CN100540354C - Electric vehicle drive control device and electric vehicle drive control method - Google Patents
Electric vehicle drive control device and electric vehicle drive control method Download PDFInfo
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- CN100540354C CN100540354C CNB2005100999242A CN200510099924A CN100540354C CN 100540354 C CN100540354 C CN 100540354C CN B2005100999242 A CNB2005100999242 A CN B2005100999242A CN 200510099924 A CN200510099924 A CN 200510099924A CN 100540354 C CN100540354 C CN 100540354C
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Abstract
The invention provides an electric vehicle drive control device, an electric vehicle drive control method and a program thereof, the device comprises a generator target torque calculation processing means, a 1 st estimation processing means for calculating an inertia correction estimation value, a 2 nd estimation processing means for calculating an integral term correction estimation value, an estimation mode switching condition determination processing means, and a drive motor target torque calculation processing means for switching between a 1 st estimation mode for calculating a drive motor target torque based on the inertia correction estimation value and a 2 nd estimation mode for calculating a drive motor target torque based on the integral term correction estimation value when an estimation mode switching condition is satisfied. When the estimation mode switching condition is satisfied, the 1 st estimation mode and the 2 nd estimation mode are switched, and at the same time, the driving motor target torque is calculated based on the integral term correction estimation value. Accordingly, the electric vehicle can be stably driven.
Description
Technical field
The present invention relates to a kind of electric vehicle drive control device, elec. vehicle drive controlling method and program thereof.
Background technology
Past, lift-launch on composite automotive as elec. vehicle, will send electrical generator (electrical generator motor) to as the part of the motor torque of the torque of driving engine, remainder sends in the vehicle drive unit of drive wheel, has the planetary gear unit of having equipped sun wheel, gear ring and pinion carrier, above-mentioned pinion carrier is connected with driving engine, gear ring is connected with drive wheel with CD-ROM drive motor, sun wheel is connected with electrical generator, be sent to drive wheel from the rotation of above-mentioned gear ring and CD-ROM drive motor output, produce propulsive effort.
In this kind composite automotive, when driving engine being driven according to the engine target rotative speed of expected value of the engine rotary speed of the rotative speed of expression driving engine, the gear ring torque that motor torque changes the torque of gear ring into is passed to gear ring, and be delivered to drive wheel, and require the insufficient section of the gear ring torque of torque with respect to the vehicle that makes composite automotive exercise required torque, then utilize the motor torque of the torque of CD-ROM drive motor to compensate (for example with reference to patent documentation 1).
At this moment, when the generator torque of the torque of electrical generator being calculated based on above-mentioned engine target rotative speed, the electrical generator target torque of expected value of this generator torque of expression is scaled value on the gear ring, thereby calculate the gear ring torque, again this gear ring torque is scaled axle drive shaft torque as the value on the output shaft of CD-ROM drive motor.On the other hand, require torque to be scaled value on the output shaft of CD-ROM drive motor on above-mentioned vehicle, calculate output shaft and require torque, this output shaft is required the CD-ROM drive motor target torque of the difference of torque and axle drive shaft torque as the expected value of expression motor torque.
At this moment, based on the electrical generator target torque, after directly calculating the gear ring torque and inferring the axle drive shaft torque, the torque of inertia (inertia of rotor and the rotor shaft) part of the electrical generator when generator torque changes, the influence of inertia torque can appear in the gear ring torque.At this moment, consider inertia torque, calculate the gear ring torque, and infer the axle drive shaft torque.
Patent documentation 1: the spy opens flat 9-170533 communique.
But, in the composite automotive in above-mentioned past, for example for the inertia torque of calculating generator, the angular acceleration that needs electrical generator, but owing to, need carry out 2 subdifferentials to the rotor-position that resolver detects in order to calculate this angular acceleration, if because the characteristic of resolver causes the cyclical swing of rotor-position, vibration will appear in the angular acceleration that is calculated, thereby error occurs at the inertia torque of electrical generator.
Therefore, because the axle drive shaft torque of inferring based on inertia torque also error can occur, the CD-ROM drive motor target torque also error can occur, thereby composite automotive is stably travelled.
At this moment, can consider angular acceleration G is sent to killer, utilize this killer to eliminate excessive value and too small value, but can not eliminate the vibration of angular acceleration G, thereby composite automotive is stably travelled.
Summary of the invention
The objective of the invention is to solve the problem of the composite automotive in above-mentioned past, a kind of electric vehicle drive control device that elec. vehicle is stably travelled, elec. vehicle drive controlling method and program thereof are provided.
Therefore, in the electric vehicle drive control device of the present invention, have utilization and carry out the electrical generator target torque computing mechanism that the controlled reset of integration control calculates the electrical generator target torque of the expected value of representing generator torque at least, inertia based on above-mentioned electrical generator target torque and electrical generator, calculate the 1st of inertia correction presumed value and infer processing mechanism, revise the 2nd of presumed value based on the integral composition calculated product subitem of the electrical generator target torque that utilizes above-mentioned integration control and infer processing mechanism, that judges whether the mode switch condition of inferring of regulation set up infers mode switch condition criterion processing mechanism, when the above-mentioned mode switch condition of inferring when setting up, infer pattern at the 1st of the CD-ROM drive motor target torque that calculates the expected value of representing motor torque based on inertia correction presumed value, and calculate the 2nd of CD-ROM drive motor target torque based on integral correction presumed value and infer the CD-ROM drive motor target torque computing mechanism of switching between the pattern.
In other the electric vehicle drive control device of the present invention, also have, above-mentioned CD-ROM drive motor target torque computing mechanism has the smoothing processing mechanism that carries out smoothing processing (smoothing processing) based on above-mentioned inertia correction presumed value and integral correction presumed value.
In other other electric vehicle drive control devices of the present invention, also have, above-mentioned smoothing processing mechanism utilizes the unit time amount of switched of regulation to change inertia correction presumed value and integral correction presumed value.
In other other electric vehicle drive control devices of the present invention, also have, whether the above-mentioned mode switch condition criterion processing mechanism of inferring is in an interim state according to electrical generator, judges whether the above-mentioned mode switch condition of inferring is set up.
In other other electric vehicle drive control devices of the present invention, also have, above-mentioned CD-ROM drive motor target torque computing mechanism is when electrical generator is in an interim state, calculate the CD-ROM drive motor target torque based on above-mentioned inertia correction presumed value, when electrical generator does not have when in an interim state, calculate the CD-ROM drive motor target torque based on above-mentioned integral correction presumed value.
In other other electric vehicle drive control devices of the present invention, also have, above-mentioned electrical generator target torque is calculated in proportional composition that is directly proportional with velocity deviation to the major general and the integral composition addition that is directly proportional with the integrated value of above-mentioned velocity deviation.
In other other electric vehicle drive control devices of the present invention, also have, the above-mentioned the 1st infers processing mechanism deducts the inertia torque that the inertia of electrical generator causes from the electrical generator target torque, calculate inertia correction presumed value.
In other other electric vehicle drive control devices of the present invention, also have, have and equipped 1-the 3rd differential element and the 1st differential element and electrical generator mechanical connection, the 2nd differential element and CD-ROM drive motor mechanical connection, the 3rd differential element and engine mechanical bonded assembly differential slewing arrangement, output and the electrical generator target torque that requires based on navigating mate calculates above-mentioned CD-ROM drive motor target torque simultaneously.
In the elec. vehicle drive controlling method of the present invention, utilize the controlled reset that carries out integration control at least to calculate the electrical generator target torque of the expected value of expression generator torque, inertia based on this electrical generator target torque and electrical generator, calculate inertia correction presumed value, integral composition calculated product subitem based on the electrical generator target torque that utilizes above-mentioned integration control is revised presumed value, judge inferring the mode switch condition and whether setting up of regulation, when the above-mentioned mode switch condition of inferring when setting up, infer pattern at the 1st of the CD-ROM drive motor target torque that calculates the expected value of representing motor torque based on inertia correction presumed value, and calculate the 2nd of CD-ROM drive motor target torque based on integral correction presumed value and infer between the pattern and switch.
In the program of elec. vehicle drive controlling method of the present invention, make the program performance utilize the controlled reset that carries out integration control at least to calculate the electrical generator target torque computing mechanism of the electrical generator target torque of the expected value of representing generator torque, inertia based on above-mentioned electrical generator target torque and electrical generator, calculate the 1st of inertia correction presumed value and infer processing mechanism, revise the 2nd of presumed value based on the integral composition calculated product subitem of the electrical generator target torque that utilizes above-mentioned integration control and infer processing mechanism, that judges whether the mode switch condition of inferring of regulation set up infers mode switch condition criterion processing mechanism, when the above-mentioned mode switch condition of inferring when setting up, infer pattern at the 1st of the CD-ROM drive motor target torque that calculates the expected value of representing motor torque based on inertia correction presumed value, and calculate the function that the 2nd of CD-ROM drive motor target torque is inferred the CD-ROM drive motor target torque computing mechanism of switching between the pattern based on integral correction presumed value.
According to the present invention, in electric vehicle drive control device, have utilization and carry out the electrical generator target torque computing mechanism that the controlled reset of integration control calculates the electrical generator target torque of the expected value of representing generator torque at least, inertia based on above-mentioned electrical generator target torque and electrical generator, calculate the 1st of inertia correction presumed value and infer processing mechanism, revise the 2nd of presumed value based on the integral composition calculated product subitem of the electrical generator target torque that utilizes above-mentioned integration control and infer processing mechanism, that judges whether the mode switch condition of inferring of regulation set up infers mode switch condition criterion processing mechanism, when the above-mentioned mode switch condition of inferring when setting up, infer pattern at the 1st of the CD-ROM drive motor target torque that calculates the expected value of representing motor torque based on inertia correction presumed value, and calculate the 2nd of CD-ROM drive motor target torque based on integral correction presumed value and infer the CD-ROM drive motor target torque computing mechanism of switching between the pattern.
