JP2003199214A - Motor-driven vehicle driving and controlling device, motor-driven vehicle driving and controlling method, and program therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent a shock from occurring in a vehicle-driving device when control is switched between first and second control modes. <P>SOLUTION: This device comprises a motor-driven machine; a control switching means 91 that switches the first control mode and the second control mode; an initial value setting means 92 that sets as an initial value a control variable for the first control mode at a control switching timing; a change rate maintaining means 93 that maintains the change rate of the control variable for the second control mode in connection with the control switching; and a motor-driven machine controlling means 94 that controls the motor-driven machine by the second control mode based on the initial value and the maintained change rate. The control variable is set as the initial value and the change rate of the control variable for the second control mode is maintained so that no abrupt change is caused to occur in the torque of the motor-driven machine. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle drive control device, an electric vehicle drive control method, and a program thereof.

[0002]

2. Description of the Related Art Conventionally, an electric vehicle, for example, an electric vehicle, is provided with a vehicle drive device, and rotation generated by driving a drive motor as an electric machine provided in the vehicle drive device is applied to drive wheels. It is designed to transmit and drive electric vehicles. Then, a drive motor control device is arranged to drive the drive motor, and in the drive motor control device, the torque of the drive motor, that is,
Torque control as a first control mode for controlling the drive motor torque and rotation speed control as a second control mode for controlling the rotation speed of the drive motor, that is, drive motor rotation speed are performed.

By the way, in the drive motor controller,
When the control of the drive motor is switched from torque control to rotation speed control, a sudden change occurs in the drive motor torque,
A control switching device is provided to prevent a shock from occurring (see Japanese Patent Laid-Open No. 2001-78873).

In this case, the control switching device is provided with a proportional device and an integrator, the rotational speed control is performed by PI (proportional integral) control, and the detected drive motor rotational speed is N.
And the drive motor speed command value representing the drive motor rotation speed command value is N ^* , the drive motor speed command value N
The deviation δN δN = N ^* -N between ^* and the drive motor rotation speed N is input to the proportional and integrator.

When torque control is performed, the drive motor rotation speed N is used in place of the drive motor speed command value N ^* so that the deviation δN becomes zero (0), and the integrator is initialized. The value is set to the drive motor torque command value T ^* that represents the command value of the drive motor torque T.

Further, when the control is switched from the torque control to the rotational speed control to perform the rotational speed control, the original deviation δN is input to the proportional and integrator, and the feedback control is performed. Then, the drive motor torque command value T ^* immediately before the switching is set in the integrator as the initial value of the rotation speed control.

[0007]

However, regarding the drive motor torque T in the conventional control switching device, the drive motor torque command value T ^* immediately before the switching ^.
Is set in the integral term of the PI control as the initial value of the rotation speed control, so that the drive motor torque T does not change abruptly when the torque control is switched to the rotation speed control. There is a possibility that the change rate of the drive motor rotation speed N may change rapidly with the switching of the control to the rotation speed control. In that case, the drive motor torque T changes with the change of the change rate of the drive motor rotation speed N. The change rate of fluctuates, causing a shock to the vehicle drive device.

The present invention solves the problems of the conventional control switching device, and a shock is generated in the vehicle drive device when the control is switched between the first control mode and the second control mode. It is an object of the present invention to provide an electric vehicle drive control device, an electric vehicle drive control method, and a program therefor capable of preventing the above.

[0009]

To this end, in the electric vehicle drive control device of the present invention, an electric machine and control switching processing means for switching the control of the electric machine from the first control mode to the second control mode. And initial value setting processing means for setting a control variable for the first control mode as an initial value at the control switching timing, and a rate of change of the control variable for the second control mode accompanying the control switching. And a change rate maintaining processing means for maintaining the above, and an electric machine control processing means for controlling the electric machine in the second control mode based on the initial value and the maintained change rate.

In another electric vehicle drive control device of the present invention, the control variable in the first control mode is a detection value at the switching timing.

In still another electric vehicle drive control device of the present invention, the control variable in the first control mode is a command value at the switching timing.

In still another electric vehicle drive control device of the present invention, an upper limit value is set for the change rate.

