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公开(公告)号：US20240270086A1
公开(公告)日：2024-08-15
申请号：US18687227
申请日：2021-08-30
CPC分类号： B60L15/20 , H02P21/05 , H02P21/20 , H02P21/22 , B60L2240/423
摘要： A control method for an electric vehicle equipped with an electric motor as a driving source, the method including: setting a torque target value as a target value related to a driving torque of the electric vehicle based on vehicle information; calculating a basic feedback compensation value based on a parameter indicating a rotation state of the electric motor and a vehicle model of the electric vehicle; calculating a first feedback compensation value by multiplying the basic feedback compensation value by a first gain; calculating a second feedback compensation value by extracting a predetermined specific frequency component from the basic feedback compensation value and multiplying the specific frequency component by a second gain; calculating a torque command value by correcting the torque target value by the first feedback compensation value and the second feedback compensation value; and driving the electric motor based on the torque command value.
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2.发明申请公开(公告)号：US20180015840A1
公开(公告)日：2018-01-18
申请号：US15546096
申请日：2015-01-26
发明人： Akira SAWADA , Ken ITO , Takashi NAKAJIMA , Yuji KATSUMATA , Hiroyuki KOMATSU
CPC分类号： B60L15/20 , B60L7/22 , B60L2240/423 , B60L2250/26 , Y02T10/7241 , Y02T10/7275
摘要： a control device for electric motor vehicle uses the motor as the traveling driving source. The control device for electric motor vehicle is configured to decelerate by the regenerative braking force from the motor. The control device for electric motor vehicle is configured to detect the amount of the accelerator operation, detect the motor rotation speed proportionate to the traveling speed of the electric motor vehicle, and calculate the motor rotation speed estimated value according to the state of the electric motor vehicle. Additionally, the control device for electric motor vehicle is configured to detect or estimate the resistance component unrelated to the gradient from the vehicle state and correct the motor rotation speed estimated value according to the resistance component. Further, the control device for electric motor vehicle is configured to calculate the feedback torque to stop the electric motor vehicle based on the motor rotation speed and calculate the feedforward torque to compensate the feedback torque based on the corrected motor rotation speed estimated value. The control device for electric motor vehicle is configured to calculate the motor torque command value and control the motor based on the calculated motor torque command value. When the amount of the accelerator operation is equal to or less than the predetermined value and the electric motor vehicle is just before the stop of the vehicle, the motor torque command value is converged to 0 based on the feedback torque and the feedforward torque together with the reduction in the traveling speed.
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公开(公告)号：US20230286392A1
公开(公告)日：2023-09-14
申请号：US17909185
申请日：2020-03-06
发明人： Akira SAWADA
IPC分类号： B60L15/20
CPC分类号： B60L15/20 , B60L2240/14 , B60L2240/423 , B60L2240/465 , B60L2250/28 , B60L2260/28 , B60L2260/42
摘要： A control method of an electric vehicle using one or a plurality of motors as a traveling drive source, includes: a motor torque command value calculating step that calculates a motor torque command value; an angular velocity detecting step that detects an angular velocity correlating with a rotation speed of a drive shaft which transmits a drive force of the motor to a drive wheel; a disturbance torque estimating step that estimates a disturbance torque acting on the motor based on the motor torque command value and the angular velocity; a limiting torque setting step that sets a limiting torque corresponding to the disturbance torque in a manner that a slipping rate of the drive wheel does not exceed a first predetermined value; and a motor torque limiting step that limits the motor torque command value using the limiting torque.
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公开(公告)号：US20220379732A1
公开(公告)日：2022-12-01
申请号：US17771213
申请日：2019-10-28
摘要： A control method for an electric vehicle using a motor as a traveling drive source to decelerate by a regenerative braking force of the motor, including: obtaining an accelerator operation amount; estimating a disturbance torque acting on a vehicle body of the electric vehicle; obtaining an angular velocity of a rotating body that correlates to a rotation speed of a drive shaft which drives the electric vehicle; calculating a first torque command value based on the accelerator operation amount; setting the first torque command value to a torque command value; controlling a torque generated in the motor based on the torque command value; setting a target stop position at the time of stopping the electric vehicle; calculating a target angular velocity of the rotating body according to a distance from the electric vehicle to the target stop position; calculating a second torque command value for stopping the electric vehicle at the target stop position based on a difference between the target angular velocity and the obtained angular velocity; and converging the torque command value to the disturbance torque by setting the second torque command value to the torque command value and adjusting the braking and driving forces of the motor according to a distance to the target stop position, when the accelerator operation amount decreases or becomes zero and the electric vehicle is about to stop.