At this moment, when the above-mentioned mode switch condition of inferring when setting up, infer pattern and calculate the 2nd of CD-ROM drive motor target torque based on integral correction presumed value and infer between the pattern and switch calculating the 1st of CD-ROM drive motor target torque based on inertia correction presumed value, meanwhile, calculate the CD-ROM drive motor target torque based on integral correction presumed value.
Therefore, when electrical generator is in stabilized conditions, calculate the CD-ROM drive motor target torque based on the integral correction presumed value of electrical generator target torque, when electrical generator is in an interim state, calculate the CD-ROM drive motor target torque based on inertia correction presumed value, thereby elec. vehicle is stably travelled.
Description of drawings
Fig. 1 is the PI control and treatment portion of expression embodiments of the present invention and the block scheme of CD-ROM drive motor target torque computing portion.
Fig. 2 is the concept map of the composite automotive of embodiments of the present invention.
Fig. 3 is the instruction diagram of the action of expression planetary gear unit of the present invention.
Speed of a motor vehicle line chart when Fig. 4 is travelling usually of embodiments of the present invention.
Torque line chart when Fig. 5 is travelling usually of embodiments of the present invention.
Fig. 6 is the concept map of the electric vehicle drive control device of embodiments of the present invention.
Fig. 7 is the 1st main flow chart of the action of the electric vehicle drive control device of expression embodiments of the present invention.
Fig. 8 is the 2nd main flow chart of the action of the electric vehicle drive control device of expression embodiments of the present invention.
Fig. 9 is the 3rd main flow chart of the action of the electric vehicle drive control device of expression embodiments of the present invention.
Figure 10 represents that the 1st vehicle of embodiments of the present invention requires the torque mapping relations.
Figure 11 represents that the 2nd vehicle of embodiments of the present invention requires the torque mapping relations.
Figure 12 represents the engine target running state mapping relations of embodiments of the present invention.
Figure 13 represents the engine drive zone mapping relations of embodiments of the present invention.
Figure 14 represents the subprogram of the electrical generator rotative speed control and treatment of embodiments of the present invention.
Figure 15 represents that the axle drive shaft torque of embodiments of the present invention infers the subprogram of processing.
Figure 16 is the speed line chart of the state of the composite automotive of expression embodiments of the present invention.
Figure 17 is the time plot of the action of the electric vehicle drive control device of expression embodiments of the present invention.
Among the figure: 11-driving engine, 13-planetary gear unit, 16-electrical generator, the 25-CD-ROM drive motor, 46-engine control unit, 47-generator control unit, 49-CD-ROM drive motor control setup, 51-controller of vehicle, 83-adder calculator, 85-CD-ROM drive motor target torque computing portion, 89,91-infers portion, CR-pinion carrier, R-gear ring, the S-sun wheel, Sw-smoothing processing portion.
The specific embodiment
Below, be described with reference to the accompanying drawings embodiments of the present invention.Also have, the composite automotive as elec. vehicle is described at this.
Fig. 2 is the concept map of the composite automotive of embodiments of the present invention.
Among the figure, 11 for being configured in driving engine (E/G) on the 1st axis, 12 for be configured on above-mentioned the 1st axis, the output shaft of output by the rotation that drives above-mentioned driving engine 11 and produced, this output shaft 12 is connected with the bent axle 19 of driving engine 11.Also have, 13 for being configured on above-mentioned the 1st axis, to carry out the planetary gear unit as the differential slewing arrangement of speed change by the rotation of above-mentioned output shaft 12 inputs, 14 for being configured on above-mentioned the 1st axis, export the output shaft of the rotation after the speed change of above-mentioned planetary gear unit 13,15 is that 16 for being configured on above-mentioned the 1st axis as the 1st reverse drive gear that is fixed on the output gear on this output shaft 14, be connected with above-mentioned planetary gear unit 13 by transmission shaft 17, be connected with driving engine 11 again and the rotation of free differential, while is as the 1st electromechanical electrical generator (G) of mechanical connection.Above-mentioned driving engine 11 and electrical generator 16 and drive wheel 37 mechanical connections as wheel.
Above-mentioned output shaft 14 has sleeve-shaped, and surrounds above-mentioned output shaft 12.Also have, above-mentioned the 1st reverse drive gear 15 is than planetary gear unit 13 more close driving engine 11 sides.
Above-mentioned planetary gear unit 13 has the sun wheel S as the 1st differential element at least, with this sun wheel S ingear miniature gears P, with the gear ring R of this miniature gears P ingear as the 2nd differential element, and support above-mentioned miniature gears P and make the pinion carrier CR of its conduct that rotates freely the 3rd differential element, above-mentioned sun wheel S is by above-mentioned transmission shaft 17 and electrical generator 16 mechanical connections, the gear row of gear ring R by output shaft 14 and regulation are configured on the 2nd axis with above-mentioned the 1st parallel axes, with above-mentioned driving engine 11 and electrical generator 16 mechanical connections and the rotation of free differential, simultaneously with conduct the 2nd electromechanical CD-ROM drive motor (M) 25 and drive wheel 37 mechanical connections of mechanical connection, pinion carrier CR is by output shaft 12 and driving engine 11 mechanical connections.Above-mentioned CD-ROM drive motor 25 and drive wheel 37 mechanical connections.
Also have, dispose free-wheel clutch F between the housing 10 of above-mentioned pinion carrier CR and vehicle drive unit, this free-wheel clutch F is being free state from driving engine 11 when pinion carrier CR transmits the rotation of positive dirction, when pinion carrier CR transmits backward rotation, be lockup state from electrical generator 16 or CD-ROM drive motor 25, thereby the rotation of driving engine 11 is stopped, making backward rotation can not be sent to driving engine 11.Therefore, when under the state of the driving of shutting engine down 11, driving electrical generator 16, utilize above-mentioned free-wheel clutch F, the torque that sends from electrical generator 16 is applied counter-force.Also have, also can replace free-wheel clutch F, between above-mentioned pinion carrier CR and housing 10 configuration as the figure of stop mechanism in the drg of expression not.
Above-mentioned electrical generator 16 by be fixed on the rotor that rotates freely configuration 21 on the above-mentioned transmission shaft 17, be configured in this rotor 21 around stator 22 and the coil 23 that is wound on this stator 22 form.Above-mentioned electrical generator 16 utilizes the rotation that transmits by transmission shaft 17 to produce electric power.Among above-mentioned coil 23 and the figure not the battery of expression is connected, to this battery supply DC current.Configuration generator drg B between above-mentioned rotor 21 and above-mentioned housing 10, thus can utilize this generator brake B in conjunction with fixed rotor 21, utilize the rotation of mechanical system generation outage machine 16.
Also have, 26 for being arranged on above-mentioned the 2nd axis, exporting the output shaft of the rotation of above-mentioned CD- ROM drive motor 25, and 27 is as the 2nd reverse drive gear that is fixed on the output gear of this output shaft 26.Above-mentioned CD-ROM drive motor 25 by the rotor that rotates freely configuration 40 that is fixed on above-mentioned output shaft 26 and be configured in this rotor 40 around stator 41 and the coil 42 that is wound on this stator 41 form.
Above-mentioned CD-ROM drive motor 25 utilizes the U phase as alternating current, V phase and the W phase current of supplying with coil 42 to produce motor torque TM.Therefore, above-mentioned coil 42 is connected with above-mentioned battery, after the DC current of this battery changes each phase current into, is re-supplied to above-mentioned coil 42.
In order to make equidirectional being rotated of rotation of above-mentioned drive wheel 37 and driving engine 11, with the 3rd axis of above-mentioned the 1st, the 2nd parallel axes on configuration inversion axis 30, on this inversion axis 30, be fixed with the 1st reverse driven gear 31 and the number of teeth the 2nd reverse driven gear 32 more than the 1st reverse driven gear 31.The above-mentioned the 1st reverse driven gear 31 and 15 engagements of above-mentioned the 1st reverse drive gear, the above-mentioned the 2nd reverse driven gear 32 and 27 engagements of above-mentioned the 2nd reverse drive gear.After the rotation counter-rotating of above-mentioned the 1st reverse drive gear 15, be sent to the 1st reverse driven gear 31.After the rotation counter-rotating of above-mentioned the 2nd reverse drive gear 27, be sent to the 2nd reverse driven gear 32.In addition, be fixed with the differential pinion 33 that the number of teeth is less than the above-mentioned the 1st reverse driven gear 31 on the above-mentioned inversion axis 30.
In the above-mentioned composite automotive, be provided with air conditioner, can operate this air conditioner as the use in refrigeration system motor 24 of the drive division of use in refrigeration system by driving as subsidiary engine.Therefore, be installed on the above-mentioned bent axle 19, be installed on the output shaft of use in refrigeration system motor 24 as the follow-up pulley 34 of the swivel of slave end as the drive pulley 18 of the swivel of drive side.Also have, being provided with among the figure not between above-mentioned use in refrigeration system motor 24 and the follow-up pulley 34, the conduct of expression combines the magnetic clutch that breaks away from parts, by magnetic clutch in conjunction with breaking away from, can drive or stop use in refrigeration system motor 24, thus operation or stop air conditioner.
Also have, the 38th, as detecting position, be the rotor-position sensor of resolver etc. of the 1st position detection part of rotor position G as rotor 21, the 39th, as detecting position, being the rotor-position sensor of resolver etc. of the 2nd position detection part of rotor position M as rotor 40.The rotor position G that is detected sends among the figure among the controller of vehicle of not expression and the figure the not generator control unit of expression to, and the rotor position M that is detected sends among controller of vehicle and the figure the not CD-ROM drive motor control setup of expression to.Also have, 52 is the engine rotary speed sensor as the engine rotary speed test section of detection of engine rotative speed NE.Engine rotary speed NE is sent to the engine control unit of not representing among the figure.
The action of above-mentioned planetary gear unit 13 then, is described.