In still another electric vehicle drive control device of the present invention, an electric machine, a control switching processing means for switching control of the electric machine from torque control to rotation speed control, and torque control at the switching timing of the control. Initial value setting processing means for setting a command value for the control as an initial value of PI control, a change rate maintaining processing means for maintaining a change rate of the command value for rotation speed control accompanying the switching of the control, and the initial value. And an electric machine control processing means for controlling the electric machine by rotational speed control based on the maintained change rate.

In still another electric vehicle drive control device of the present invention, an electric machine, control switching processing means for switching control of the electric machine from rotational speed control to torque control, and rotational speed control at the switching timing of the control. Value setting processing means for setting a PI control value as an initial value for the control, a change rate maintaining processing means for maintaining a change rate of a command value for torque control accompanying the switching of the control, the initial value and And an electric machine control processing means for controlling the electric machine by torque control based on the maintained rate of change.

In the electric vehicle drive control method of the present invention, the control of the electric machine is further switched from the first control mode to the second control mode, and the control for the first control mode at the switching timing of the control is performed. A variable is set as an initial value, the rate of change of the control variable for the second control mode associated with the switching of the control is maintained, and the motor is driven in the second control mode based on the initial value and the maintained rate of change. Control the machine.

In the program of the electric vehicle drive control method of the present invention, the computer controls the electric machine first.
Control switching processing means for switching from the control mode to the second control mode, initial value setting processing means for setting the control variable for the first control mode at the control switching timing as an initial value, and with the switching of the control. Change rate maintaining processing means for maintaining the change rate of the control variable for the second control mode, and electric machine control for controlling the electric machine in the second control mode based on the initial value and the maintained change rate. Make it function as a processing means.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In this case, an electric vehicle as an electric vehicle that does not include an engine but includes only a drive motor as an electric machine will be described. The present invention can be applied to a hybrid vehicle including an engine and a drive motor, a hybrid vehicle including an engine, a generator, and a drive motor as an electric vehicle.

FIG. 1 is a functional block diagram of an electric vehicle drive control device according to the first embodiment of the present invention.

In the figure, 25 is a drive motor as an electric machine, 91 is a control switching processing means for switching the control of the drive motor 25 from the first control mode to the second control mode, and 92 is the switching timing of the control. Initial value setting processing means for setting the control variable for the first control mode as an initial value, and 93 is a change rate maintaining process for maintaining the change rate of the control variable for the second control mode accompanying the switching of the control. Means 94 is an electric machine control processing means for controlling the drive motor 25 in the second control mode based on the initial value and the maintained rate of change.

Next, an electric vehicle drive control device as an electric vehicle drive control device for driving an electric vehicle will be described.

FIG. 2 is a schematic diagram showing a main part of an electric vehicle drive control device according to the first embodiment of the present invention, and FIG. 3 shows an operation of the electric vehicle drive control device according to the first embodiment of the present invention. FIG. 4 is a flowchart showing the operation of the rotation speed command value determining unit according to the first embodiment of the present invention, and FIG. 5 is an operation of the electric vehicle drive control device according to the first embodiment of the present invention. It is a time chart.

In the figure, reference numeral 25 denotes a drive motor as an electric machine. The drive motor 25 includes a stator (not shown) and a rotor (not shown) rotatably arranged radially inward of the stator. The stator includes a stator core and a coil wound around the stator core, and the rotor includes a rotor core and permanent magnets arranged at a plurality of positions in the circumferential direction of the rotor core. A resolver 15 as a magnetic pole position detector is arranged on the output shaft 14 connected to the rotor, and the resolver 15 detects the magnetic pole position θm of the rotor.

Further, 29 is an inverter as a drive motor control device, 43 is a battery as a power source for running an electric vehicle, 49 is a drive motor control device for controlling the drive motor 25, and The motor control device 49 includes a CPU, a recording device, and the like (not shown), and functions as a computer based on a predetermined program, data, and the like. The inverter 29 is connected to the battery 43 via the DC cables CB1 and CB2, and a DC current is supplied from the battery 43. Further, a drive motor inverter voltage sensor (V) 76 as a DC voltage detection unit is provided on the inlet side of the inverter 29 to detect the DC voltage applied to the inverter 29, that is, the drive motor inverter voltage VM. Is
The drive motor inverter voltage VM detected by the drive motor inverter voltage sensor 76 is sent to the drive motor control device 49.

