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1.发明公开
公开(公告)号：EP4397525A1
公开(公告)日：2024-07-10
申请号：EP21955271.8
申请日：2021-08-30
IPC分类号： B60L15/20
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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公开(公告)号：EP3767819A1
公开(公告)日：2021-01-20
申请号：EP18909842.9
申请日：2018-03-16
摘要： An electric machine control method includes: calculating a voltage command value based on a torque command value to an electric machine; calculating a modulation rate based on a power-supply voltage and the voltage command value; calculating a compensation gain in accordance with the modulation rate, the compensation gain being used to linearize a relationship between a magnitude of the voltage command value and a magnitude of a fundamental wave component of an output voltage to the electric machine; calculating a compensated voltage command value based on the voltage command value and the compensation gain; controlling the output voltage to the electric machine based on the compensated voltage command value; and limiting the compensation gain to be equal to or less than a predetermined upper limit.
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公开(公告)号：EP3492305A1
公开(公告)日：2019-06-05
申请号：EP16910582.2
申请日：2016-07-29
发明人： FUJIWARA, Kengo , SAWADA, Akira , OHNO, Sho
IPC分类号： B60L15/20
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：EP3470284A1
公开(公告)日：2019-04-17
申请号：EP16904616.6
申请日：2016-06-08
发明人： FUJIWARA, Kengo , ITOU, Ken
摘要： The control method for the hybrid vehicle includes a rotation speed control torque calculation step of, based on a rotation speed command value for the electric generator and a rotation speed detection value of the electric generator, calculating a torque command value for controlling the rotation speed of the electric generator, and an electric generator control step of controlling the electric generator according to the torque command value. The rotation speed control torque calculation step calculates, using the model matching compensator and based on a value obtained by filtering the rotation speed detection value through the low-pass filter and the rotation speed command value, a basic torque command value that makes a torque response of the electric generator coincide with a preset model response, calculates, using the disturbance observer including the transfer function composed of the inverse system of the control object model patterned after a power transmission system of the electric generator connected to the engine via the gears and a disturbance observer filter, and based on the rotation speed detection value, a disturbance torque that is input into the power transmission system, and calculates the torque command value based on the basic torque command value and the disturbance torque. The relative degree of the disturbance observer filter is set so that the relative degree of the transfer function becomes 1 or more.
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公开(公告)号：EP4201723A1
公开(公告)日：2023-06-28
申请号：EP20951348.0
申请日：2020-08-24
发明人： KIKUCHI, Takahiro , FUJIWARA, Kengo
IPC分类号： B60K6/46
摘要： A method for controlling a hybrid vehicle is a method for controlling a hybrid vehicle having a power generation system in which an engine and a drive shaft are connected and which includes a power generator configured to rotate together with the engine, and a drive system that is connected to the power generation system and driven by receiving electric power supplied from a chargeable battery. In this control method, a rotational speed command value for the power generation system is derived in accordance with a state of the drive system, a torque command value for the power generation system is derived such that the rotational speed of the power generation system reaches the rotational speed command value, damping control to suppress a natural vibration component generated in a part via which the engine and power generator are connected is performed on the torque command value to calculate a final torque command value for the power generation system, and when system resonance could occur as a result of vibration of a component different from the natural vibration component, the torque command value is established as the final torque command value without performing the damping control.
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公开(公告)号：EP3446914B1
公开(公告)日：2020-03-25
申请号：EP16899502.5
申请日：2016-12-14
发明人： SAWADA, Akira , FUJIWARA, Kengo , OONO, Shou
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公开(公告)号：EP2621752A2
公开(公告)日：2013-08-07
申请号：EP11776845.7
申请日：2011-09-12
发明人： FUJIWARA, Kengo , ITO, Ken
CPC分类号： H02P31/00 , B60L15/20 , B60W10/08 , B60W30/20 , Y02T10/645 , Y02T10/72 , Y02T10/7275 , Y10T477/6808
摘要： A motor controlling apparatus includes a first target torque value calculator, a frequency detector, a second target torque value calculator, a torque command value calculator, a torque limiter, and a controller. The first target torque value calculator calculates a first target torque value, which is a target value of an output torque of a motor. The frequency detector detects a motor rotational frequency. The second target torque value calculator calculates a second target torque value based on the rotational frequency. The torque command value calculator mathematically combines (e.g., adds) the first and target torque values to calculate a torque command value. The torque limiter sets the signs of the first target torque value and the torque command value to be equal to limit the torque command value according to the first target torque value. The controller controls the motor based on the limited torque command value.