Fig. 3 is the instruction diagram of the action of the planetary gear unit of expression embodiments of the present invention.Speed of a motor vehicle line chart when Fig. 4 is travelling usually of embodiments of the present invention.Torque line chart when Fig. 5 is travelling usually of embodiments of the present invention.
In the above-mentioned planetary gear unit 13 (Fig. 2), because pinion carrier CR is connected with driving engine 11, sun wheel S is connected with electrical generator 16, gear ring R is connected with above-mentioned electro-motor 25 and drive wheel 37 by the gear row of output shaft 14 and regulation, so as the gear ring rotative speed NR of the rotative speed of gear ring R with equate as the output shaft rotative speed that outputs to the rotative speed of output shaft 14, the rotative speed of pinion carrier CR equates with engine rotary speed NE, and the rotative speed of sun wheel S equates with electrical generator rotative speed NG as the rotative speed of electrical generator 16.Like this, if the number of teeth of gear ring R is ρ times (in the present embodiment being 2 times) of the number of teeth of sun wheel S, then have:
(ρ+1)·NE＝1·NG+ρ·NR
Set up.Therefore, based on gear ring rotative speed NR and electrical generator rotative speed NG, can calculation engine rotative speed NE:
NE＝(1·NG+ρ·NR)/(ρ+1) ......(1)
Also have, utilize above-mentioned formula (1), can constitute the rotative speed relational expression of planetary gear unit 13.
Also have, have following relation between motor torque TE, gear ring torque TR and the generator torque TG:
TE∶TR∶TG＝(ρ+1)∶ρ∶1 ......(2)
Bear counter-force each other.Also have, utilize above-mentioned formula (2), can constitute the torque relational expression of planetary gear unit 13.
Like this, when the travelling usually of composite automotive, gear ring R, pinion carrier CR and sun wheel S are and are rotated in the forward, as shown in Figure 4, gear ring rotative speed NR, engine rotary speed NE and electrical generator rotative speed NG all get on the occasion of.Also have, above-mentioned gear ring torque TR and generator torque TG can distribute motor torque TE to try to achieve by the torque ratio of being determined by the number of teeth of planetary gear unit 13, on torque line chart shown in Figure 5, gear ring torque TR adds that generator torque TG then is motor torque TE.
Then, the electric vehicle drive control device that above-mentioned vehicle drive unit is controlled is described.
Fig. 6 is the concept map of the electric vehicle drive control device of embodiments of the present invention.
Among the figure, 10 is housing, 11 is driving engine (E/G), and 13 is planetary gear unit, 16 for electrical generator (G), B be 21 the generator brake that is used for fixing the rotor of this electrical generator 16,25 is CD-ROM drive motor (M), 28 for being used to drive the changer as generator converter of above-mentioned electrical generator 16, and 29 for being used to drive the changer as the CD-ROM drive motor changer of above-mentioned CD- ROM drive motor 25, and 37 is drive wheel, 38,39 is rotor-position sensor, and 43 is battery.
Above-mentioned changer 28,29 is connected with battery 43 by source switch SW, and this battery 43 is supplied with DC current to above-mentioned changer 28,29 when above-mentioned source switch SW connects.Above-mentioned each changer 28,29 all has a plurality of for example 6 transistors as on-off element, and the paired modularity of this each transistor constitutes the transistor modular (IGBT) of each phase.
At the entrance side of above-mentioned changer 28, dispose the generator converter voltage sensor 75 of conduct the 1st vdc test section of the generator converter voltage VG that is used to detect the vdc that is applied to changer 28 and the generator converter current sensor 77 of conduct the 1st direct current detection portion that is used to detect the generator converter electric current I G of the DC current that is applied to changer 28.Also have, at the entrance side of above-mentioned changer 29, dispose the CD-ROM drive motor converter voltage sensor 76 of conduct the 2nd vdc test section of the CD-ROM drive motor converter voltage VM that is used to detect the vdc that is applied to changer 29 and the CD-ROM drive motor converter current sensor 78 of conduct the 2nd direct current detection portion that is used to detect the CD-ROM drive motor converter current IM of the DC current that is applied to changer 29.Above-mentioned generator converter voltage VG and generator converter electric current I G send controller of vehicle 51 and generator control unit 47 to, and controller of vehicle 51 and CD-ROM drive motor control setup 49 are given in CD-ROM drive motor converter voltage VM and CD-ROM drive motor converter current IM transmission.Also have, be connected with between above-mentioned battery 43 and the changer 28,29 and be used for level and smooth cond C.
Also have, above-mentioned controller of vehicle 51 is made up of the CPU that does not represent among the figure, recording device etc., and vehicle drive unit integral body is controlled.Be connected with engine control unit 46, generator control unit 47 and CD-ROM drive motor control setup 49 on the above-mentioned controller of vehicle 51.Above-mentioned engine control unit 46 is made up of the CPU that does not represent among the figure, recording device etc., for driving engine 11 is controlled, transmits indicator signals such as throttle, valve opening and close timing to driving engine 11 and controller of vehicle 51.Also have, above-mentioned generator control unit 47 is made up of the CPU that does not represent among the figure, recording device etc., for above-mentioned electrical generator 16 is controlled, transmits drive signal SG1 to changer 28.Also have, above-mentioned CD-ROM drive motor control setup 49 is made up of the CPU that does not represent among the figure, recording device etc., for above-mentioned CD-ROM drive motor 25 is controlled, transmits drive signal SG2 to changer 29.Also have, above-mentioned engine control unit 46, generator control unit 47, and CD-ROM drive motor control setup 49 constitute the 1st the next control setup that is positioned at controller of vehicle 51, above-mentioned controller of vehicle 51 constitutes and is positioned at above-mentioned engine control unit 46, generator control unit 47, and the 2nd upper control setup of CD-ROM drive motor control setup 49.Also have, above-mentioned controller of vehicle 51, engine control unit 46, generator control unit 47, and performances such as according to the rules program of CD-ROM drive motor control setup 49, data as the function of computing machine.
Above-mentioned changer 28 drives according to drive signal SG1, when traction, accept DC current from battery 43, produce each phase current IGU, IGV, IGW, this each phase current IGU, IGV, IGW supply to electrical generator 16, when regeneration, accept each phase current IGU, IGV, IGW from electrical generator 16, produce DC current, supply to battery 43.
Above-mentioned changer 29 drives according to drive signal SG2, when traction, accept DC current from battery 43, produce each phase current IMU, IMV, IMW, this each phase current IMU, IMV, IMW supply to CD-ROM drive motor 25, when regeneration, accept each phase current IMU, IMV, IMW from CD-ROM drive motor 25, produce DC current, supply to battery 43.
44 for detecting the state as above-mentioned battery 43, it is the battery remaining amount detecting device of the battery remaining amount SOC of battery status, 45 for operating or stop the magnetic clutch of use in refrigeration system motor 24,52 is the engine rotary speed sensor of detection of engine rotative speed NE, 53 is the gear position sensor as the gear SP of the gear shifting handle position of detecting selection speed mechanism, 54 is acceleration pedal, 55 are the accel switch of detection as the acceleration pedal operation detection part of the accelerator pedal position AP of the position (amount of depressing) of this acceleration pedal 54,61 is brake pedal, 62 are the brake switch of detection as the brake pedal operation detection part of the brake pedal position BP of the position (amount of depressing) of this brake pedal 61,63 is the engine temperature sensing unit of the temperature t mE of detection of engine 11,64 for detecting the temperature of electrical generator 16, the generator-temperature detection sensor of the temperature t mG of coil 23 (Fig. 2) for example, 65 for detecting the temperature of CD-ROM drive motor 25, the CD-ROM drive motor temperature sensor of the temperature t mM of coil 42 for example, 70 is the 1st changer temperature sensor that detects the temperature t mGI of changer 28, and 71 is the 2nd changer temperature sensor that detects the temperature t mMI of changer 29.
In addition, 66-69 is respectively the current sensor of the alternating current test section that detects each phase current IGU, IGV, IGW, 72 battery voltage sensors as the voltage detection department of battery 43 usefulness for the cell pressure VB that detects above-mentioned battery status.Above-mentioned cell pressure VB and battery remaining amount SOC are sent to generator control unit 47, CD-ROM drive motor control setup 49 and controller of vehicle 51.Also have,, also can detect as battery current, battery temperature etc. as battery status.Also have, the battery temperature sensor of not representing among the battery current sensor of not representing among battery remaining amount detecting device 44, battery voltage sensor 72, the figure, the figure etc. constitute the battery status test section.Also have, electric current I GU, IGV are sent to generator control unit 47 and controller of vehicle 51, and electric current I MU, IMV are sent to CD-ROM drive motor control setup 49 and controller of vehicle 51.
Above-mentioned controller of vehicle 51 transmits engine control signal to above-mentioned engine control unit 46, and the startup of setting driving engine 11 by engine control unit 46 stops.Also have, the speed of a motor vehicle computing mechanism that does not represent among the figure of above-mentioned controller of vehicle 51 carries out speed of a motor vehicle computing, read in the rate of change Δ θ M of rotor position M, according to this rate of change Δ θ M, and the gear of torque transmission system from above-mentioned output shaft 26 to drive wheel 37 than γ V, calculate vehicle velocity V.
Then, controller of vehicle 51 is set the engine target rotative speed NE of the expected value of expression engine rotary speed NE
*, expression generator torque TG the electrical generator target torque TG of expected value
*, expression motor torque TM the CD-ROM drive motor target torque TM of expected value
*, expression electrical generator rotative speed NG the electrical generator target rotational speed NG of expected value
*, expression CD-ROM drive motor 25 the CD-ROM drive motor target rotational speed NM of expected value of CD-ROM drive motor rotative speed NM of rotative speed
*Deng, with engine target rotative speed NE
*Be sent to engine control unit 46, electrical generator target rotational speed NG
*And electrical generator target torque TG
*Be sent to generator control unit 47, CD-ROM drive motor target torque TM
*And CD-ROM drive motor target rotational speed NM
*Be sent to CD-ROM drive motor control setup 49.
