JP3632301B2 - Motor control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a motor control device, and more particularly to a motor control device that adjusts motor torque by controlling current adjusting means connected to a motor based on an accelerator operation of a vehicle driver.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a motor control device that is generally used controls current adjusting means (for example, an inverter) to adjust the current flowing between a motor and a battery. When the battery power is supplied to the motor by the control of this device, the motor generates an output torque (positive value) for driving the wheels. Further, during regenerative braking in which regenerative torque (negative value) is generated in the motor, the power generated in the motor is stored in the battery. Hereinafter, output torque and regenerative torque generated in the motor are collectively referred to as motor torque.
[0003]
In the conventional control device, as shown in FIG. 14A, the amount of current supplied to the motor is controlled so that an output torque corresponding to the accelerator opening A% is generated. In the figure, the horizontal axis represents the accelerator opening A%, and the vertical axis represents the output torque T. The accelerator opening A% is set to be 100% when the accelerator operation amount is the maximum, and 0% when the accelerator operation amount is 0. In the figure, the motor torque is 0 when the accelerator opening is 0%, and the maximum torque Tmax is generated when the accelerator opening is 100%. The maximum torque Tmax is the maximum torque that can be generated based on the motor specifications. The relationship between the accelerator opening A% and the output torque T in FIG. 14A is expressed by the following equation (1).
[0004]
[Expression 1]
T = Tmax × A / 100 (1)
Japanese Patent Laid-Open No. 5-191904 discloses a control device that generates output torque and regenerative torque based on an accelerator operation. As shown in FIG. 14 (b), this control device is similar to FIG. 14 (a) in that the maximum torque Tmax is generated when the accelerator opening is 100%. The output torque is generated when the accelerator opening A% is larger than the reference accelerator opening, and the regenerative torque is generated when the accelerator opening A% is smaller than the reference accelerator opening.
[0005]
[Problems to be solved by the invention]
In FIG. 14, there is a one-to-one correspondence between the accelerator opening and the motor torque. Therefore, when the gear ratio between the motor and the wheels is fixed to one, the accelerator opening and the vehicle acceleration / deceleration also correspond one-to-one. (Vehicle acceleration / deceleration is a differential value of vehicle speed, which is acceleration when positive, and deceleration when negative.) As a result, the vehicle is uniform in response to the accelerator operation regardless of the driving situation. Therefore, it is not easy for the driver to drive smoothly according to the driving situation. For example, it is desirable that the amount of change in the vehicle acceleration / deceleration with respect to the accelerator operation amount is large at the time of starting acceleration or on a curved slope road, but the above setting does not meet such a requirement. Therefore, a desired acceleration / deceleration cannot be obtained unless the driver significantly increases the accelerator operation amount. Further, for example, it is desired that the amount of change in the vehicle acceleration / deceleration with respect to the accelerator operation amount is small when traveling at high speed, but the above setting does not meet such a requirement. Therefore, if the driver does not make the accelerator operation considerably small, the vehicle acceleration / deceleration changes more than required and the driving is jerky. From the above, it is desirable to be able to adjust the correspondence between the accelerator opening and the vehicle acceleration / deceleration.
[0006]
Conventionally, in order to be able to adjust the correspondence between the accelerator operation amount and the vehicle acceleration / deceleration, a multi-gear transmission is provided as seen in the electric vehicle disclosed in Japanese Patent Laid-Open No. 5-191904. . Thereby, a different gear ratio can be set according to the gear stage. Therefore, even if the accelerator opening and the motor torque are in a one-to-one correspondence, the wheel driving torque can be set to different values depending on the gear ratio. For example, even with a small accelerator opening, the gear ratio can be increased to increase the wheel driving torque. However, in the case where a sufficient vehicle speed range can be obtained even when the gear ratio is fixed, it is not preferable to provide a plurality of gear stage type transmissions from the viewpoint of vehicle weight and complexity of the structure.
[0007]
In the above description, the case where the gear ratio in the transmission is fixed (one gear stage) has been described as a prominent example. However, the same applies to an electric vehicle including a transmission having a small number of gear stages. Furthermore, even in an electric vehicle equipped with a transmission having a large number of gears and a continuously variable transmission, it is desired to further adjust the correspondence relationship between the accelerator opening and the vehicle acceleration / deceleration so that the vehicle travels smoothly. In addition, it is desirable to facilitate driving by making it possible to adjust the correspondence between the accelerator opening and the vehicle acceleration / deceleration according to the driver's preference.
[0008]
The present invention has been made to solve the above problems. An object of the present invention is to make it possible to more easily perform a driving adapted to a driving situation, and in order to achieve this object, a motor is used so as to adjust the correspondence between the accelerator opening and the vehicle acceleration / deceleration. A motor control device capable of controlling torque is provided.
[0009]
And this invention is a motor control apparatus which achieves the said objective, Comprising: By providing the apparatus with which a driver | operator can select the correspondence of an accelerator opening degree and vehicle acceleration / deceleration, a driver | operator's driving | operation is made easy. To do.
