component through respective models, suppressing vibrations on each axle without interference while simplifying the control configuration
Data Source
AI summary
The disclosed vehicle control device (10) controls outputs of a left driving source (2L) and a right driving source (2R) in a vehicle (1) provided with a left driving system including a left axle (4L) and a left wheel (5L) and a right driving system including a right axle (4R) and a right wheel (5R) and includes: a calculator (11) that calculates an equivalent sum value corresponding to a sum of a left requested torque and a right requested torque and an equivalent difference value corresponding to a difference between the left requested torque and the right requested torque; a sum model that models motion states of the left driving system and the right driving system while the vehicle (1) is running straight, the equivalent sum value being applied to the sum model; a difference model that models motion states of the left driving system and the right driving system while the vehicle (1) is cornering, the equivalent difference value being applied to the difference model; and a controller (12) that controls the outputs, using a sum-mode instruction torque and a difference-mode instruction torque obtained by application to the sum model and the difference model, respectively.