Also have, the air conditioner operational processes mechanism that does not represent among the figure of controller of vehicle 51 carries out the air conditioner operational processes, when the air conditioner operating conditions of regulation is set up, produce magnetic clutch in conjunction with requiring, make magnetic clutch 45 carry out combination, when the air conditioner operating conditions of regulation is no longer set up, produce the magnetic clutch release request, magnetic clutch 45 is discharged.
Also have, the 1st rotative speed computing mechanism that does not represent among the figure of above-mentioned generator control unit 47 carries out the 1st rotative speed computing, read in above-mentioned rotor position G, by this rotor position G is carried out differential, calculate rate of change Δ θ G, thereby calculate above-mentioned electrical generator rotative speed NG, the 1st angular acceleration calculating processing mechanism of not representing among the figure of generator control unit 47 simultaneously carries out the 1st angular acceleration and calculates processing, above-mentioned rate of change Δ θ G is carried out differential once more, calculate angular acceleration G.
Also have, the 2nd rotative speed computing mechanism that does not represent among the figure of above-mentioned CD-ROM drive motor control setup 49 carries out the 2nd rotative speed computing, read in above-mentioned rotor position M, by this rotor position M is carried out differential, calculate rate of change Δ θ M, thereby calculate CD-ROM drive motor rotative speed NM, the 2nd angular acceleration calculating processing mechanism of not representing among the figure of above-mentioned CD-ROM drive motor control setup 49 simultaneously carries out the 2nd angular acceleration and calculates processing, above-mentioned rate of change Δ θ M is carried out differential once more, calculate angular acceleration M.
Also have, because above-mentioned rotor position G and electrical generator rotative speed NG are mutually direct ratio, rotor position M, CD-ROM drive motor rotative speed NM and vehicle velocity V are mutually direct ratio, so also can be with rotor-position sensor 38 and above-mentioned the 1st rotative speed computing mechanism as the electrical generator rotative speed test section that detects electrical generator rotative speed NG, can be with rotor-position sensor 39 and above-mentioned the 2nd rotative speed computing mechanism as the CD-ROM drive motor rotative speed test section that detects CD-ROM drive motor rotative speed NM, can be with rotor-position sensor 39 and above-mentioned speed of a motor vehicle computing mechanism as the speed of a motor vehicle test section that detects vehicle velocity V.
The action of the electric vehicle drive control device of said structure then, is described.
Fig. 1 is the PI control and treatment portion of expression embodiments of the present invention and the block scheme of CD-ROM drive motor target torque computing portion.Fig. 7 is the 1st main flow chart of the action of the electric vehicle drive control device of expression embodiments of the present invention.Fig. 8 is the 2nd main flow chart of the action of the electric vehicle drive control device of expression embodiments of the present invention.Fig. 9 is the 3rd main flow chart of the action of the electric vehicle drive control device of expression embodiments of the present invention.Figure 10 represents that the 1st vehicle of embodiments of the present invention requires the torque mapping relations.Figure 11 represents that the 2nd vehicle of embodiments of the present invention requires the torque mapping relations.Figure 12 represents the engine target running state mapping relations of embodiments of the present invention.Figure 13 represents the engine drive zone mapping relations of embodiments of the present invention.Figure 14 represents the subprogram of the electrical generator rotative speed control and treatment of embodiments of the present invention.Figure 15 represents that the axle drive shaft torque of embodiments of the present invention infers the subprogram of processing.In addition, among Figure 10,11 and 13, transverse axis is a vehicle velocity V, and the longitudinal axis is vehicle requirement torque TO
*Among Figure 12, transverse axis is engine rotary speed NE, and the longitudinal axis is motor torque TE.
At first, the initialization process mechanism that does not represent among the figure of controller of vehicle 51 (Fig. 6) carries out initialization process, sets the initial value of various variablees.Then, the vehicle of not representing among the figure of controller of vehicle 51 requires torque to determine that processing mechanism carries out vehicle and requires torque to determine to handle, and reads in accelerator pedal position AP from accel switch 55, reads in brake pedal position BP from brake switch 62.Rotor position M is read in above-mentioned speed of a motor vehicle computing mechanism, calculates the rate of change Δ θ M of this rotor position M, calculates vehicle velocity V based on this rate of change Δ θ M and said gear than γ V.
Then, when above-mentioned vehicle requires torque to determine that processing mechanism is worked as bend the throttle 54, the 1st vehicle of reference record Figure 10 in the recording device of above-mentioned controller of vehicle 51 requires the torque mapping relations, when stepping on brake pedal 61, the 2nd vehicle of reference record Figure 11 in the recording device of above-mentioned controller of vehicle 51 requires the torque mapping relations, determines with accelerator pedal position AP, brake pedal position BP and that vehicle velocity V is corresponding and predefined, composite automotive travels is required, the vehicle requirement torque TO on the axle drive shaft 50 (Fig. 2)
*
Then, among the figure of controller of vehicle 51 not the vehicle of expression require torque determination processing mechanism to carry out vehicle and require the torque determination processing, based on 26 gear requires torque TO than γ V with vehicle from axle drive shaft 50 to output shaft
*Be scaled the torque on the output shaft 26, judge that output shaft requires torque TOUT
*Whether greater than the peaked CD-ROM drive motor maximum torque TMmax of expression motor torque TM.When above-mentioned output shaft requires torque TOUT
*During greater than CD-ROM drive motor maximum torque TMmax, above-mentioned controller of vehicle 51 judges whether driving engine 11 stops, if driving engine 11 stops, the brish acceleration control and treatment means of not representing among the figure of above-mentioned controller of vehicle 51 are carried out the brish acceleration control and treatment, CD-ROM drive motor 25 and electrical generator 16 are driven, composite automotive is travelled.
Also have, when output shaft requires torque TOUT
*During smaller or equal to CD-ROM drive motor maximum torque TMmax and output shaft require torque TOUT
*When not stopping greater than CD-ROM drive motor maximum torque Tmmax and driving engine 11, the navigating mate of not representing among the figure of above-mentioned controller of vehicle 51 requires output computing mechanism to carry out navigating mate and requires to export computing, by making above-mentioned vehicle requirement torque TO
*Multiply each other with vehicle velocity V, the navigating mate that calculates as the desired output of navigating mate requires output PD:
PD＝TO
*·V
Then, the battery charging and discharging of not representing among the figure of above-mentioned controller of vehicle 51 requires computing mechanism to carry out battery charging and discharging and requires computing, read in battery remaining amount SOC from above-mentioned battery remaining amount detecting device 44, discharge and recharge based on this residual volume SOC counting cell and require output PB.
Then, the vehicle of not representing among the figure of above-mentioned controller of vehicle 51 requires output computing mechanism to carry out vehicle and requires to export computing, by above-mentioned navigating mate being required output PD and battery charging and discharging require output PB addition, calculate vehicle and require output PO:
PO＝PD+PB
Then, the engine target running state of not representing among the figure of above-mentioned controller of vehicle 51 is set processing mechanism and is carried out engine target running state setting processing, the engine target running state mapping relations of reference record Figure 12 in the recording device of above-mentioned controller of vehicle 51, the above-mentioned vehicle of expression is required the line PO1 of output PO, PO2, ... the some A1-A3 that intersects with the most effective best fuel efficiency curve L of the driving engine 11 of each accelerator pedal position AP1-AP6, Am is defined as the operating point as the driving engine 11 of engine target running state, determines the motor torque TE1-TE3 of this operating point, TEm is the engine target torque TE of the expected value of expression motor torque TE
*, engine rotary speed NE1-NE3, the NEm that determines above-mentioned operating point is engine target rotative speed NE
*, with this engine target rotative speed NE
*Send engine control unit 46 to.
The driving determination processing mechanism that does not represent among the figure of above-mentioned controller of vehicle 51 drives determination processing, the engine drive zone mapping relations of reference record Figure 13 in the above-mentioned recording device of controller of vehicle 51 judge whether driving engine 11 places drive area AR1.In Figure 13, AR1 is for driving the drive area of driving engine 11, and AR2 is the stop area that stops to drive driving engine 11, and AR3 is a hysteresis region.Also have, LE1 is the driving engine 11 driven lines that are in halted state, and LE2 is in the line that the driving engine 11 of driving condition is stopped.In addition, right-hand mobile, the drive area AR1's above-mentioned line LE1 to Figure 13 narrows down thereupon along with the increase of battery remaining amount SOC, and the left along with the minimizing of battery remaining amount SOC to Figure 13 moves, drive area AR1 broadens thereupon.
Even driving engine 11 places drive area AR1, when not driving driving engine 11, the engine starting control and treatment mechanism that does not represent among the figure of controller of vehicle 51 carries out the engine starting control and treatment, transmits engine restart requests, start the engine 11 to engine control unit 46.Also have, even driving engine 11 does not place drive area AR1, when driving driving engine 11, among the figure of controller of vehicle 51 not the driving engine of expression stop control and treatment mechanism and carry out driving engine and stop control and treatment, transmit driving engine to engine control unit 46 and stop requirement, the driving of shutting engine down 11.If driving engine 11 does not place drive area AR1 and does not drive driving engine 11, the CD-ROM drive motor target torque computing portion 85 as CD-ROM drive motor target torque computing mechanism of above-mentioned controller of vehicle 51 carries out the computing of CD-ROM drive motor target torque, calculates and definite above-mentioned output shaft requirement torque TOUT
*Be CD-ROM drive motor target torque TM
*, with this CD-ROM drive motor target torque TM
*Send CD-ROM drive motor control setup 49 to.The CD-ROM drive motor control and treatment mechanism that does not represent among the figure of controller of vehicle 51 carries out the CD-ROM drive motor control and treatment, and the torque of CD-ROM drive motor 25 is controlled.