摘要翻译： 电动机控制装置包括第一目标转矩值计算器，频率检测器，第二目标转矩值计算器，转矩命令值计算器，转矩限制器和控制器。 第一目标转矩值计算器计算第一目标转矩值，该第一目标转矩值是电动机的输出转矩的目标值。 频率检测器检测电机旋转频率。 第二目标转矩值计算器基于转速计算第二目标转矩值。 转矩命令值计算器在数学上组合（例如，相加）第一转矩值和目标转矩值以计算转矩命令值。 扭矩限制器将第一目标扭矩值和扭矩命令值的符号设定为等于根据第一目标扭矩值限制扭矩命令值。 控制器根据限制的转矩指令值控制电动机。
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8.发明公开
公开(公告)号：EP4052951A1
公开(公告)日：2022-09-07
申请号：EP19951005.8
申请日：2019-10-28
IPC分类号： B60L15/20
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：EP2899878B1
公开(公告)日：2018-03-07
申请号：EP13838390.6
申请日：2013-08-12
摘要： A motor control device includes a switching element that controls a motor, a current control part that outputs a PWM signal for driving the switching element, and a setting part that sets a carrier frequency of the PWM signal. Further, a motor control part includes a torque ripple compensation part that sets a torque ripple compensation value based on a motor torque command value, the carrier frequency, and a rotation state of the motor. The current control part outputs the PWM signal based on the motor torque command value and the torque ripple compensation value.
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公开(公告)号：EP2899876A1
公开(公告)日：2015-07-29
申请号：EP13839229.5
申请日：2013-09-20
摘要： Provided is an inverter control device including: an inverter 6 configured to convert DC power inputted from a DC power supply into AC power and supply the AC power to a motor; command value calculating means for calculating a command value for an AC voltage outputted from the inverter 6, based on a detection value for an AC current; phase compensating means for compensating for a phase of the command value or the detection value; inverter control means for controlling the inverter 6, based on the command value compensated for by the phase compensating means; motor rotation speed detecting means for detecting a rotation speed of the motor 8; d-q axes non-interference voltage command value calculating means for calculating a d-q axes non-interference voltage command value to cancel out interference voltages interfering with each other between d and q axes, and for outputting the d-q axes non-interference voltage command value to the command value calculating means; and reverse phase compensating means for compensating for a phase according to the amount of compensation of the phase compensated for by the phase compensating means, in which the phase compensating means calculates the amount of phase lead based on the rotation speed and a phase compensation time set in order to obtain a predetermined phase margin, and compensates for a phase based on characteristics inherent in the motor, by the amount of phase lead, and the reverse phase compensating means compensates for a phase of the d-q axes non-interference voltage command value by the same amount of compensation as the amount of phase lead in the opposite direction to the phase compensated for by the phase compensating means.
摘要翻译： 提供了一种逆变器控制装置，包括：逆变器6，其被配置为将从直流电源输入的直流电力转换成交流电力并将该交流电力供应给电动机; 指令值计算部件，用于基于AC电流的检测值来计算从逆变器6输出的AC电压的指令值; 相位补偿装置，用于补偿指令值或检测值的相位; 逆变器控制装置，用于基于由相位补偿装置补偿的指令值来控制逆变器6; 检测马达8的转速的马达转速检测单元; dq轴非干涉电压指令值计算装置，用于计算dq轴非干扰电压指令值，以消除在d轴和q轴之间相互干扰的干扰电压，并且将dq轴非干扰电压指令值输出到 指令值计算装置; 以及反相补偿装置，用于根据由相位补偿装置补偿的相位的补偿量来补偿相位，其中相位补偿装置根据转速和相位补偿时间组计算相位超前量 为了获得预定的相位裕量，并且基于电动机固有的特性补偿相位超前量，并且逆相位补偿装置通过以下方式补偿dq轴非干扰电压指令值的相位： 与由相位补偿装置补偿的相位相反方向上的相位量的相同量的补偿。
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