[0010]
Furthermore, the present invention provides a motor control device capable of detecting the driving situation and adjusting the correspondence between the accelerator opening and the vehicle acceleration / deceleration so as to adapt to the driving situation. This reduces the operational burden.
[0011]
Another object of the present invention is to provide a motor control device having the following advantages;
(1) Reduce the driver's operational burden of adjusting the amount of accelerator operation in response to changes in road slope
(2) Reduces the driver's operation burden of adjusting the amount of accelerator operation so that the regenerative torque does not become too large to lock the wheels.
(3) The driver's operation burden of adjusting the accelerator operation amount is reduced so that the output torque does not become too large and the wheel slips.
[0012]
[Means for Solving the Problems]
The present invention relates to a motor control device for adjusting a motor torque by controlling a current adjusting means connected to a motor based on an accelerator operation of a vehicle driver, for determining a required value of a vehicle acceleration / deceleration from an accelerator operation amount. Acceleration / deceleration function storage means for storing a plurality of acceleration / deceleration functions; selection means for selecting a control acceleration / deceleration function from the plurality of acceleration / deceleration functions; accelerator operation amount detection means for detecting an accelerator operation amount; Based on the detected value, the vehicle acceleration / deceleration determining means for determining the vehicle acceleration / deceleration request value according to the control acceleration / deceleration function selected by the selecting means, and the vehicle acceleration / deceleration determining value determined by the acceleration / deceleration determining means. Control means for controlling the current adjusting means so as to generate a motor torque necessary forVehicle speed detecting means for detecting vehicle speed and accelerator operation acceleration detecting means for detecting accelerator operation acceleration; A function for a slow mode in which a slope of a required value of a vehicle acceleration / deceleration with respect to an accelerator operation amount is small, and the selection unit is configured to calculate a quick mode function as the vehicle travels at a low speed based on the accelerator operation amount, the vehicle speed, and the accelerator operation acceleration The area to be selected is wide, and the area for selecting the slow mode function is set wider as the vehicle travels at a higher speed.
[0013]
Here, the vehicle acceleration / deceleration is a differential value of the vehicle speed, which is acceleration when positive and deceleration when negative. According to the above configuration, a plurality of acceleration / deceleration functions are stored in the acceleration / deceleration function storage means, and a control acceleration / deceleration function is selected from the plurality of acceleration / deceleration functions. Based on the detected value of the accelerator operation amount, a control value is determined in accordance with the control acceleration / deceleration function, and the control means generates a motor torque necessary to set the vehicle acceleration / deceleration to the required value. Control the current adjusting means. In the above configuration, the vehicle acceleration / deceleration with respect to the accelerator operation amount becomes different depending on the selected control acceleration / deceleration function. Therefore, the magnitude of the vehicle acceleration / deceleration with respect to the accelerator operation amount can be changed without changing the gear ratio between the motor and the wheels.Further, in this configuration, since the control acceleration / deceleration function is selected based on the accelerator operation amount, the vehicle speed, and the accelerator operation acceleration, the burden on the driver of selecting the control acceleration function is reduced, and driving is easier. Become.
[0016]
Furthermore, the present invention includes a gradient detection means for detecting a road gradient, and the control means determines the vehicle acceleration / deceleration by the acceleration / deceleration determination means based on the road gradient detected by the gradient detection means. The motor torque required to obtain the required value is determined, and the current adjusting means is controlled so that this motor torque is generated. On a ramp, gravity acts to accelerate or decelerate the vehicle. Accordingly, the motor torque required to obtain the required value for vehicle acceleration / deceleration differs by the amount of gravity. In consideration of this, in the above configuration, the road gradient is taken into account when determining the motor torque necessary for setting the vehicle acceleration / deceleration to the required value. Therefore, the driver can drive the same accelerator operation even on roads with different road gradients.
[0017]
Furthermore, the present invention includes a traveling condition detecting unit that detects a traveling condition, and a lower limit value setting unit that sets a lower limit value of the vehicle acceleration / deceleration based on the traveling condition, and the acceleration / deceleration determining unit includes the vehicle acceleration / deceleration unit. A required speed value is determined to be equal to or greater than the lower limit value set by the lower limit value setting means. In this configuration, for example, in a driving situation such as snowy road driving or rainy weather driving, a situation in which the wheel is locked because the required value of the vehicle acceleration / deceleration is too low and the regenerative torque becomes too large is avoided. Driving becomes easier.
[0018]
On the other hand, the present invention includes a traveling condition detecting means for detecting a traveling condition and an upper limit value setting means for setting an upper limit value of the vehicle acceleration / deceleration based on the traveling condition. The requested acceleration / deceleration value is determined to be equal to or less than the upper limit value set by the upper limit value setting means. In this configuration, for example, a sudden acceleration operation at the time of starting avoids a situation in which the wheel is idling because the vehicle acceleration / deceleration is too high and the output torque becomes too large, so that driving becomes easier.