Also have, if driving engine 11 places drive area AR1 and driving driving engine 11, the engine control processing mechanism of not representing among the figure of controller of vehicle 51 carries out engine control to be handled, method control driving engine 11 according to the rules.
Then, the electrical generator target rotational speed computing mechanism that does not represent among the figure of controller of vehicle 51 carries out the computing of electrical generator target rotational speed, read in rotor position M, calculate gear ring rotative speed NR based on this rotor position M and the ratio of the gear from output shaft 26 (Fig. 2) to gear ring R, read in the engine target running state simultaneously and set the engine target rotative speed NE that determines when handling
*, based on gear ring rotative speed NR and engine target rotative speed NE
*, utilize above-mentioned rotative speed relational expression, calculating generator target rotational speed NG
*, determine.
But when the composite automotive that utilizes CD-ROM drive motor 25 and driving engine 11 to drive said structure travelled, if electrical generator rotative speed NG is low, then power consumption increased, and the generating efficiency of electrical generator 16 reduces, simultaneously the fuel efficiency phase strain differential of composite automotive.Here, electrical generator target rotational speed NG
*Absolute value when being lower than the threshold value Nth1 (for example, 500 (rpm)) of regulation, make generator brake B combination, mechanical generation outage machine 16 is optimized above-mentioned fuel efficiency.
Therefore, the generator brake determination processing mechanism that does not represent among the figure of above-mentioned controller of vehicle 51 carries out the generator brake determination processing, judges above-mentioned electrical generator target rotational speed NG
*Absolute value whether more than or equal to threshold value Nth1.As above-mentioned electrical generator target rotational speed NG
*Absolute value more than or equal to threshold value Nth1, above-mentioned generator brake determination processing mechanism judges whether generator brake B is release position.If this generator brake B is release position, the electrical generator rotative speed control and treatment mechanism that does not represent among the figure of above-mentioned controller of vehicle 51 carries out electrical generator rotative speed control and treatment, based on electrical generator target rotational speed NG
*And actual electrical generator rotative speed NG, calculating generator target torque TG
*, based on this electrical generator target torque TG
*, carry out the torque control of electrical generator 16.
Therefore, the PI control and treatment portion 81 as PI control and treatment mechanism of above-mentioned electrical generator rotative speed control and treatment mechanism has subtraction device 82 as velocity deviation computing mechanism, killer k1, as the arithmetic and logic unit m1 of integral composition computing mechanism, as the arithmetic and logic unit m2 of proportional composition computing mechanism and as the adder calculator 83 of electrical generator target torque computing mechanism, utilize controlled reset to carry out the PI control and treatment.
Above-mentioned subtraction device 82 carries out the velocity deviation computing, reads in above-mentioned electrical generator target rotational speed NG
*With electrical generator rotative speed NG, computation speed deviation δ NG:
δNG＝NG
*-NG
Then, this velocity deviation δ NG is sent to arithmetic and logic unit m1 after utilizing killer k1 to remove value above higher limit and lower limit.This arithmetic and logic unit m1 carries out the computing of integral composition, based on gain Ki, calculates the integral composition TGi that is directly proportional with the integrated value of above-mentioned velocity deviation δ NG
*:
TGi
*＝Ki·∑(δNG)
And be sent to adder calculator 83.
Also have, above-mentioned velocity deviation δ NG also is sent to arithmetic and logic unit m2, and this arithmetic and logic unit m2 carries out the proportional composition and calculates, and based on gain Kp, calculates the proportional composition TGp that is directly proportional with above-mentioned velocity deviation δ NG
*:
TGp
*＝Kp·δNG
, and be sent to adder calculator 83.
Then, this adder calculator 83 carries out the computing of electrical generator target torque, with integral composition TGi
*With proportional composition TGp
*Addition, calculating generator target torque TG
*:
TG
*＝TGi
*+TGp
*
Above-mentioned electrical generator target torque TG
*Be sent to the generator torque control and treatment mechanism of electrical generator rotative speed control and treatment mechanism, this generator torque control and treatment mechanism carries out the generator torque control and treatment, based on above-mentioned electrical generator target torque TG
*, generator torque TG is carried out controlled reset.In addition, in the present embodiment, when controlled reset, based on integral composition TGi
*Carry out integration control, based on proportional composition TGp
*Carry out proportional control, but can carry out integration control at least.
Also have, if above-mentioned generator brake B is not in release position, the generator brake of not representing among the figure of above-mentioned controller of vehicle 51 discharges control and treatment mechanism and carries out generator brake release control and treatment, produce the generator brake release request and transmit release generator brake B to generator control unit 47.
On the other hand, as electrical generator target rotational speed NG
*Absolute value during less than threshold value Nth1, above-mentioned generator brake determination processing mechanism judges whether generator brake B is bonding state.If generator brake B is not in bonding state, the generator brake of not representing among the figure of above-mentioned controller of vehicle 51 carries out generator brake in conjunction with control and treatment in conjunction with control and treatment mechanism, produce generator brake in conjunction with requiring and transmitting, make generator brake B combination to generator control unit 47.
But in the composite automotive of said structure, motor torque TE becomes gear ring torque TR and appears on the gear ring R, and is transferred to drive wheel 37, utilizes motor torque TM, and compensation gear ring torque TR requires torque TO with respect to vehicle
*The deficiency that occurs.
The above-mentioned CD-ROM drive motor target torque computing portion 85 of controller of vehicle 51 carries out the computing of CD-ROM drive motor target torque, reads in vehicle requirement torque TO
*, calculate gear ring torque TR simultaneously, this gear ring torque TR is scaled value on the output shaft 26, infer axle drive shaft torque TR/OUT, will represent that above-mentioned output shaft requires torque TOUT
*With the torque differences δ TOUT of the difference of axle drive shaft torque TR/OUT as CD-ROM drive motor target torque TM
*
Like this, above-mentioned CD-ROM drive motor target torque computing portion 85 has as the arithmetic and logic unit m3 of output shaft requirement torque calculation processing mechanism, processing mechanism is inferred in torque as axle drive shaft axle drive shaft torque and infers handling part 86 and as the subtraction device 87 of torque differences computing mechanism.
At this moment, along with the driving of electrical generator 16, the inertia InG of electrical generator 16 makes a difference to gear ring torque TR.When inferring axle drive shaft torque TR/OUT, carry out the inertia correction, by from electrical generator target torque TG
*Deduct inertia torque TGI, calculate sun wheel torque TS,, infer axle drive shaft torque TR/OUT based on this sun wheel torque TS as the torque composition of equal value of inertia InG part.
Yet, as mentioned above,, need angular acceleration G in order to calculate inertia InG.And in order to calculate angular acceleration G, need carry out 2 subdifferentials to rotor position G, if because the characteristic of rotor-position sensor 38 makes rotor position G produce cyclical swing, the angular acceleration G that calculates can produce vibration, inertia torque TGI produces error, so sun wheel torque TS can produce error.
At this moment, also produce error, CD-ROM drive motor target torque TM among the axle drive shaft torque TR/OUT based on sun wheel torque TS calculating
*Also error can appear, so can not composite automotive be travelled.
Yet, though pass through with integral composition TGi
*With proportional composition TGp
*Above-mentioned electrical generator target torque TG is calculated in addition
*, but when inferring axle drive shaft torque TR/OUT, with above-mentioned integral composition TGi
*As electrical generator target torque TG
*, simultaneously based on integral composition TGi
*, do not need to carry out the inertia correction and just can infer axle drive shaft torque TR/OUT.
Yet, based on integral composition TGi
*When inferring axle drive shaft torque TR/OUT, if electrical generator 16 places the change hour of stabilized conditions, electrical generator rotative speed NG, can improve the precision of inferring axle drive shaft torque TR/OUT, if but make for a certain reason when electrical generator 16 places the change of transition condition, electrical generator rotative speed NG big, because electrical generator target torque TG
*In proportional composition TGp
*Shared ratio increases, therefore can not be along with axle drive shaft torque TR/OUT is inferred in the variation of electrical generator rotative speed NG, thus can not produce suitable CD-ROM drive motor target torque TM
*
Therefore, based on electrical generator target torque TG
*Carry out the inertia correction with inertia torque TGI and then infer that the 1st of axle drive shaft torque TR/OUT infers pattern and based on integral composition TGi
*Infer the 2nd of axle drive shaft torque TR/OUT infer pattern between carry out mode switch, when the change of electrical generator rotative speed NG hour, utilize the 2nd pattern to infer axle drive shaft torque TR/OUT.When the change of electrical generator rotative speed NG is big, utilize the 1st pattern to infer axle drive shaft torque TR/OUT.
Therefore, the mode switch condition criterion processing mechanism of not representing among the figure of above-mentioned controller of vehicle 51 of inferring is inferred the processing of mode switch condition criterion, judge that the 1st, the 2nd infers the mode switch condition and whether set up, if the 1st infers the mode switch condition and set up switch flag Fg conducting.Set up if the 2nd infers the mode switch condition, switch flag Fg disconnects.
At this moment, if electrical generator 16 is in an interim state, the thing of cataclysmal reason takes place, for example requires portions of various mechanism such as driving engine 11, air conditioner, generator brake B to move or when stopping as electrical generator rotative speed NG in appearance, infers mode switch condition criterion processing mechanism and judges that then the 1st infers the mode switch condition and set up.
Promptly, when will whether produce be used for start the engine 11 engine restart request as the 1st decision condition, the generation driving engine that is used for shutting engine down 11 stops requirement as the 2nd decision condition, whether generation is used to make the magnetic clutch of air conditioner action in conjunction with requiring as the 3rd decision condition, whether produce the magnetic clutch release request as the 4th decision condition, whether produce generator clutch in conjunction with requiring as the 5th decision condition, when whether producing the generator clutch release request as the 6th decision condition, if have an establishment in 1-the 6th decision condition at least, infer mode switch condition criterion processing mechanism and judge that then the 1st infers the establishment of mode switch condition, switch flag Fg conducting.