Then, the drive motor controller 49 sends a drive signal SG1 to the inverter 29 to drive the drive motor 25. The drive motor rotation speed calculation processing means (not shown) of the drive motor control device 49 performs the drive motor rotation speed calculation processing, reads the magnetic pole position θm, and calculates the change rate Δθm of the magnetic pole position θm to calculate the drive motor. The rotation speed of 25, that is, the drive motor rotation speed NM is calculated.

Reference numeral 51 designates the drive motor controller 4
9 is a vehicle control device that controls the entire electric vehicle, and the vehicle control device 51 is a CP (not shown).
U, a recording device, etc., and functions as a computer based on a predetermined program, data, and the like.

The inverter 29 outputs the drive signal SG
Driven in accordance with No. 1 and receives a DC current from the battery 43 during power running to generate currents IMU, IMV, IMW for each phase, supplies the currents IMU, IMV, IMW for each phase to the drive motor 25, and drives during regeneration. The currents IMU, IMV, and IMW of the respective phases are received from the motor 25, a direct current is generated and supplied to the battery 43.

Reference numeral 53 is a shift position sensor for detecting the position of the shift lever 16 serving as a gear shift operation unit, that is, the shift position SP, and 55 is the position (depression amount) of the accelerator pedal 17, that is, the accelerator pedal position AP. An accelerator switch serving as an engine load detection unit and an accelerator operation detection unit, 62 is a brake switch as a brake operation detection unit that detects the position (depression amount) of the brake pedal 18, that is, the brake pedal position BP, and 68 and 69, respectively. Current of each phase IMU, I
It is a current sensor as an alternating current detection unit that detects MV. The currents IMU and IMV are the drive motor control device 4
9 is supplied.

The vehicle control device 51 has a command value, which is a control variable for performing the torque control as the first electric machine control, of the operation mode determining unit 21, the control switching unit 22, and the drive motor 25, in the present embodiment. In the embodiment, the torque command value determination unit 24 that determines the drive motor torque command value TML ^* ,
A command value that is a control variable for performing rotation speed control as the second electric machine control of the drive motor 25, and in the present embodiment, a rotation speed command value determination that determines the drive motor rotation speed command value NML ^*. Unit 23, PI control unit 26 as a feedback control unit for performing feedback control,
The adder 33 and the like are provided.

The operation mode determination unit 21 reads the shift position SP detected by the shift position sensor 53, the accelerator pedal position AP detected by the accelerator switch 55, and the brake pedal position BP detected by the brake switch 62. , A first control mode for performing torque control or a second control mode for performing rotational speed control is determined, and a switching signal SG2 for switching between the first and second control modes is generated, It is sent to the control switching unit 22.

Further, the operation mode determining unit 21 is illustrated.
Drive motor torque command value setting processing means
Torque torque command value setting process and perform the torque control.
Drive motor torque TM when driving
Dynamic motor torque command value TMF ^*Set the operating mode
Drive motor rotation speed command value setting (not shown) of the constant unit 21
The processing means performs drive motor rotation speed command value setting processing.
Drive motor rotation speed NM when performing rotation speed control
Motor rotation speed command value NM representing the rotation speed command value
F^*To set. Then, the operation mode determination unit 21
Generates a switching signal SG2 that determines the first control mode.
Drive motor torque command value TMF
^*The switching signal SG2 for determining the second control mode is issued.
Drive motor rotation speed command value NMF when generated
^*Is sent to the control switching unit 22.

Control switching processing means 9 of the control switching unit 22
1 performs a control switching process and, when receiving the switching signal SG2, switches the torque control and the rotational speed control based on the switching signal SG2, and drives when receiving the switching signal SG2 that determines the first control mode. Motor torque command value TMF
^{When the} torque command value determination unit 24 receives ^* and the switching signal SG2 that determines the second control mode, the drive motor rotation speed command value NMF ^* is sent to the rotation speed command value determination unit 23.

The rotation speed command value determining unit 23 is
When the drive motor rotation speed command value NMF ^* is received, the drive motor rotation speed command value NML ^* is generated based on the drive motor rotation speed command value NMF ^* , and the drive motor rotation speed command value NML ^{* is set} to the PI control unit. Send to 26.