[0019]
In the above invention, the traveling condition detecting means detects an operating state of the wiper and a traveling vehicle weight as the traveling condition. In this configuration, whether the vehicle is wet or the road surface is wet is determined as the driving condition based on the operating state of the wiper, and the vehicle weight during driving is determined as another driving condition. Based on these conditions, an upper limit value and a lower limit value of the vehicle acceleration / deceleration are set.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a motor control device according to an embodiment of the present invention will be described with reference to the drawings.
[0021]
“Embodiment 1”
FIG. 1 is a block diagram showing a system of an electric vehicle provided with the motor control device of the present embodiment. In the figure, a motor 1 is an AC type, and a transmission 3 is connected to the motor 1 and further connected to a wheel 5 via a rotating shaft, a differential gear and the like. The transmission 3 has a configuration with only one gear stage. Therefore, the transmission gear ratio between the output rotation of the motor 1 and the rotation of the wheels 5 is fixed.
[0022]
The motor 1 is connected to a battery 9 via a power control unit (PCU) 7. The PCU 7 is connected with a mode selection switch 11, an accelerator opening sensor 13, a vehicle speed sensor 15, a road gradient sensor 17, a wiper switch 19, and a vehicle weight sensor 21.
[0023]
The mode selection switch 11 has positions corresponding to three modes, a normal mode, a slow mode, and a quick mode. When the driver operates the switch to select one of these three modes, a selection instruction signal indicating the selected mode is output to the PCU 7. Further, the accelerator opening sensor 13 detects the accelerator opening A (%) as the accelerator operation amount of the driver and outputs it to the PCU 7. As described above, the accelerator opening is set to be 100% when the accelerator operation amount is the maximum, and 0% when the accelerator operation amount is 0. The vehicle speed sensor 15 detects the vehicle traveling speed (vehicle speed) and outputs it to the PCU 7. In the present embodiment, the vehicle speed sensor 15 is provided so as to detect the rotational speed of the wheel 5. The road gradient sensor 17 detects the road gradient of the traveling road and outputs it to the PCU 7. Further, the switch position by the driver's operation is output from the wiper switch 19 to the PCU 7. In this embodiment, the wiper switch 19 is provided with three positions of OFF, ON (LOW), and ON (HI). Further, the vehicle weight sensor 21 detects the vehicle weight during traveling and outputs it to the PCU 7. The vehicle weight varies depending on the number of passengers, the weight of the luggage, and the remaining amount of fuel. The vehicle weight sensor 21 is provided so as to detect the vehicle weight as one of three ranks of “light”, “standard”, and “heavy”.
[0024]
The PCU 7 controls the current flowing between the motor 1 and the battery 9 based on the input information. When the motor 1 generates an output torque, the PCU 7 converts the direct current from the battery 9 into an alternating current, At the time of regenerative braking in which regenerative torque is generated in the motor 1, the alternating current from the motor 1 is converted into a direct current and stored in the battery 9. The PCU 7 includes an electronic control unit (ECU) 31 and an inverter 33. The ECU 31 further includes an acceleration / deceleration function storage unit 35, a selection unit 37, an acceleration / deceleration determination unit 39, a lower limit setting unit 41, as shown in FIG. An upper limit setting unit 43 and a control unit 45 are provided.
[0025]
The acceleration / deceleration function storage unit 35 stores three types of acceleration / deceleration functions. This acceleration / deceleration function is a function for determining a required value of vehicle acceleration / deceleration based on the driver's accelerator operation. Here, the required value of the vehicle acceleration / deceleration is a value that becomes a control target of the present control device, that is, the present control device controls the motor 1 so that the actual acceleration / deceleration of the vehicle becomes the above-mentioned required value. Hereinafter, this vehicle acceleration / deceleration request value is referred to as “acceleration / deceleration request value”, and the actual vehicle acceleration / deceleration is referred to as “actual acceleration / deceleration”. The three types of acceleration / deceleration functions include a normal mode function, a quick mode function, and a slow mode function, and each corresponds to each mode specified by the mode selection switch 11. FIG. 3 shows a driving situation in which each function is preferably used.