For the change of judging above-mentioned electrical generator rotative speed NG whether stable, when above-mentioned the 1st decision condition is set up, engine target torque TE whether
*, engine target rotative speed NE
*Or electrical generator target rotational speed NG
*Rate of change diminish, engine target torque TE
*, engine target rotative speed NE
*Or electrical generator target rotational speed NG
*Become stable, when above-mentioned the 2nd decision condition is set up, engine target torque TE whether as the 7th decision condition
*Substantially become zero as the 8th decision condition, when above-mentioned the 3rd, the 4th decision condition is set up, engine target rotative speed NE whether
*Become stable, when above-mentioned the 5th decision condition is set up, whether generator brake B finishes to finish to merge and passed through setting-up time or engine target torque TE whether as the 9th, the 10th decision condition
*Become stable, when above-mentioned the 6th decision condition is set up, whether generator brake B has finished and discharged and passed through setting-up time or engine target torque TE whether as the 11st decision condition
*Become stable as the 12nd decision condition, if having an establishment in 7-the 12nd decision condition at least, infer mode switch condition criterion processing mechanism and judge that then the 2nd infers the establishment of mode switch condition, switch flag Fg disconnects.
The conducting disconnection of handling part 86 based on above-mentioned switch flag Fg inferred in above-mentioned axle drive shaft torque, switches the 1st, the 2nd and infers pattern, infers axle drive shaft torque TR/OUT.
Like this, above-mentioned axle drive shaft torque is inferred handling part 86 and is had as the 1st, the 2nd and infer the portion of inferring 89,91 of processing mechanism and the finder 92 of selecting processing mechanism as presumed value.Above-mentioned infer portion 89 have arithmetic and logic unit m5 as inertia torque computing mechanism, as the subtraction device 93 of sun wheel torque calculation processing mechanism with as the arithmetic and logic unit m6 of the 1st presumed value computing mechanism.The above-mentioned portion 91 of inferring has arithmetic and logic unit m7 as the 2nd presumed value computing mechanism.
In the above-mentioned portion 89 of inferring, read in above-mentioned electrical generator target torque TG
*With angular acceleration G, with above-mentioned electrical generator target torque TG
*Approximate as generator torque TG, based on above-mentioned torque relational expression, above-mentioned generator torque TG is scaled value on the gear ring R, calculate gear ring torque TR.
That is, when the inertia of electrical generator 16 was InG, above-mentioned arithmetic and logic unit m5 carried out the inertia torque computing, calculated the inertia torque TGI as the torque composition of equal value of above-mentioned inertia InG part:
TGI＝InG·αG
And be sent to subtraction device 93.This subtraction device 93 carries out the sun wheel torque calculation to be handled, and shown in formula (3), deducts above-mentioned inertia torque TGI from generator torque TG, calculates as the sun wheel torque TS that is applied to the torque on the sun wheel S:
TS＝TG
*-TGI
＝TG
*-InG·αG ......(3)
Then, arithmetic and logic unit m6 carries out the 1st presumed value computing, based on above-mentioned torque relational expression, calculates gear ring torque TR:
TR＝ρ·TS
＝ρ·(TG
*-TGI)
＝ρ·(TG
*-InG·αG) ......(4)
Then, above-mentioned arithmetic and logic unit m6 is based on 26 the gear ratio from output shaft 14 to output shaft, and gear ring torque TR is converted into torque on the output shaft 26, calculates the inertia correction presumed value TR1 as the 1st presumed value.
In addition, if engine rotary speed NE is certain, above-mentioned inertia torque TGI gets negative value to acceleration direction usually when composite automotive quickens, and when composite automotive slows down to acceleration direction get on the occasion of.
Also have, above-mentioned inferring in the portion 91, arithmetic and logic unit m7 carries out the 2nd presumed value computing, reads in above-mentioned integral composition TGi
*, based on above-mentioned torque relational expression, with integral composition TGi
*Be converted into the value on the gear ring R, calculate gear ring torque TR:
TR＝ρ·TGi
* ......(5)
Then, above-mentioned arithmetic and logic unit m7 is based on 26 the gear ratio from output shaft 14 to output shaft, and gear ring torque TR is converted into torque on the output shaft 26, calculates the integral correction presumed value TR2 as the 2nd presumed value.
Above-mentioned finder 92 has switch flag determination processing mechanism and the presumed value hand-off process mechanism that does not represent among the figure, above-mentioned switch flag determination processing mechanism carries out the switch flag determination processing, read in switch flag Fg, judge whether switch flag Fg is disconnection, if switch flag Fg judges whether it is to become disconnection (conducting/disconnection) from conducting again for disconnecting.
Above-mentioned presumed value hand-off process mechanism carries out the presumed value hand-off process, when switch flag Fg still when disconnecting, above-mentioned integral correction presumed value TR2 is estimated as axle drive shaft torque TR/OUT, and is sent to subtraction device 87.
Also have, if switch flag Fg becomes when disconnecting from conducting, presumed value hand-off process mechanism is between the smoothing processing time T g (for example, 500 (ms)) that sets, and the pattern of will inferring switches to the 2nd gradually from the 1st pattern of inferring and infers pattern.Therefore, the level and smooth determination processing mechanism of above-mentioned presumed value hand-off process mechanism carries out level and smooth determination processing, in the moment of regulation, utilization is built in the time meter of not representing among the figure of level and smooth judgement usefulness of controller of vehicle 51 and picks up counting, whether the elapsed time τ that judgement began from the above-mentioned moment is less than smoothing processing time T g, if elapsed time τ is less than smoothing processing time T g, the Sw of smoothing processing portion as smoothing processing mechanism of above-mentioned presumed value hand-off process mechanism carries out smoothing processing, read in above-mentioned inertia correction presumed value TR1 and integral correction presumed value TR2, utilize the unit time amount of switched of regulation, change inertia correction presumed value TR1 and integral correction presumed value TR2, switch to the 2nd gradually from the 1st pattern of inferring and infer pattern, calculate to switch and revise presumed value TR1/2:
TR1/2＝TR1·(Tg-τ)/Tg+TR2·τ/Tg
Should switch correction presumed value TR1/2 and be estimated as axle drive shaft torque TR/OUT, and be sent to subtraction device 87.
When above-mentioned elapsed time τ equals smoothing processing time T g, switch correction presumed value TR1/2 and equate that with integral correction presumed value TR2 TR2 is estimated as axle drive shaft torque TR/OUT with this integral correction presumed value, and is sent to subtraction device 87.
On the other hand, if switch flag Fg is conducting, above-mentioned switch flag determination processing mechanism judges whether switch flag Fg is to become conducting (disconnection/conducting) from disconnection.
Above-mentioned presumed value hand-off process mechanism carries out the presumed value hand-off process, as switch flag Fg during still for conducting, above-mentioned inertia correction presumed value TR1 is estimated as axle drive shaft torque TR/OUT, and is sent to subtraction device 87.
Also have, if switch flag Fg is for to become conducting from disconnection, presumed value hand-off process mechanism is between the smoothing processing time T g (for example, 500 (ms)) that sets, and the pattern of will inferring switches to the 1st gradually from the 2nd pattern of inferring and infers pattern.Therefore, above-mentioned level and smooth determination processing mechanism is in the moment of regulation, utilize above-mentioned time meter to pick up counting, whether the elapsed time τ that judgement began from the above-mentioned moment is less than smoothing processing time T g, if elapsed time τ is less than smoothing processing time T g, the above-mentioned smoothing processing Sw of portion reads in above-mentioned inertia correction presumed value TR1 and integral correction presumed value TR2, utilizes the unit time amount of switched of regulation, switch to the 1st gradually from the 2nd pattern of inferring and infer pattern, calculate to switch and revise presumed value TR1/2:
TR2/1＝TR2·(Tg-τ)/Tg+TR1·τ/Tg
Should switch correction presumed value TR2/1 and be estimated as axle drive shaft torque TR/OUT, and be sent to subtraction device 87.
When above-mentioned elapsed time τ equals smoothing processing time T g, switch correction presumed value TR2/1 and equate that with inertia correction presumed value TR1 TR1 is estimated as axle drive shaft torque TR/OUT with this inertia correction presumed value, and is sent to subtraction device 87.
In the present embodiment, during smoothing processing time T g, switch the 1st, the 2nd and infer pattern, but also can to infer the smoothing processing time set of pattern be different value with inferring mode switch to the 1 from the 2nd with inferring smoothing processing time that mode switch to the 2 infers pattern from the 1st.
Like this, infer after handling part 86 infers axle drive shaft torque TR/OUT and be sent to subtraction device 87 in the axle drive shaft torque, as mentioned above, subtraction device 87 calculating torque difference δ TOUT are defined as CD-ROM drive motor target torque TM with this torque differences δ TOUT
*
Then, above-mentioned controller of vehicle 51 is with determined CD-ROM drive motor target torque TM
*Be sent to CD-ROM drive motor control setup 49.
Above-mentioned CD-ROM drive motor control and treatment mechanism carries out the CD-ROM drive motor control and treatment, based on above-mentioned CD-ROM drive motor target torque TM
*, the torque of CD-ROM drive motor 25 is controlled, thus controlling and driving motor torque TM.
In addition and since generator brake B in conjunction with the time, electrical generator target torque TG
*Be zero, gear ring torque TR is directly proportional with motor torque TE.At this moment, when generator brake B in conjunction with the time, motor torque TE is read in above-mentioned CD-ROM drive motor target torque computing portion 85, utilize above-mentioned torque relational expression, based on motor torque TE, calculate gear ring torque TR, based on 26 gear ratio from output shaft 14 to output shaft, this gear ring torque TR is scaled torque on the output shaft 26, and infers above-mentioned axle drive shaft torque TR/OUT.