Then, the PI control unit 26 uses the proportional unit 3
1, an integrator 32 and an adder 33. A deviation calculation processing means (not shown) of the PI control unit 26 performs a deviation calculation process to calculate the drive motor rotation speed command value NML ^* from the rotation speed command value determination unit 23 and the drive motor rotation speed calculation from the drive motor control device 49. The drive motor rotation speed NM calculated by the processing means is received, and the deviation ΔN between the drive motor rotation speed command value NML ^* and the drive motor rotation speed NM is received.
Calculate M. Then, the proportioner 31 causes the deviation Δ
NM is proportionally multiplied by a predetermined constant, the integrator 32 integrates the deviation ΔNM with time, the adder 33 adds the outputs of the proportionalizer 31 and the integrator 32, and the added value is the drive motor target. The torque TM ^* is sent to the drive motor controller 49.

By the way, when the torque of the drive motor 25 is controlled, the switching signal SG2 for determining the first control mode is selected.
Is sent to the control switching unit 22, and accordingly, the drive motor torque command value TMF ^* is sent to the torque command value determination unit 24, but the drive motor rotation speed command value NMF ^* is sent to the rotation speed command value determination unit 23. I can't send it.

The drive motor torque command value TMF^*But
As it is sent to the torque command value determination unit 24, the drive mode
Data torque command value TMF^*Is the drive motor torque command value T
ML ^*And the drive motor torque command value TM is determined as
L^*Drive motor target torque TM^*Drive motor control as
It is sent to the control device 49.

When the torque control is performed in this manner, the control signal is switched to the rotational speed control, and the switching signal SG2 for determining the second control mode is sent to the control switching section 22. Drive motor rotation speed command value NMF ^*
Is sent to the rotation speed command value determination unit 23,
The drive motor torque command value TMF ^* is not sent to the torque command value determination unit 24.

The rotation speed control processing means (not shown) of the electric machine control processing means 94 performs rotation speed control processing, and the PI control unit 26 receives the drive motor rotation speed command received from the rotation speed command value determination unit 23. Value NML ^*
And a deviation δNM from the driving motor rotation speed NM received from the driving motor control device 49 are calculated, and the deviation δNM is sent to the proportionalizer 31 and the integrator 32. As a result, the PI control unit 26
At PI, the rotational speed control by feedback control is performed, and in the adder 33, the outputs of the proportional unit 31 and the integrator 32 are added, and the added value is used as the drive motor target torque TM ^*.
Sent to 9.

By the way, when the control of the drive motor 25 is switched from the torque control to the rotation speed control, a sudden change in the drive motor torque TM causes a shock to the vehicle drive device. Therefore, the initial value setting processing means 92 of the PI control unit 26 performs the initial value setting process, the switching signal SG2 is sent to the control switching unit 22, and the control of the drive motor 25 is switched from the torque control to the rotational speed control. Timing immediately before (hereinafter referred to as "first switching timing"
Say. It reads the drive motor torque command value TML ^* in), and the drive motor torque command value TML ^* the switching drive motor torque command value TMLC ^*, as the initial value of the rotational speed control The sections-over drive motor torque command value TMLC ^* Set in the integrator 32. It should be noted that if a detected value, which is a control variable at the first switching timing, for example, the drive motor torque TM can be calculated or detected by a predetermined method, it is calculated or detected. The drive motor torque TM (hereinafter, referred to as "actual drive motor torque TMx") can be set in the integrator 32 as an initial value of the rotation speed control. Further, the timing immediately after the control of the drive motor 25 is switched from the torque control to the rotation speed control may be the first switching timing.

Then, the initial value setting processing means 92
The detected value, which is the control variable read at the first switching timing, in the present embodiment, the drive motor rotation speed NM (hereinafter referred to as "actual drive motor rotation speed NMx") is the drive motor rotation speed command value NML. ^* and then, to set the deviation δNM (= 0). Instead of the actual drive motor rotation speed NMx, a command value that is a control variable for the rotation speed control at the first switching timing, for example, the drive motor rotation speed command value NML ^* is set as the initial value of the rotation speed control. You can also do it.

