Vehicle Control Device Dynamic Slip Suppression
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Solution Overview
Problem
Existing vehicle control systems face challenges in suppressing vibration in motor rotation speed and improving responsiveness of slip suppression, especially when disturbances from road surface textures are input, leading to erroneous slip determination and self-oscillation.
Innovation Solution
A vehicle control device and method that dynamically designates either wheel speed or motor rotation speed as a control subject based on the requested torque, using feedback control to maintain a target value, and includes a torque limiting module to manage torque adjustments, ensuring robustness and reducing erroneous slip determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If motor rotation speed is used for controlling slip, then responsiveness of slip suppression is improved, but motor rotation vibrates and slip is erroneously determined when disturbance is input
Solution Approach 1:
The control subject is dynamically switched between motor rotation speed and wheel speed based on the requested torque magnitude. When requested torque is high (above threshold), motor rotation speed is used as control subject for high responsiveness. When requested torque is low (below threshold), wheel speed is used as control subject to avoid vibration-induced erroneous determination. This dynamic adaptation resolves the contradiction by selecting the appropriate control parameter based on operating conditions.
2Productivity
If motor rotation speed is used as control subject, then slip suppression performance is improved, but self-oscillation occurs and control may diverge
Solution Approach 1:
The system dynamically adjusts the control subject based on requested torque levels. At high torque levels where slip suppression performance is critical, motor rotation speed is used as control subject. At low torque levels where vibration causes self-oscillation, the system switches to wheel speed as control subject, thereby maintaining control stability while preserving slip suppression performance when needed.
Data Source
AI summary
A vehicle control device includes: a requested torque acquisition module that acquires a requested torque requested to a motor that drives a wheel; a control subject designation module that designates one of a wheel speed and a motor rotation speed as a control subject on the basis of the requested torque; and a control module that performs feedback control in a manner that the control subject designated by the control subject designation module becomes equal to a target value.