Like this, in the present embodiment, when being in stabilized conditions, based on electrical generator target torque TG owing to electrical generator 16
*Integral composition TGi
*Axle drive shaft torque TR/OUT infers and drives all torque TR/OUT, so even occur cyclical swing owing to the characteristic of rotor-position sensor 38 at rotor position G, error can not occur yet.Therefore, can make CD-ROM drive motor target torque TM
*Error can not occur, and composite automotive is stably travelled.
Also have, because electrical generator 16 is when in an interim state, for electrical generator target torque TG
*Carry out the inertia correction, infer axle drive shaft torque TR/OUT, therefore even the change of electrical generator rotative speed NG is big, also can be along with axle drive shaft torque TR/OUT is inferred in the variation of electrical generator rotative speed NG, thus can produce suitable CD-ROM drive motor target torque TM
*
Also have, owing to when occurring as the thing of the reason of electrical generator rotative speed NG change, for example requiring portions of various mechanism such as driving engine 11, air conditioner, generator brake B to move or when stopping, judge that the 1st infers the establishment of mode switch condition, therefore can before the actual change of electrical generator rotative speed NG, switch to the 2nd and switch the pattern of inferring.So, can produce more suitable CD-ROM drive motor target torque TM
*
In addition, because when pattern is inferred in switching the 1st, the 2nd, switch correction presumed value TR1/2, TR2/1 and between above-mentioned inertia correction presumed value TR1 and integral correction presumed value TR2, change continuously, therefore can prevent the axle drive shaft torque TR/OUT steep variation of being inferred with above-mentioned unit time amount of switched.So, owing to can prevent axle drive shaft torque TR/OUT steep variation, thus can prevent along with switching is inferred pattern and impact occurred.
As the thing of the reason of electrical generator rotative speed NG change, can be at engine target rotative speed NE
*Rate of change δ NE
*Surpass threshold value δ NE
*During th, at engine target torque TE
*Rate of change δ TE
*Surpass threshold value δ TE
*During th, judge that the 1st infers the establishment of mode switch condition, or at electrical generator target rotational speed NG
*Rate of change δ NG
*Surpass threshold value δ NG
*During th, at electrical generator target torque TG
*Rate of change δ TG
*Surpass threshold value δ TG
*During th, judge that the 1st infers the establishment of mode switch condition.Also have, in these cases, infer the mode switch condition and whether set up in order to judge the 2nd, can be at rate of change δ NE
*, δ TE
*, δ NG
*, δ TG
*Set other threshold values.
Then, with reference to Fig. 7-9 description of flow diagram.
Step S1 carries out initialization process.
Step S2 reads in accelerator pedal position AP and brake pedal position BP.
Step S3 calculates vehicle velocity V.
Step S4 determines vehicle requirement torque TO
*
Step S5 judges that output shaft requires torque TOUT
*Whether greater than CD-ROM drive motor maximum torque TMmax.When output shaft requires torque TOUT
*During greater than CD-ROM drive motor maximum torque TMmax, enter step S6.When output shaft requires torque TOUT
*During smaller or equal to CD-ROM drive motor maximum torque TMmax, enter step S8.
Step S6 judges whether driving engine 11 stops.If driving engine 11 stops, entering step S7.If do not stop, entering step S8.
Step S7 carries out brish acceleration control and treatment, end process.
Step S8 calculates navigating mate and requires output PD.
Step S9 counting cell discharges and recharges and requires output PB.
Step S10 calculates vehicle and requires output PO.
Step S11 determines the operating point of driving engine 11.
Step S12 judges whether driving engine 11 is positioned at drive area AR1.When driving engine 11 is positioned at drive area AR1, enter step S13.When not being positioned at drive area AR1, enter step S14.
Step S13 judges whether driving engine 11 is driven.When driving engine 11 is driven, enter step S17.When not being driven, enter step S15.
Step S14 judges whether driving engine 11 is driven.When driving engine 11 is driven, enter step S16.When not being driven, enter step S27.
Step S15 carries out the engine starting control and treatment.
Step S16 carries out driving engine and stops control and treatment.
Step S17 carries out engine control to be handled.
Step S18 determines electrical generator target rotational speed NG
*
Step S19 judges electrical generator target rotational speed NG
*Absolute value whether more than or equal to threshold value Nth1.When judging electrical generator target rotational speed NG
*Absolute value more than or equal to threshold value Nth1, enter step S20.When judging electrical generator target rotational speed NG
*Absolute value less than threshold value Nth1, enter step S21.
Step S20 judges whether generator brake B is in release position.If generator brake B is in release position, enter step S23.If be not in release position, enter step S24.
Step S21 judges whether generator brake B is in bonding state.If generator brake B is in bonding state, end process.If be not in bonding state, enter step S22.
Step S22 carries out generator brake in conjunction with control and treatment.
Step S23 carries out electrical generator rotative speed control and treatment.
Step S24 carries out generator brake and discharges control and treatment.
Step S25 infers the mode switch condition criterion and handles.
Step S26 carries out the axle drive shaft torque and infers processing.
Step S27 determines CD-ROM drive motor target torque TM
*
Step S28 carries out CD-ROM drive motor control and treatment, end process.
The flow process of Figure 14 then, is described.
Step S23-1 reads in electrical generator target rotational speed NG
*
Step S23-2 reads in electrical generator rotative speed NG.
Step S23-3 calculating generator target torque TG
*
Step S23-4 carries out the generator torque control and treatment, returns.
The flow process of Figure 15 then, is described.
Step S26-1 reads in electrical generator target torque TG
*And angular acceleration G.
Step S26-2 calculates inertia correction presumed value TR1.
Step S26-3 reads in integral composition TGi
*
Step S26-4 calculated product subitem is revised presumed value TR2.
Step S26-5 reads in switch flag Fg.
Step S26-6 judges whether switch flag Fg is disconnection.If switch flag Fg then enters step S26-7 for disconnecting.If switch flag Fg for disconnecting, does not then enter step S26-10.
Step S26-7 judges whether to become disconnection from conducting.If become disconnection, then enter step S26-8 from conducting.If do not become disconnection, then enter step S26-9 from conducting.
Step S26-8 carries out smoothing processing.
Step S26-9 is estimated as axle drive shaft torque TR/OUT with integral correction presumed value TR2, returns.
Step S26-10 judges whether to become conducting from disconnection.If become conducting, then enter step S26-11 from disconnection.If do not become conducting, then enter step S26-12 from disconnection.
Step S26-11 carries out smoothing processing.
Step S26-12 is estimated as axle drive shaft torque TR/OUT with inertia correction presumed value TR1, returns.
Then, illustrate when composite automotive from travel with certain vehicle velocity V, vehicle requirement torque TO
*And motor torque TE is that certain state begins, by navigating mate bend the throttle 54, improve engine rotary speed NE, then release the gas pedal 54, the action of electric vehicle drive control device when reducing engine rotary speed NE.
Figure 16 is the speed line chart of the state of the composite automotive of expression embodiments of the present invention.Figure 17 is the time plot of the action of the electric vehicle drive control device of expression embodiments of the present invention.
Among the figure, a-e represents the state of composite automotive.At moment t0, composite automotive is in state a, and vehicle requires torque TO
*For necessarily, driving engine 11 (Fig. 6) is activated with certain engine rotary speed NE, and electrical generator 16 is activated with certain electrical generator rotative speed NG.At this moment, switch flag Fg selects the 2nd to infer pattern for disconnecting, and integral correction presumed value TR2 is estimated to be axle drive shaft torque TR/OUT.In addition, electrical generator target torque TG
*With CD-ROM drive motor target torque TM
*Initial value for regulation.The driving torque TO that outputs to drive wheel 37 is a certain value.
Then, at moment t1, when generation for example made the magnetic clutch combination of air conditioner action require, composite automotive was in state b, engine target rotative speed NE
*Raise, meanwhile, electrical generator target rotational speed NG
*Raise, engine rotary speed NE and electrical generator rotative speed NG raise gradually.At this moment, the angular acceleration G of electrical generator 16 be certain on the occasion of.Also have, at above-mentioned moment t1, switch flag Fg becomes conducting from disconnection, and the beginning smoothing processing through smoothing processing time T g, finishes before the smoothing processing, and the pattern of inferring is inferred mode switch to the 1 from the 2nd and inferred pattern.At moment t2, after the end smoothing processing, select inertia correction presumed value TR1, and be estimated as axle drive shaft torque TR/OUT.
Then, at moment t3, engine rotary speed NE and engine target rotative speed NE
*Equate electrical generator rotative speed NG and electrical generator target rotational speed NG
*Equate, after composite automotive is in state c, engine rotary speed NE raises gradually and goes beyond the scope by the inertia of driving engine 11, electrical generator rotative speed NG raises gradually and goes beyond the scope by the inertia InG of electrical generator 16, at moment t4, engine rotary speed NE and electrical generator rotative speed NG arrive maxim, then reduce gradually, at moment t6, engine rotary speed NE and engine target rotative speed NE
*Equate electrical generator rotative speed NG and electrical generator target rotational speed NG
*Equate.
Also have, the angular acceleration G of electrical generator 16 reduces gradually from moment t3, after moment t4 vanishing, increases gradually towards negative direction, and the maxim in moment t5 arrival negative direction then, reduces gradually in negative direction, is zero once more at moment t6.
Also have, for example become stable at above-mentioned moment t5 engine rotary speed NE, switch flag Fg becomes disconnection from conducting, the beginning smoothing processing, through smoothing processing time T g, finish before the smoothing processing, the pattern of inferring is inferred mode switch to the 2 from the 1st and is inferred pattern.At moment t6, after the end smoothing processing, select integral correction presumed value TR2, be estimated as axle drive shaft torque TR/OUT.Then, select the 2nd to infer pattern.