In this way, the switching drive motor torque command value TML ^* immediately before the control is switched from the torque control to the rotation speed control is set to the initial value of the integrator 32, so that the control is changed from the torque control to the rotation speed. A sudden change in the drive motor torque TM will not occur as a result of switching to control.

By the way, when the change rate ΔNM of the drive motor rotation speed NM suddenly fluctuates as the control is switched from the torque control to the rotation speed control, the drive motor torque TM changes with the change of the change rate ΔNM. The rate ΔTM fluctuates, and the vehicle drive device is shocked.

Therefore, the first change rate maintaining processing means (not shown) as the change rate maintaining processing means 93 of the rotation speed command value determining section 23 performs the first change rate maintaining processing and sends it from the control switching section 22. It was, the command value is a control variable for the rotational speed control, in the present embodiment, while maintaining the drive motor rotational speed command value NMF ^* rate of change DerutaNMF ^*, the drive motor rotational speed command value NML ^* Then, the drive motor rotation speed command value NML ^* is sent to the PI control unit 26.

For this purpose, the change rate limiting processing means (not shown) of the first change rate maintaining processing means performs change rate limiting processing, and changes based on the drive motor rotation speed command value NMF ^* for each predetermined timing. The rate ΔNMF ^* is calculated, and the current rate of change Δ at the first switching timing is calculated.
NMF ^* is a preset upper limit value ΔNMFma
Determine if less than x. When the current rate of change ΔNMF ^* is smaller than the upper limit value ΔNMFmax,
As shown in FIG. 4, the first change rate maintaining processing means limits the change rate ΔNMF ^* by gradually increasing the change rate ΔNMF ^* by a minute value α as time (t) elapses. Determine the value NML ^* . The current change rate ΔNMF ^* is immediately before the control is switched from the torque control to the rotational speed control, but may be immediately after.

Then, the change rate ΔNMF ^* and the upper limit value Δ
When NMFmax becomes equal, thereafter, the first change rate limiting processing means sets the change rate ΔNMF ^* to the upper limit value ΔNMFm.
The drive motor rotation speed command value NML ^* is determined by limiting with ax.

[0045] In this way, the drive motor rotational speed command value NML ^* is determined, the drive motor rotational speed command value NML ^* is sent to the PI control unit 26, as described above, the rotational speed control The processing means calculates the drive motor target torque TM ^* based on the initial value and the change rate ΔNMF ^* , and sends the drive motor target torque TM ^* to the drive motor control device 49 to control the rotation speed.

As described above, the switching drive motor torque command value TMLC ^* is set as the initial value of the rotation speed control along with the switching of the control from the torque control to the rotation speed control, and the drive motor rotation speed command value is set. Since the rate of change ΔNMF ^* of NMF ^* is maintained, FIG.
As shown in (4), when the control is switched from the torque control to the rotational speed control at the timing t1, the drive motor torque TM does not suddenly change. In addition, the drive motor rotation speed NM does not suddenly change and the change rate ΔNM of the drive motor rotation speed NM does not suddenly change.
The rate of change ΔTM of does not change abruptly. Therefore, it is possible to prevent a shock from being generated in the vehicle drive device. In addition, in FIG. 5, the broken line shows the operation of the conventional electric vehicle drive control device.

Next, the operation of the drive motor controller 49 will be described. In this case, the drive motor controller 49
Is the d-axis in the direction of the magnetic pole pair of the rotor of the drive motor 25,
Feedback control is performed by vector control calculation on a dq axis model in which a q axis is taken in a direction perpendicular to the d axis.

First, a drive motor control processing means (not shown) of the drive motor control device 49 performs a drive motor control process to show the drive motor rotation speed NM, the drive motor target rotation speed NM ^* and a battery voltage detection unit. The battery voltage VB detected by the battery voltage sensor not read is read, the current command value map for drive motor control recorded in the recording device of the drive motor control device 49 is referred to, and the d-axis current command value IMd ^* and the q-axis are read ^. The current command value IMq ^* is calculated and determined.

Further, the drive motor control processing means reads the currents IMU and IMV from the current sensors 68 and 69 and calculates the current IMW IMW = IMU-IMV based on the currents IMU and IMV. The current IMW can be detected by a current sensor as well as the currents IMU and IMV.