[0026]
FIG. 4 shows a normal mode function with the accelerator opening on the horizontal axis and the acceleration / deceleration request value on the vertical axis. In the figure, when the vehicle speed is 0, the reference accelerator opening is 0, and the accelerator opening is a straight line in which the acceleration / deceleration request value is proportional. Here, the reference accelerator opening means an accelerator opening at which the vehicle acceleration / deceleration becomes zero. As the vehicle speed increases, the reference accelerator opening increases. The normal mode function is expressed by the following equation (2);
[Expression 2]
a = 0.04 × (A−kV) (2)
In the formula (2), 0.04 corresponds to the slope of the straight line in FIG. 4, and the unit is (m / s²) /% (% Is the accelerator opening). V is the vehicle speed (km / hr). k is in units of% / (km / s²) And is set such that kV = 50% at V = 50 km / hr and kV = 0 at V = 0. In driving in accordance with the normal mode function, for example, when the driver starts from a stopped state with the accelerator opening set to 50%, and the accelerator opening is maintained, the acceleration / deceleration required value at the start is 2 m / s.²It is. And the required acceleration / deceleration value 0.8 m / s at a vehicle speed of 30 km / hr²0m / s at a vehicle speed of 50km / hr²After that, the vehicle runs at a constant speed at a vehicle speed of 50 km / hr. In this state, when the accelerator opening is larger than 50%, the acceleration / deceleration request value becomes positive (acceleration), and when the accelerator opening is smaller than 50%, the acceleration / deceleration request value becomes negative (deceleration).
[0027]
FIG. 5 shows a slow mode function (one-dot chain line) and a quick mode function (dotted line) together with the normal mode function (solid line). As shown in the figure, the acceleration / deceleration request values are different for each mode even at the same accelerator opening. The slow mode function is expressed by the following equation (3), and the quick mode function is expressed by the following equation (4).
[0028]
[Equation 3]
a = 0.06 × (A−kV) (3)
[Expression 4]
a = 0.03 × (A−kV) (4)
Based on the selection instruction signal input from the mode selection switch 11, the selection means 37 is an acceleration / deceleration corresponding to the mode selected by the driver from the above three types of acceleration / deceleration functions stored in the acceleration / deceleration function storage means 35. The speed function is selected as the function used for actual control.
[0029]
The acceleration / deceleration determining means 39 uses the acceleration / deceleration function selected by the selection means 37 to determine the acceleration / deceleration request value. That is, for example, when the normal mode function is selected, when the accelerator opening 50% is input from the accelerator opening sensor 13 and the vehicle speed 30 km is input from the vehicle speed sensor 15, both detection values are obtained. Is substituted into the equation (1), and the vehicle acceleration / deceleration is 0.8 m / s.²Get. In addition, you may set the map which calculates | requires an acceleration / deceleration request value from an accelerator opening and a vehicle speed, without performing such a calculation.
[0030]
The lower limit value setting means 41 sets the maximum vehicle deceleration as the lower limit value of the acceleration / deceleration request value using the maximum vehicle deceleration automatic setting map 51 connected to the PCU 7. This map is shown in FIG. 6, and the maximum vehicle deceleration is determined in accordance with the wiper operating state and the vehicle weight. Here, the purpose of setting the maximum vehicle deceleration is to prevent the wheels from being locked due to the vehicle deceleration becoming too large. Therefore, in the map of FIG. 6, the maximum vehicle deceleration is set smaller as the wheel becomes easier to lock. That is, the maximum vehicle deceleration is set to be smaller in situations where it is estimated that the wiper is in rainy condition and the road surface is wet and slippery, and the maximum vehicle deceleration is set to be smaller as the vehicle weight is lighter. .
[0031]
The setting of the maximum vehicle deceleration in the lower limit value setting means 41 is performed according to the map of FIG. 6 based on inputs from the wiper switch 19 and the vehicle weight sensor 21. The acceleration / deceleration determining means 39 reflects the maximum vehicle deceleration set by the lower limit value setting means 41, and determines the acceleration / deceleration request value to be a value equal to or greater than the maximum vehicle deceleration. For example, when the position of the wiper switch 19 is ON (LOW) and the vehicle weight rank is “heavy”, the maximum vehicle deceleration is −1 m / s as shown in FIG.²Set to In FIG. 7, the acceleration / deceleration request value is originally -1 m / s as indicated by the dotted line.²Lower than (minimum value -3m / s²), As indicated by the alternate long and short dash line, the minimum value is -1 m / s.²And
[0032]
Further, the upper limit value setting means 43 sets the maximum vehicle acceleration as the upper limit value of the acceleration / deceleration request value using the maximum vehicle acceleration automatic setting map 53 connected to the PCU 7. This map is shown in FIG. 8, and the maximum vehicle acceleration is determined corresponding to the operating state of the wiper and the vehicle weight, as in FIG. Here, the purpose of setting the maximum vehicle acceleration is to prevent the wheels from idling due to the vehicle acceleration becoming too large. Therefore, in the map of FIG. 8, the maximum vehicle acceleration is set to be smaller in a situation where the wheels are more likely to idle. That is, the maximum vehicle acceleration is set smaller in a situation where the road surface is estimated to be wet and slippery from the operating state of the wiper, and the maximum vehicle acceleration is set smaller as the vehicle weight is lighter.