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公开(公告)号：US20190337398A1
公开(公告)日：2019-11-07
申请号：US16317854
申请日：2016-07-29
发明人： Kengo FUJIWARA , Akira SAWADA , Sho OHNO
摘要： A vehicle control device for decelerating by the regenerative braking of a motor connected to a drive shaft of a drive wheel calculates a torque command value for suppressing a vibration component of the drive shaft by feeding back a torsional angular velocity of the drive shaft to a desired torque that determines the power of the motor and controls the operation of the motor on the basis of the torque command value. The control device estimates a dead zone section, in which the torque of the motor in the vehicle is not transmitted to the drive shaft, on the basis of the desired torque and limits the torque command value in the case where the vehicle is in the dead zone section.
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公开(公告)号：US20230249558A1
公开(公告)日：2023-08-10
申请号：US18134739
申请日：2023-04-14
发明人： Hiroyuki KOMATSU , Jun MOTOSUGI , Akira SAWADA , Yui ITO
IPC分类号： B60L15/20
CPC分类号： B60L15/20 , B60L2240/12 , B60L2240/423 , B60L2240/642
摘要： An electric vehicle control method for controlling a motor based on a torque command value in an electric vehicle includes: a disturbance torque estimation process of calculating a disturbance torque estimation value including an influence of a road surface gradient; a speed parameter acquisition process of acquiring a speed parameter relating to a vehicle speed; and a vehicle state control including a stop process of calculating a stopping basis torque target value so as to converge the torque command value to the disturbance torque estimation value in accordance with a decrease in the speed parameter, and a vibration damping process of calculating a stopping correction torque target value by performing filtering on the stopping basis torque target value.
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公开(公告)号：US20220258617A1
公开(公告)日：2022-08-18
申请号：US17625443
申请日：2020-03-06
发明人： Hiroyuki KOMATSU , Jun MOTOSUGI , Akira SAWADA , Yui ITO
IPC分类号： B60L15/20
摘要： Provided is an electric vehicle control method. The electric vehicle control method includes: a disturbance torque estimation process of calculating a disturbance torque estimation value including an influence of a road surface gradient; a speed parameter acquisition process of acquiring a speed parameter relating to a vehicle speed; a stop process of calculating a stopping basis torque target value so as to converge a torque command value to the disturbance torque estimation value in accordance with a decrease of a speed parameter; and a vibration damping process of calculating a stopping correction torque target value by performing filterring on the stopping basis torque target value. In the vibration damping process, the torque command value is set based on the stopping basis torque target value in a first just-before-stop period set in a relatively high vehicle speed range, and is set based on the stopping correction torque target value in a second just-before-stop period set in a relatively low vehicle speed range.
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公开(公告)号：US20180244158A1
公开(公告)日：2018-08-30
申请号：US15754755
申请日：2016-08-10
发明人： Hiroyuki KOMATSU , Ken ITOU , Takashi NAKAJIMA , Yuuji KATSUMATA , Akira SAWADA
CPC分类号： B60L7/26 , B60L7/14 , B60L7/18 , B60L7/24 , B60L15/20 , B60L15/2009 , B60L2240/12 , B60L2240/423 , B60L2240/425 , B60L2250/26 , B60W10/08 , B60W10/18 , B60W30/18127 , B60W2400/00 , B60W2510/081 , B60W2510/083 , B60W2520/04 , B60W2540/10 , B60W2710/083 , B60W2710/18 , Y02T10/645 , Y02T10/7275
摘要： the control device for electric vehicle in the first embodiment, in the electric vehicle including the motor that functions as the traveling driving source and provides a regenerative braking force to the vehicle, and the friction brakes that provide the friction braking force to the vehicle, detects the motor rotation speed proportionate to a running speed of this electric vehicle, estimates the disturbance torque that acts on the motor, and performs the control such that the motor torque command value converges to the disturbance torque estimated value as the motor rotation speed decreases. Then, when the motor rotation speed becomes almost 0, the control device performs the control such that the friction-braking-amount command value with respect to the friction brakes converges to a value determined on the basis of the disturbance torque estimated value, and causes the motor torque command value to converge to almost 0.