Next, the drive motor control processing means is exchanged.
The flowing current calculation processing means performs the alternating current calculation processing,
Calculate d-axis current IMd and q-axis current IMq
To do. Therefore, the AC current calculation processing means is a three-phase
/ 2 phase conversion is performed and current IMU, IMV, IMW are d-axis
The current IMd and the q-axis current IMq are converted. And before
AC voltage command value calculation processing means of drive motor control processing means
The stage performs an AC voltage command value calculation process to obtain the d-axis current I
Md and q-axis current IMq, and the d-axis current command value I
Md^*And q-axis current command value IMq^*Voltage finger based on
Command value VMd^*, VMq^*To calculate. In addition, the drive mode
The data control processing means performs two-phase / three-phase conversion to generate a voltage command.
Value VMd^*, VMq^*The voltage command value VMU^*, VM
V^*, VMW ^*To the voltage command value VMU^*, VM
V^*, VMW^*Pulse width modulation signals SU, S based on
V and SW are calculated, and the pulse width modulation signals SU, SV and S are calculated.
W is a drive (not shown) of the drive motor controller 49.
Output to the processing means. The drive processing means is
Drive processing is performed and pulse width modulation signals SU, SV, S
A drive signal is sent to the inverter 29 based on W.

Next, the flow chart will be described. Step S1 Drive motor torque command value TMLC during switching
^* Is set as the initial value in the integral term, and the actual drive motor rotation speed NMx is set as the drive motor rotation speed command value NML ^* . Step S2 The current rate of change ΔNMF ^* is the upper limit value ΔNM
It is determined whether it is smaller than Fmax. When the current change rate ΔNMF ^* is smaller than the upper limit value ΔNMFmax, the current change rate ΔNMF ^* is set to the upper limit value ΔNM in step S3.
If it is greater than or equal to Fmax, the process proceeds to step S5. In step S3, the rate of change ΔNMF ^* is increased while being increased by a small value α, and is limited to determine the drive motor rotation speed command value NML ^* . Step S4 The rotation speed is controlled, and the process returns to step S2. In step S5, the change rate ΔNMF ^* is set to the upper limit value ΔNMFma.
The value is limited by x and the drive motor rotation speed command value NML ^* is determined. In step S6, the rotation speed is controlled and the process returns.

Next, a second embodiment of the present invention will be described.

FIG. 6 is a flow chart showing the operation of the electric vehicle drive control device according to the second embodiment of the present invention.
FIG. 7 is a diagram showing the operation of the torque command value determination unit according to the second embodiment of the present invention, and FIG. 8 is a time chart showing the operation of the electric vehicle drive control device according to the second embodiment of the present invention. .

In the present embodiment, there is provided a first control mode for performing rotation speed control as the first electric machine control,
The control is switched between the second control mode in which the torque control is performed as the second electric machine control.

When the rotational speed control is being performed, the control mode is switched to the torque control, and the switching signal SG2 (FIG. 2) for determining the second control mode is sent to the control switching section 22. The drive motor torque command value TMF ^* is sent to the torque command value determination unit 24, but the drive motor rotation speed command value NMF ^* is not sent to the rotation speed command value determination unit 23.

Then, torque control is performed on the basis of the drive motor torque command value TML ^* received from the torque command value determination unit 24, and the drive motor target torque TM ^* is generated and sent to the drive motor control device 49.

By the way, when the control of the drive motor 25 is switched from the rotation speed control to the torque control, a sudden change in the drive motor torque TM causes a shock to the vehicle drive device. Therefore, the initial value setting processing means (not shown) performs the initial value setting processing, and the switching signal SG2 is sent to the control switching unit 22 to immediately change the control of the drive motor 25 from the rotational speed control to the torque control ( Hereinafter, the value of the integral term in "the second switching timing") is set as the initial value of the torque control. Further, the timing immediately after the control of the drive motor 25 is switched from the rotational speed control to the torque control may be the second switching timing.

In this way, the value of the integral term immediately before the control is switched from the rotational speed control to the torque control is set to the initial value of the torque control, so that the control is switched from the rotational speed control to the torque control. Drive motor torque TM
There will be no sudden fluctuations in temperature.