[0033]
The setting of the maximum vehicle acceleration in the upper limit value setting means 43 is performed according to the map of FIG. 8 based on inputs from the wiper switch 19 and the vehicle weight sensor 21. Then, the acceleration / deceleration determining means 39 reflects the maximum vehicle acceleration set by the upper limit value setting means 43, and determines the required value of the vehicle acceleration / deceleration to a value equal to or less than the maximum vehicle acceleration. For example, when the position of the wiper switch 19 is ON (HI) and the vehicle weight rank is “light”, the maximum vehicle deceleration is 2 m / s as shown in FIG.²Set to In FIG. 7, the vehicle acceleration / deceleration is originally 2 m / s as indicated by the dotted line.²Higher than (maximum value 4m / s²), The maximum value is 2m / s as shown by the solid line²And
[0034]
The maximum vehicle deceleration automatic setting map 51 and the maximum vehicle acceleration automatic setting map 53 may be provided inside the ECU 31 as appropriate.
[0035]
Based on the acceleration / deceleration required value determined by the acceleration / deceleration determining means 39, the control means 45 controls the inverter 33 so that the motor torque necessary to achieve this required value is generated.
[0036]
The control means 45 first adds g × sin θ to the acceleration / deceleration request value determined by the acceleration / deceleration determination means 39 as a correction value related to the road gradient θ. Here, the road gradient θ is an angle of the road surface with respect to a horizontal plane, and is 0 on a flat road, positive on an uphill road, and negative on a downhill road, and the road gradient θ is input from the road gradient sensor 17. G is the acceleration of gravity. The following advantages are obtained by the above correction. On the slope road, the actual acceleration / deceleration increases or decreases according to the road slope due to the influence of gravity. Therefore, if the motor torque is determined from the acceleration request value without taking the influence of gravity into consideration, the acceleration / deceleration request value and the actual acceleration / deceleration are shifted. On the other hand, as a result of eliminating the influence of gravity by the above correction, the actual acceleration / deceleration of the driver's accelerator operation is the same on a flat road and a slope road. As a driver, it is not necessary to drive while paying attention to the road gradient.
[0037]
Furthermore, the control means 45 multiplies the vehicle speed, the tire radius, and the reciprocal number of the gear ratio with respect to the corrected acceleration / deceleration request value. As a result, the motor torque necessary for setting the actual acceleration / deceleration to the required value (after correction) is calculated. Then, a switching signal for generating the motor torque obtained here is generated and output to the inverter 33. That is, when the calculated value of the motor torque is positive, the amount of current supplied to the motor 1 becomes a value corresponding to the calculated motor torque value by vector control / PWM control using this value as the torque command value. A switching signal is generated and output. Similarly, when the calculated value of the motor torque is negative, a switching signal is generated so that the regenerative torque of this calculated value is generated in the motor 1.
[0038]
The inverter 33 includes a plurality of switching elements, and the current flowing between the motor 1 and the battery 9 is adjusted by the inverter 33 performing a switching operation in accordance with a switching signal from the control means 45. As a result, the motor torque becomes a value calculated by the control means 45, and the acceleration / deceleration request value determined by the acceleration / deceleration determining means 39 is achieved.
[0039]
The configuration of the motor control device of this embodiment has been described above. Next, the operation of the motor control apparatus will be described using the flowchart of FIG. The control device is started by a driver's key operation, and first, the above-described various input data are input to the PCU 7 (S1). Then, the selection means 37 determines whether the acceleration / deceleration function for the quick, normal or slow mode is selected (S3), and the acceleration / deceleration determining means 39 determines the acceleration / deceleration speed according to the selected control function. A required value is determined (S5 to S9). Further, using the maximum vehicle deceleration set by the lower limit setting means 41, the acceleration / deceleration determining means 39 adjusts the acceleration / deceleration request value (S11). Furthermore, using the maximum vehicle acceleration set by the upper limit value setting means 43, the acceleration / deceleration determining means 39 adjusts the acceleration / deceleration request value (S13). Based on the acceleration / deceleration request value finally determined by the acceleration / deceleration determining means 39, the control means 45 outputs a switching signal to the inverter 33 to control the motor 1 (S15). Here, the influence of the road gradient is considered as described above. After step S15, the process returns to step S1 and the same control is repeated.
[0040]
According to the motor control device of the present embodiment described above, the driver can select one of the normal, quick, and slow modes according to the traveling state of the vehicle and his / her preference. Then, for example, a quick mode can be set during start acceleration, a slow mode can be set during high-speed driving, and a quick mode can be set on a sloping curved road, and a slow mode can be set on a congested road. As described above, since a mode in which the most appropriate vehicle acceleration / deceleration can be obtained with respect to the accelerator operation amount can be selected in accordance with the traveling state, driving becomes easy.
[0041]
In the present embodiment, the lower limit value setting unit 41 sets the maximum vehicle deceleration based on input information from the wiper switch 19 and the vehicle weight sensor 21. On the other hand, a sensor that measures the humidity and temperature of the road surface may be provided, and the wetness of the road surface may be estimated based on the detection value of the sensor, or the tire may be locked.