Then, for example at moment t7, produce the magnetic clutch release request, composite automotive is in state d, engine target rotative speed NE
*Reduce, meanwhile, electrical generator target rotational speed NG
*Reduce, engine rotary speed NE and electrical generator rotative speed NG reduce gradually.At this moment, the angular acceleration G of electrical generator 16 is certain negative value.Also have, at above-mentioned moment t7, switch flag Fg becomes disconnection from conducting, and the beginning smoothing processing through smoothing processing time T g, finishes before the smoothing processing, and the pattern of inferring is inferred mode switch to the 1 from the 2nd and inferred pattern.At moment t8, after the end smoothing processing, select inertia correction presumed value TR1, be estimated as axle drive shaft torque TR/OUT.
Then, at moment t9, engine rotary speed NE and engine target rotative speed NE
*Equate electrical generator rotative speed NG and electrical generator target rotational speed NG
*Equate, after composite automotive is in state e, engine rotary speed NE reduces gradually by the inertia of driving engine 11 and goes beyond the scope, electrical generator rotative speed NG reduces gradually by the inertia InG of electrical generator 16 and goes beyond the scope, at moment t10, engine rotary speed NE and electrical generator rotative speed NG arrive minimum value, then raise gradually, at moment t11, engine rotary speed NE and engine target rotative speed NE
*Equate electrical generator rotative speed NG and electrical generator target rotational speed NG
*Equate.
Also have, the angular acceleration G of electrical generator 16 reduces in negative direction gradually from moment t9, and after moment t10 vanishing, continuing increases, and arrives maxim at moment t11, then reduce gradually, and be zero once more at moment t12.
Also have, for example become stable at above-mentioned moment t11 engine rotary speed NE, switch flag Fg becomes disconnection from conducting, the beginning smoothing processing, through smoothing processing time T g, finish before the smoothing processing, the pattern of inferring is inferred mode switch to the 2 from the 1st and is inferred pattern.At moment t12, after the end smoothing processing, select integral correction presumed value TR2 to be estimated as axle drive shaft torque TR/OUT.Then, select the 2nd to infer pattern.
Yet, at moment t1 electrical generator target rotational speed NG
*After the increase, at moment t1-t3, integral composition TGi
*Increase gradually and reach maxim, proportional composition TGp from specified value
*Reduce gradually and reach zero from maxim, therefore at moment t1-t3, electrical generator target torque TG
*Substantially keep certain.At moment t3-t6 integral composition TGi
*Reduce gradually and reach specified value from maxim.Proportional composition TGp
*Increase gradually and reach maxim in negative direction at moment t3-t4, reduce gradually and reach zero in negative direction at moment t4-t6.Therefore, electrical generator target torque TG
*Reduce gradually and reach specified value at moment t3-t4, increase gradually and reach maxim in negative direction, reduce gradually and reach specified value in negative direction at moment t5-t6 at moment t4-t5.
Also have, at moment t7-t9, integral composition TGi
*Increase gradually and reach maxim, proportional composition TGp in negative direction from specified value
*Reduce gradually and reach specified value in negative direction from above-mentioned maxim, therefore at moment t7-t9, electrical generator target torque TG
*Substantially keep certain.At moment t9-t12 integral composition TGi
*Reduce gradually and reach specified value from maxim in negative direction.Proportional composition TGp
*Increase gradually and reach maxim at moment t9-t10, reduce gradually and reach zero at moment t10-t12.Therefore, electrical generator target torque TG
*Increase gradually and reach maxim at moment t9-t11, reduce gradually and reach specified value at moment t11-t12.
Also have,, calculate inertia torque TGI (among Figure 17,, adopting negative value-TGI to represent), from above-mentioned electrical generator target torque TG owing to utilize subtraction device 93 to carry out subtraction based on above-mentioned angular acceleration G
*Deduct inertia torque TGI, calculate sun wheel torque TS,, calculate inertia correction presumed value TR1 (among Figure 17,, adopting negative value-TR1 to represent) owing to utilize subtraction device 87 to carry out subtraction based on this sun wheel torque TS.
On the other hand, based on above-mentioned integral composition TGi
*, the calculated product subitem is revised presumed value TR2
(among Figure 17,, adopting negative value-TR2 to represent) owing to utilize subtraction device 87 to carry out subtraction.
Yet as mentioned above, because vibration appears in above-mentioned angular acceleration G, when the sun wheel torque of reality was TSr, the sun wheel torque TS of calculating as shown in figure 17 can cyclical movement, goes out the deviation of present worth Δ TS, thereby produce error.Its result, when producing inertia correction presumed value TR1, inertia correction presumed value TR1 also error can occur.
Here, after moment t0-t1, t6-t7 and t12, integral correction presumed value TR2 is estimated as axle drive shaft torque TR/OUT (among Figure 17, owing to utilize subtraction device 87 to carry out subtraction, so adopt negative value-TR/OUT to represent), at moment t2-t5, t8-t11, TR1 is estimated as axle drive shaft torque TR/OUT with inertia correction presumed value.Also have, carry out smoothing processing at moment t1-t2, t5-t6, t7-t8, t11-t12.
Also have, the present invention is not limited to above-mentioned embodiment, can be out of shape on the basis of principle of the present invention, and these distortion still belong to scope of the present invention.
Claims (8)
1. an electric vehicle drive control device is characterized in that: have
Electrical generator target torque computing mechanism, it utilizes the controlled reset that carries out integration control at least to calculate the electrical generator target torque of the expected value of expression generator torque;
The 1st infers processing mechanism, and it calculates inertia correction presumed value based on the inertia torque of above-mentioned electrical generator target torque and electrical generator;
The 2nd infers processing mechanism, and its integral composition calculated product subitem based on the electrical generator target torque that utilizes above-mentioned integration control is revised presumed value;
Infer mode switch condition criterion processing mechanism, it judges inferring the mode switch condition and whether setting up of regulation;
CD-ROM drive motor target torque computing mechanism, it is when the above-mentioned mode switch condition of inferring when setting up, infer pattern and calculate the 2nd of CD-ROM drive motor target torque based on integral correction presumed value and infer between the pattern and switch at the 1st of the CD-ROM drive motor target torque of the expected value of calculating the expression motor torque based on inertia correction presumed value
Wherein, above-mentioned electrical generator target torque is calculated in proportional composition that is directly proportional with velocity deviation to the major general and the integral composition addition that is directly proportional with the integrated value of above-mentioned velocity deviation.
2. electric vehicle drive control device according to claim 1 is characterized in that:
Above-mentioned CD-ROM drive motor target torque computing mechanism has the smoothing processing mechanism that carries out smoothing processing based on above-mentioned inertia correction presumed value and integral correction presumed value.
3. electric vehicle drive control device according to claim 2 is characterized in that:
Above-mentioned smoothing processing mechanism switches to the above-mentioned pattern of inferring gradually the above-mentioned the 1st and infers pattern and the above-mentioned the 2nd and infer pattern during the smoothing processing time of setting.
4. electric vehicle drive control device according to claim 1 is characterized in that:
Whether the above-mentioned mode switch condition criterion processing mechanism of inferring is in the big transition condition of change of comparing rotative speed with the equable stabilized conditions of rotative speed according to electrical generator, judges whether the above-mentioned mode switch condition of inferring is set up.
5. electric vehicle drive control device according to claim 1 is characterized in that:
Above-mentioned CD-ROM drive motor target torque computing mechanism, when electrical generator is in the big transition condition of the change of comparing rotative speed with the equable stabilized conditions of rotative speed, calculate the CD-ROM drive motor target torque based on above-mentioned inertia correction presumed value, when electrical generator does not have when in an interim state, calculate the CD-ROM drive motor target torque based on above-mentioned integral correction presumed value.
6. electric vehicle drive control device according to claim 1 is characterized in that:
The above-mentioned the 1st infers processing mechanism deducts the inertia torque that the inertia of electrical generator causes from the electrical generator target torque, calculate inertia correction presumed value.
7. electric vehicle drive control device according to claim 1 is characterized in that:
Has the differential slewing arrangement, and the output and the electrical generator target torque that require based on navigating mate, calculate above-mentioned CD-ROM drive motor target torque, wherein above-mentioned differential slewing arrangement has 1-the 3rd differential element, and the 1st differential element is connected with engine mechanical with CD-ROM drive motor mechanical connection, the 3rd differential element with electrical generator mechanical connection, the 2nd differential element.
8. elec. vehicle drive controlling method is characterized in that:
Utilize the controlled reset that carries out integration control at least to calculate the electrical generator target torque of the expected value of expression generator torque, inertia torque based on this electrical generator target torque and electrical generator, calculate inertia correction presumed value, integral composition calculated product subitem based on the electrical generator target torque that utilizes above-mentioned integration control is revised presumed value, judge inferring the mode switch condition and whether setting up of regulation, when the above-mentioned mode switch condition of inferring when setting up, infer pattern at the 1st of the CD-ROM drive motor target torque that calculates the expected value of representing motor torque based on inertia correction presumed value, and calculate the 2nd of CD-ROM drive motor target torque based on integral correction presumed value and infer between the pattern and switch
Wherein, above-mentioned electrical generator target torque is calculated in proportional composition that is directly proportional with velocity deviation to the major general and the integral composition addition that is directly proportional with the integrated value of above-mentioned velocity deviation.
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| CNB2005100999242A CN100540354C (en) | 2005-09-09 | 2005-09-09 | Electric vehicle drive control device and electric vehicle drive control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102336191A (en) * | 2011-07-05 | 2012-02-01 | 昆山力久新能源汽车技术有限公司 | Model-based anti-shake control method for motor-driven vehicle |
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| CN111483327B (en) * | 2019-07-16 | 2021-11-02 | 长城汽车股份有限公司 | Motor control method, device, equipment and computer readable storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102336191A (en) * | 2011-07-05 | 2012-02-01 | 昆山力久新能源汽车技术有限公司 | Model-based anti-shake control method for motor-driven vehicle |
| CN102336191B (en) * | 2011-07-05 | 2014-04-09 | 昆山力久新能源汽车技术有限公司 | Model-based anti-shake control method for motor-driven vehicle |
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