By the way, if the rate of change ΔTM of the drive motor torque TM fluctuates greatly as the control is switched from the rotational speed control to the torque control, a shock will occur in the vehicle drive device.

Therefore, the rotation speed command value determining unit 23
The second change rate (not shown) as the change rate maintaining processing means 93
The conversion rate maintaining processing means performs the second change rate maintaining processing,
The control change for torque control sent from the control switching unit 22.
A command value that is an amount, in the present embodiment, a drive motor
Torque command value TMF^*Rate of change ΔTMF^*Keep
Drive motor torque command value TML^*The drive mode
Turtle command value TML ^*To the PI control unit 26.

Therefore, the change rate limiting processing means (not shown) of the second change rate maintaining processing means performs the change rate limiting processing, and based on the drive motor torque command value TMF ^* for each predetermined timing, the change rate limiting processing means ΔTMF ^* is calculated, and the current change rate Δ at the second switching timing is calculated.
TMF ^* is a preset upper limit value ΔTMFma
Determine if less than x. When the current rate of change ΔTMF ^* is smaller than the upper limit value ΔTMFmax,
As shown in FIG. 7, the second rate-of-change limiting processing means limits the rate of change ΔTMF ^* by gradually increasing the rate of change ΔTMF ^* by adding a small value β with the passage of time (t) to obtain a drive motor torque command value. Determine TML ^* . The current rate of change ΔTMF ^* is immediately before the control is switched from the rotational speed control to the torque control, but may be immediately thereafter.

Then, the change rate ΔTMF ^* and the upper limit value Δ
When TMFmax becomes equal, then the second change rate limiting processing means sets the change rate ΔTMF ^* to the upper limit value ΔTMFm.
The drive motor torque command value TML ^* is determined by limiting with ax.

When the drive motor torque command value TML ^* is determined in this way, the drive motor torque command value T
The ML ^* is sent to the PI control unit 26, and as described above,
The torque control processing means includes the initial value and the change rate ΔTM.
Calculating a F ^* to based drive motor target torque TM ^*, the drive motor target torque TM ^* to the drive motor controller 49
To control the torque.

As described above, with the switching of the control from the rotational speed control to the torque control, the value of the integral term at the time of switching is set as the initial value of the torque control and the change of the drive motor torque command value TMF ^* is set. Since the rate ΔTMF ^* is maintained, as shown in FIG. 8, as the control is switched from the rotational speed control to the torque control at the timing t11, a drastic change occurs in the drive motor torque TM. Will disappear. Further, the drive motor rotation speed NM does not change suddenly, and the change rate ΔTM of the drive motor torque TM does not change rapidly. Therefore, it is possible to prevent a shock from being generated in the vehicle drive device. In addition, in FIG. 8, the broken line shows the operation of the conventional electric vehicle drive control device.

Next, the flowchart will be described. In step S11, the value of the integral term at the time of switching is set as an initial value. Step S12: The current change rate ΔTMF ^* is the upper limit value ΔT
It is determined whether it is smaller than MFmax. If the current change rate ΔTMF ^* is smaller than the upper limit value ΔTMFmax, the current change rate ΔTMF ^* is set to the upper limit value Δ in step S13.
If TMFmax or more, the process proceeds to step S15. In step S13, the change rate ΔTMF ^* is increased by a small value β and is limited to determine the drive motor torque command value TML ^* . In step S14, torque control is performed, and the process returns to step S12. In step S15, the change rate ΔTMF ^* is set to the upper limit value ΔTMFm.
The drive motor torque command value TML ^* is determined by limiting with ax. In step S16, torque control is performed and the process returns.

The present invention is not limited to the above-mentioned embodiments, but can be variously modified within the scope of the present invention, and they are not excluded from the scope of the present invention.

[0067]

As described above in detail, according to the present invention, in the electric vehicle drive control device, the electric machine and
Control switching processing means for switching the control of the electric machine from the first control mode to the second control mode, and an initial value setting for setting a control variable for the first control mode at the control switching timing as an initial value. Processing means, a change rate maintaining processing means for maintaining a change rate of the control variable for the second control mode accompanying the switching of the control; and a second control mode based on the initial value and the maintained change rate. And an electric machine control processing means for controlling the electric machine.