[0042]
Similarly, the upper limit setting means 43 may be configured to provide a sensor for measuring the humidity and temperature of the road surface to estimate the wetness of the road surface. Further, a rotation sensor may be provided on the driving wheel and the driven wheel, and the idling of the driving wheel may be detected based on the difference between the detected rotational speeds of the two.
[0043]
In the present embodiment, as shown in FIGS. 4 and 5, the acceleration / deceleration function is defined by a straight line. On the other hand, the acceleration / deceleration function may be defined by an arbitrary curve instead of a straight line. Further, the setting of the reference accelerator opening may be different from the above, for example, the reference accelerator opening may be set to 0%. In this case, the acceleration / deceleration request value for the accelerator operation is always positive.
[0044]
Furthermore, in this embodiment, the acceleration / deceleration function storage unit is configured to store only three types of acceleration / deceleration functions, but the number of types of acceleration / deceleration functions may be changed. Further, the mode selection switch 11 may be configured as a stepless switch so that the acceleration / deceleration function changes smoothly according to the operation amount of the switch.
[0045]
Furthermore, in the present embodiment, the case where the motor control device of the present invention is applied to an electric vehicle including a transmission having only one gear stage is described. However, a transmission having a plurality of gear stages and a continuously variable transmission are provided. Of course, it can also be applied to electric vehicles. Further, the motor control device of the present embodiment can also be applied for motor control of a hybrid vehicle (a vehicle equipped with an engine and a motor as a prime mover). Various modifications as described above can be similarly applied to the second embodiment described below.
[0046]
“Embodiment 2”
In the first embodiment, the driver selects the control acceleration / deceleration function with the mode selection switch 11, and therefore, the driver can drive with an operation similar to that of a vehicle equipped with a manual transmission. To do. On the other hand, in the second embodiment, the control acceleration / deceleration function is automatically selected regardless of the driver's operation, and the operation is performed by an operation similar to that of a vehicle equipped with an automatic transmission.
[0047]
FIG. 10 is a block diagram illustrating an electric vehicle system including the motor control device according to the second embodiment. As a difference from the first embodiment, the mode selection switch 11 is not provided and an accelerator opening / closing acceleration sensor 23 is connected. The accelerator opening / closing acceleration sensor 23 detects the accelerator opening / closing acceleration as the accelerator operation acceleration and outputs it to the PCU 7. The accelerator opening / closing acceleration is a differential value of the accelerator opening / closing speed, and its unit is% / s.²It is.
[0048]
In addition, the second embodiment is different from the first embodiment in the configuration of the selection unit 37 provided in the ECU 31 of the PCU 7. As shown in FIGS. 11 to 13, the selection unit 37 includes a map for selecting a control function from the three types of acceleration / deceleration functions stored in the acceleration / deceleration function storage unit 35. In each map, the horizontal axis represents the accelerator opening, and the vertical axis represents the accelerator opening acceleration. Of the maps of FIGS. 11 to 13, FIG. 11 is used during low speed travel, FIG. 12 is used during medium speed travel, and FIG. 13 is used during high speed travel. Then, the selection means 37 is based on the vehicle speed, the accelerator opening degree, and the accelerator opening / closing acceleration respectively input from the vehicle speed sensor 15, the accelerator opening sensor 13, and the accelerator opening / closing acceleration sensor 23, and according to the corresponding map, Select either the mode function or the quick mode function.
[0049]
That is, when traveling at a low speed (FIG. 11), the accelerator opening is 50% or less, and the accelerator opening / closing acceleration is −100 to 100% / s.²The function for slow mode is selected in the region of, the accelerator opening is 50% or more, and the accelerator opening / closing acceleration is 200% / s.²Or -200% / s²The quick mode function is selected in the following areas, and the normal mode function is selected in the other areas.
[0050]
Further, during medium speed running (FIG. 12), the accelerator opening is 65% or less, and the accelerator opening / closing acceleration is -200 to 150% / s.²The function for slow mode is selected in the region of, the accelerator opening is 65% or more, and the accelerator opening / closing acceleration is 250% / s.²Or -300% / s²The quick mode function is selected in the following areas, and the normal mode function is selected in the other areas.
[0051]
Further, when traveling at high speed (FIG. 13), the accelerator opening is 80% or less, and the accelerator opening / closing acceleration is −250 to 200% / s.²In this area, the slow mode function is selected, and in the other areas, the normal mode function is selected.
[0052]
As apparent from FIGS. 11 to 13, the region for selecting the quick mode function is wider when the vehicle is traveling at a low speed, and the region for selecting the slow mode function is set wider when the vehicle is traveling at a high speed.
[0053]
Since the other configuration of the second embodiment is the same as that of the first embodiment, the description thereof is omitted. Hereinafter, the operation of the second embodiment will be described using a specific example.