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公开(公告)号：US20180015925A1
公开(公告)日：2018-01-18
申请号：US15545785
申请日：2015-01-26
发明人： Hiroyuki KOMATSU , Ken ITO , Takashi NAKAJIMA , Yuji KATSUMATA , Akira SAWADA
IPC分类号： B60W30/18 , B60L7/10 , B60W40/105 , B60W10/08 , B60W10/184
CPC分类号： B60W30/18127 , B60L7/10 , B60L7/24 , B60L15/20 , B60L2260/22 , B60T1/10 , B60T7/12 , B60T8/17 , B60T13/586 , B60T13/588 , B60T2230/04 , B60T2270/604 , B60T2270/82 , B60W10/08 , B60W10/184 , B60W30/18118 , B60W40/10 , B60W40/105 , B60W2510/081 , B60W2510/083 , B60W2520/10 , B60W2540/10 , B60W2550/142 , B60W2710/18 , F16D61/00 , Y02T10/7241 , Y02T10/7275
摘要： The device that generates the friction braking force to decelerate the vehicle estimates the disturbance torque acting on the vehicle. When the accelerator operation amount is equal to or less than the predetermined value and the vehicle is just before the stop of the vehicle, the control device for vehicle causes the friction braking amount to converge to the friction braking amount to the value decided on the basis of the disturbance torque estimated value Td in conjunction with the reduction in the motor rotation speed (speed parameter) proportionate to the traveling speed of the vehicle.
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10.发明申请公开(公告)号：US20160297303A1
公开(公告)日：2016-10-13
申请号：US15100886
申请日：2013-12-02
发明人： Akira SAWADA , Ken ITO , Takashi NAKAJIMA , Yuji KATSUMATA , Hiroyuki KOMATSU
CPC分类号： B60L7/14 , B60L3/08 , B60L7/18 , B60L15/20 , B60L15/2018 , B60L2240/12 , B60L2240/421 , B60L2240/423 , B60L2240/642 , B60L2250/26 , H02P3/06 , H02P3/14 , H02P3/18 , Y02T10/645 , Y02T10/7275 , Y02T10/7291 , Y02T90/16
摘要： A control device for electric motor vehicle is configured to decelerate by a regenerative braking force of the motor when an accelerator operation amount decreases or becomes zero. The control device detects the accelerator operation amount, calculates a motor torque command value, and controls the motor on the basis of the motor torque command value calculated. The control device detects a speed parameter proportional to a traveling speed and calculates a feedback torque for stopping the vehicle on the basis of the speed parameter detected. The control device also estimates a disturbance torque acting on the motor and converges, as the speed parameter is reduced, the motor torque command value to the disturbance torque on the basis of the feedback torque when the accelerator operation amount decreases or becomes zero and the electric motor vehicle stops shortly. The control device adjusts the feedback torque according to the disturbance torque.
摘要翻译： 电动车辆的控制装置被构造为当加速器操作量减少或变为零时，通过电动机的再生制动力减速。 控制装置检测加速器操作量，计算马达转矩指令值，并根据计算出的马达转矩指令值来控制马达。 控制装置检测与行驶速度成比例的速度参数，并且基于检测到的速度参数来计算用于停止车辆的反馈转矩。 控制装置还基于当加速器操作量减少或变为零时的反馈转矩，估计作用在电动机上的扰动转矩并随着速度参数的减小而将电动机转矩指令值收敛到干扰转矩，并且电动 汽车不久就停下来。 控制装置根据干扰转矩调节反馈转矩。
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