In this case, the control variable for the first control mode at the control switching timing is set as an initial value, and the rate of change of the control variable for the second control mode accompanying the control switching is maintained. Therefore, abrupt fluctuations in the torque of the electric machine will not occur as the control switches from the first control mode to the second control mode. Further, not only does the rotation speed of the electric machine suddenly change and the rate of change of the rotation speed of the electric machine does not suddenly change, but also the rate of change of the torque of the electric machine changes abruptly. Disappear. Therefore, it is possible to prevent a shock from being generated in the vehicle drive device.

[Brief description of drawings]

FIG. 1 is a functional block diagram of an electric vehicle drive control device according to a first embodiment of the present invention.

FIG. 2 is a schematic diagram showing a main part of an electric vehicle drive control device according to the first embodiment of the present invention.

FIG. 3 is a flowchart showing an operation of the electric vehicle drive control device according to the first embodiment of the present invention.

FIG. 4 is a diagram showing an operation of a rotation speed command value determination unit according to the first embodiment of the present invention.

FIG. 5 is a time chart showing an operation of the electric vehicle drive control device according to the first embodiment of the present invention.

FIG. 6 is a flowchart showing an operation of the electric vehicle drive control device according to the second embodiment of the present invention.

FIG. 7 is a diagram showing an operation of a torque command value determination unit in the second embodiment of the present invention.

FIG. 8 is a time chart showing an operation of the electric vehicle drive control device according to the second embodiment of the present invention.

[Explanation of symbols]

25 drive motor 49 Drive motor controller 51 Vehicle control device 91 control switching processing means 92 initial value setting processing means 93 Change rate maintenance processing means 94 Electric machine control processing means

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 3D035 AA00 BA01                 5H115 PA01 PG04 PI11 PU01 QE17                       QN24 SE03 SE08                 5H550 AA16 FF02 FF04 JJ23

Claims (8)

[Claims] 1. An electric machine, control switching processing means for switching control of the electric machine from a first control mode to a second control mode, and a control variable for the first control mode at a switching timing of the control. Is set as an initial value, an initial value setting processing means, a change rate maintaining processing means for maintaining a change rate of the control variable for the second control mode accompanying the switching of the control, the initial value and the maintained change. An electric vehicle drive control device comprising: an electric machine control processing unit that controls an electric machine in a second control mode based on a rate. 2. The electric vehicle drive control device according to claim 1, wherein the control variable in the first control mode is a detection value at a switching timing. 3. The electric vehicle drive control device according to claim 1, wherein the control variable in the first control mode is a command value at a switching timing. 4. The electric vehicle drive control device according to claim 1, wherein an upper limit value is set for the change rate. 5. An electric machine, control switching processing means for switching control of the electric machine from torque control to rotation speed control, and a command value for torque control at the control switching timing is set as an initial value of PI control. Initial value setting processing means, change rate maintaining processing means for maintaining a change rate of a command value for rotation speed control accompanying the switching of the control, and rotation speed control based on the initial value and the maintained change rate. And an electric machine control processing means for controlling the electric machine. 6. An electric machine, control switching processing means for switching control of the electric machine from rotational speed control to torque control, and a PI control value for rotational speed control at the control switching timing is set as an initial value. Initial value setting processing means, change rate maintaining processing means for maintaining the rate of change of the command value for torque control accompanying the switching of the control, and torque control based on the initial value and the maintained change rate. An electric vehicle drive control device, comprising: an electric machine control processing unit that controls a machine. 7. The control of the electric machine is switched from a first control mode to a second control mode, and a control variable for the first control mode at the control switching timing is set as an initial value, An electric machine characterized in that the rate of change of the control variable for the second control mode due to switching is maintained, and the electric machine is controlled in the second control mode based on the initial value and the maintained rate of change. Vehicle drive control method. 8. The computer controls the electric machine first.
Control switching processing means for switching from the control mode to the second control mode, initial value setting processing means for setting the control variable for the first control mode at the control switching timing as an initial value, and with the switching of the control. Change rate maintaining processing means for maintaining the change rate of the control variable for the second control mode, and electric machine control for controlling the electric machine in the second control mode based on the initial value and the maintained change rate. A program of an electric vehicle drive control method, characterized by causing it to function as processing means.