[0054]
For example, when the driver maintains the accelerator opening with the accelerator opening being 60% at the start, the accelerator opening / closing acceleration becomes zero. During the low-speed running from the start, the selection means 37 selects the normal mode function according to FIG. 11, and the control using the normal mode function is performed. When the medium speed range is reached, the slow mode function is selected according to FIG. 12, and the slow mode function is also selected in the high speed range. As described above, in the second embodiment, when the vehicle speed increases, the normal mode is shifted to the slow mode. That is, as the vehicle speed increases, the absolute value of the acceleration / deceleration with respect to the accelerator opening decreases. Therefore, traveling similar to that of a vehicle including an automatic transmission that reduces the gear ratio according to the vehicle speed is performed.
[0055]
Further, for example, when the driver depresses the accelerator when traveling at a low speed, the accelerator opening degree is 80% and the accelerator opening / closing acceleration is 100% / s.²In this case, the normal mode function is selected. On the other hand, at the same accelerator opening 80%, the accelerator opening / closing acceleration is 300% / s.²In this case, the quick mode function is selected. As described above, the quick mode function is selected when the accelerator opening / closing acceleration is large. Therefore, the vehicle acceleration / deceleration can be adjusted by the strength of depressing the accelerator. That is, the driver greatly depresses the accelerator to increase the accelerator opening / closing acceleration to greatly change the vehicle acceleration / deceleration (quick mode), and depresses the accelerator weakly to change the vehicle acceleration / deceleration small (slow mode). In the driving as described above, the driver can easily reflect the request for the magnitude of the acceleration / deceleration in the control, so that the driving becomes easier.
[0056]
Furthermore, when traveling at high speed, the accelerator opening is 80% and the accelerator opening / closing acceleration is 300% / s.²Even so, the function for the normal mode is selected. In other words, even when the accelerator opening / closing acceleration is the same, the quicker mode is selected during low speed travel than during high speed travel. The amount of change in the vehicle acceleration / deceleration with respect to the strength to depress the accelerator is preferably larger when traveling at high speed than when traveling at low speed. That is, it is desirable to obtain a large acceleration in the quick mode when the accelerator is stepped on at a low speed, but such a large acceleration is not desired at a high speed. The maps of FIGS. 11 to 13 are set to reflect the above points.
[0057]
【The invention's effect】
According to the motor control device of the present invention, since the control acceleration / deceleration function is selected from the plurality of acceleration / deceleration functions stored in the acceleration / deceleration function storage means, the vehicle acceleration / deceleration varies depending on the selected acceleration / deceleration function. become. That is, the vehicle acceleration / deceleration with respect to the accelerator operation amount can be adjusted without changing the gear ratio between the motor and the wheels. As a result, it is possible to easily perform a driving adapted to the traveling situation.
[0058]
Further, in the present invention, by configuring the driver to specify the control acceleration / deceleration function by using the input means, the driver can select the acceleration / deceleration function according to the driving situation and preference, so that driving is easy. Become.
[0059]
Further, in the present invention, it is necessary for the driver to manually select the control acceleration / deceleration function by configuring the selection means to select the control acceleration / deceleration function based on the accelerator operation amount, the vehicle speed, and the accelerator operation acceleration. There is no. Therefore, the burden on the driver of selecting an acceleration / deceleration function suitable for the driving situation is reduced, and driving becomes easier.
[0060]
In the present invention, the control means determines the motor torque necessary for setting the vehicle acceleration / deceleration to the required value determined by the acceleration / deceleration determination means based on the road gradient, and the current is generated so that the motor torque is generated. Control the adjusting means. Therefore, even when the road gradient is different, the increase / decrease in acceleration / deceleration due to gravity is taken into consideration, and the motor torque is controlled to achieve the required value of vehicle acceleration / deceleration. The driver can obtain the same vehicle acceleration / deceleration with respect to the accelerator operation even on roads with different road gradients, reducing the driver's burden of adjusting the amount of accelerator operation in accordance with the road gradient, and driving more It becomes easy.
[0061]
Further, in the present invention, the required value of the vehicle acceleration / deceleration is determined to be equal to or higher than the lower limit value set by the lower limit value setting means, so that the required value of the vehicle acceleration / deceleration is too low and the regenerative torque becomes too large. The situation of being locked is avoided. Therefore, the burden on the driver who takes into account the amount of accelerator operation so that the wheels do not lock is reduced, and driving becomes easier.
[0062]
Further, in the present invention, since the required value of the vehicle acceleration / deceleration is determined to be equal to or less than the upper limit value set by the upper limit value setting means, the required value of the vehicle acceleration / deceleration is too high and the output torque becomes too large. The situation of idling is avoided. Therefore, the burden on the driver who considers the amount of accelerator operation so that the wheel does not idle is reduced, and driving becomes easier.
[0063]
In the present invention, the driving condition detecting means is configured to detect the operating state of the wiper and the running vehicle weight as the driving condition, so that it is possible to easily detect a situation in which the wheel is likely to be locked or slipping. It becomes.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a system of an electric vehicle equipped with a motor control device according to a first embodiment of the present invention.
2 is a block diagram showing a configuration of an ECU of the motor control device of FIG. 1. FIG.
