JP2008154339A - Travel resistance control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To control travel resistance, even if the speed is zero, and to faithfully imitate an operation which allows a vehicle to start naturally to move even up a sloping road. <P>SOLUTION: A reference position memory unit 10 stores a position where the speed becomes zero. A torque calculating part 11 calculates the torque of a motor 1, form the difference between a reference position and the present position. An upper/lower-limit value calculator 12 calculates upper and lower-limit values from a travel resistance value and gradient amount torque. A controller 13 controls the torque of the motor 1 at the upper- and the lower-limit values. A selector 14 selects the lower-limit value, when the positional difference is not smaller than a threshold (+), selects the upper-limit value, when the positional difference is not larger than the threshold (-), and selects a medium value, when the positional difference is other than the threshold. Until the torque from the outside exceeds the travel resistance value (torque), the motor 1 is stopped in the vicinity of the reference position. When the absolute value of a gradient amount becomes larger than the absolute value of the travel resistance, the motor 1 is to be rotated. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a travel resistance control device that controls a motor by applying a load equivalent to that when a vehicle actually travels on the road.

  Conventionally, a running resistance control device that controls a motor by applying a load equivalent to that when the vehicle actually travels on the road is known. The travel resistance is calculated from the vehicle speed, but the travel resistance control apparatus incorporates an element related to the gradient when calculating the travel resistance in order to consider the road surface gradient during travel (for example, Patent Document 1). reference).

  FIG. 2 is a block diagram showing a configuration of a conventional running resistance control device. In FIG. 2, the position (rotation angle) of the motor 1 is detected by the position detector 2. Next, after the position is differentiated by the differentiator 3 to calculate the speed of the motor and converted to the vehicle speed, the running resistance calculation unit 4 calculates the running resistance. Further, the gradient (θ) is calculated by multiplying the vehicle weight and SINθ by the multiplier 5.

Further, an element relating to the gradient (θ) is added to or subtracted from the running resistance value of the vehicle to calculate a running resistance value in consideration of the gradient (θ). Then, the electric inertia calculation unit 6 performs a calculation to simulate the inertia (torque) at the time of acceleration / deceleration, and supplies the motor control device 7 with the sum of the running resistance value and the torque at the time of acceleration / deceleration as a torque command. Yes.
JP 2000-104614 A

  Incidentally, the running resistance has a frictional resistance, and there is a value in the running resistance even when the vehicle speed is zero. However, the conventional technique has a problem that the running resistance cannot be controlled when the speed is zero because the motor rotates when the speed is zero and the running resistance has a value. For the same reason, there is a problem that it is impossible to reproduce a state where the vehicle starts to move naturally on a slope.

  The present invention has been made in view of such circumstances, and its purpose is to control the running resistance even when the speed is zero, and to faithfully observe the operation in which the vehicle starts to move naturally even on a slope. An object of the present invention is to provide a running resistance control device that can be simulated.

  In order to solve the above-described problems, the present invention provides a traveling resistance control device that controls a motor based on a traveling resistance value, a torque corresponding to a gradient, and an acceleration / deceleration torque, and a position detection unit that detects a rotation angle of the motor. And a speed calculation means for differentiating the rotation angle of the motor from the position detector to calculate the motor speed, a reference position storage means for storing the reference position of the motor, and a reference position storage means. A torque calculating means for calculating a torque to be output by the motor based on a difference between a reference position being present and a current position detected by the position detecting means and a speed calculated by the speed calculating means; and the running resistance Upper limit value calculating means for calculating upper and lower limit values by adding and subtracting the value and the gradient torque, and the motor torque is controlled by the upper and lower limit values calculated by the upper limit value calculating means. And a selection unit that selects an output torque based on a difference between a reference position stored in the reference position storage unit and a current position detected by the position detection unit. To do.

  According to the present invention, in the above invention, the selection unit selects a lower limit value when the position deviation is equal to or greater than a predetermined threshold value, and selects an upper limit value when the position deviation is equal to or smaller than the predetermined threshold value. The median value by the calculation means is selected.

  According to this invention, the speed calculation means differentiates the rotation angle of the motor detected by the position detection means to calculate the motor speed, stores the reference position of the motor in the reference position storage means, and the torque calculation means The difference between the stored reference position and the current position is multiplied by a predetermined gain to calculate the motor torque, and the upper and lower limit values are calculated by adding and subtracting the running resistance value and the gradient torque by the upper limit value calculation means. Since the motor torque is limited by the above upper and lower limit values by the limiting means and the output torque is selected by the selecting means based on the difference between the reference position and the current position, the speed is zero. Even in such a case, it is possible to obtain an advantage that the running resistance can be controlled and the operation of the vehicle starting to move naturally even on a slope can be faithfully simulated.

  According to the present invention, the selection means selects the lower limit value when the position deviation is equal to or greater than a predetermined threshold value, and selects the upper limit value when the position deviation is equal to or less than the predetermined threshold value. Otherwise, the torque calculation means is selected. Since the median value is selected, it is possible to control the running resistance even when the speed is zero, and to obtain an advantage of faithfully simulating the action of the vehicle starting to move naturally even on a slope. .

  Hereinafter, a travel resistance control apparatus according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a running resistance control apparatus according to an embodiment of the present invention. It should be noted that parts corresponding to those in FIG. In FIG. 1, the reference position memory 10 stores the position FB when the speed FB (feedback) becomes zero as a reference position. The torque calculator 11 calculates the torque (median value) of the motor 1 by multiplying the difference between the reference position stored in the reference position storage 10 and the current position (position FB) by a predetermined gain.

  Further, the upper / lower limit calculator 12 adds / subtracts the running resistance value calculated by the running resistance calculator 4 and the gradient torque from the multiplier 5 to calculate the upper / lower limit value of the torque of the motor 1. The limiter 13 limits the torque of the motor 1 calculated by the torque calculation unit 11 according to the upper and lower limit values of the torque of the motor 1 calculated by the upper and lower limit value calculator 12.

  The selector 14 selects the lower limit side (lower limit value) when the position deviation is greater than or equal to the threshold value (+), and selects the upper limit side (upper limit value) when the position deviation is less than or equal to the threshold value (−). The median value by the torque calculator 11 is selected. When the selector 14 selects the median value, the torque output unit 15 obtains a torque value in a direction in which the speed of the motor 1 becomes 0 based on the speed FB, and the torque value and the torque calculation unit 11 Adds the torque value calculated based on the position FB and outputs the result. The motor control device 7 torques the sum of the inertia (torque) at the time of acceleration / deceleration calculated by the electric inertia calculation unit 6 and the values (lower limit value, upper limit value, median value) selected by the selector 14. The command is supplied to the motor control device 7 as a command.

  As a result, until the torque from the outside exceeds the running resistance value (torque), the motor control device follows the torque command based on the torque whose output is limited by the upper and lower limits of the ± running resistance value in the direction of returning to the reference position. 7, the motor 1 is controlled. For this reason, the motor 1 is stopped before and after the reference position, and traveling resistance control can be realized even when the speed is zero.

  Further, when the absolute value of the gradient (Wsin θ) becomes larger than the absolute value of the running resistance, one side of the sign of the limiter 13 reverses and the motor 1 starts to rotate even if there is no external torque. As a result, it is possible to simulate an operation in which the vehicle starts to move naturally on a slope.

It is a block diagram which shows the structure of the driving resistance control apparatus by embodiment of this invention. It is a block diagram which shows the structure of the driving resistance control apparatus by a prior art.

Explanation of symbols

1 motor 2 position detector (position detection means)
3 Differentiator (speed calculation means)
4 Traveling resistance calculation unit 5 Multiplier 6 Electric inertia calculation unit 7 Motor control device 10 Reference position storage (reference position storage means)
11 Torque calculation unit (torque calculation means)
12 Upper / lower limit calculator (upper limit calculation means)
13 Limiter (limitation means)
14 Selector (selection means)
15 Torque output section

Claims (2)

A running resistance control device that controls a motor based on a running resistance value, a gradient torque, and an acceleration / deceleration torque,
Position detecting means for detecting the rotation angle of the motor;
Differentiating the rotation angle of the motor from the position detector, speed calculation means for calculating the speed of the motor,
Reference position storage means for storing a reference position of the motor;
Based on the difference between the reference position stored in the reference position storage means and the current position detected by the position detection means, and the speed calculated by the speed calculation means, the torque to be output by the motor is calculated. Torque calculating means for
Upper and lower limit value calculating means for calculating upper and lower limit values by adding and subtracting the running resistance value and the gradient torque,
Limiting means for limiting the torque of the motor with the upper and lower limit values calculated by the upper and lower limit value calculating means;
A travel resistance control device comprising: selection means for selecting output torque based on a difference between a reference position stored in the reference position storage means and a current position detected by the position detection means. .   The selection means selects a lower limit value when the position deviation is equal to or greater than a predetermined threshold value, selects an upper limit value when the position deviation is equal to or less than the predetermined threshold value, and selects a median value by the torque calculation means in other cases. The travel resistance control device according to claim 1.

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