FIG. 3 is an explanatory diagram showing travel conditions suitable for each acceleration / deceleration function stored in the acceleration / deceleration function storage means;
FIG. 4 is an explanatory diagram showing normal mode functions stored in an acceleration / deceleration function storage means;
FIG. 5 is an explanatory diagram showing a normal mode function, a quick mode function, and a slow mode function.
FIG. 6 is an explanatory diagram showing the contents of a maximum vehicle deceleration automatic setting map.
FIG. 7 is an explanatory diagram showing a required value of vehicle acceleration / deceleration adjusted in accordance with settings of maximum vehicle deceleration and maximum vehicle acceleration.
FIG. 8 is an explanatory diagram showing the contents of a maximum vehicle acceleration automatic setting map.
FIG. 9 is a flowchart showing the operation of the motor control device of FIG. 1;
FIG. 10 is a block diagram showing a system of an electric vehicle including a motor control device according to a second embodiment of the present invention.
FIG. 11 is an explanatory diagram showing a map used during low-speed traveling in order to select a control function from the acceleration / deceleration function stored in the acceleration / deceleration function storage means;
FIG. 12 is an explanatory diagram showing a map used during medium-speed traveling in order to select a control function from the acceleration / deceleration function stored in the acceleration / deceleration function storage means;
FIG. 13 is an explanatory diagram showing a map used during high-speed running in order to select a control function from the acceleration / deceleration function stored in the acceleration / deceleration function storage means;
FIG. 14 is an explanatory diagram showing a control value of a motor torque corresponding to an accelerator opening in a conventional motor control device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Motor, 7 Power control unit (PCU), 9 Battery, 11 Mode selection switch, 13 Accelerator opening sensor, 15 Vehicle speed sensor, 17 Road gradient sensor, 19 Wiber switch, 21 Vehicle weight sensor, 23 Accelerator opening / closing acceleration sensor, 31 Electronic control unit (ECU), 33 inverter, 35 acceleration / deceleration function storage means, 37 selection means, 39 acceleration / deceleration determination means, 41
Lower limit value setting means, 43 Upper limit value setting means, 45 Control means.

Claims (5)

In the motor control device for adjusting the motor torque by controlling the current adjusting means connected to the motor based on the accelerator operation of the vehicle driver,
Acceleration / deceleration function storage means for storing a plurality of acceleration / deceleration functions for determining a vehicle acceleration / deceleration request value from the accelerator operation amount;
Selecting means for selecting a control acceleration / deceleration function from the plurality of acceleration / deceleration functions;
An accelerator operation amount detecting means for detecting an accelerator operation amount;
Acceleration / deceleration determining means for determining a required value of vehicle acceleration / deceleration in accordance with a control acceleration / deceleration function selected by the selection means based on a detected value of an accelerator operation amount;
Control means for controlling the current adjusting means so as to generate a motor torque necessary for setting the vehicle acceleration / deceleration to the required value determined by the acceleration / deceleration determining means;
Vehicle speed detecting means for detecting the vehicle speed;
An accelerator operation acceleration detecting means for detecting an accelerator operation acceleration;
Including
The acceleration / deceleration function is
A function for quick mode in which the inclination of the required value of the vehicle acceleration / deceleration with respect to the accelerator operation amount is large, and a function for slow mode in which the inclination of the required value of the vehicle acceleration / deceleration with respect to the accelerator operation amount is small,
The selection means includes
Based on the accelerator operation amount, vehicle speed, and accelerator operation acceleration, the area for selecting the function for quick mode is wider when driving at low speed, and the area for selecting the function for slow mode is set wider when driving at high speed. Motor control device. The motor control device according to claim 1 ,
Including a slope detection means for detecting a road slope;
The control means determines a motor torque necessary for setting the vehicle acceleration / deceleration to the required value determined by the acceleration / deceleration determination means based on the road gradient detected by the gradient detection means, and the motor torque A motor control device that controls the current adjusting means so as to generate the noise. In the motor control device according to claim 1 or 2 ,
Traveling condition detecting means for detecting the traveling condition;
Lower limit value setting means for setting a lower limit value of the vehicle acceleration / deceleration based on the running condition,
The motor control device, wherein the acceleration / deceleration determining means determines a required value of vehicle acceleration / deceleration to be equal to or greater than the lower limit value set by the lower limit value setting means. The motor control device according to any one of claims 1 to 3
Traveling condition detecting means for detecting the traveling condition;
An upper limit value setting means for setting an upper limit value of the vehicle acceleration / deceleration based on the running condition,
The acceleration / deceleration determining means determines a required value of vehicle acceleration / deceleration to be equal to or less than the upper limit value set by the upper limit value setting means. In the motor control device according to claim 3 or 4 ,
The motor control apparatus according to claim 1, wherein the driving condition detecting means detects an operating state of a wiper and a running vehicle weight as the driving condition.

Images