Nissan Motor Company Limited

Yamaha Motor Power Products Kabushiki Kaisha

Ken Itou

Akira Sawada

Hiroyuki Komatsu

Ryuta Inoue

Yuya Sato

Takashi Nakajima

Kengo Fujiwara

Yuji Katsumata

Kazutaka Adachi

Akira Higashimata

Hiromichi Kawamura

Naoki Takahashi

Tomoaki Mori

Shou Oono

Kohei Murota

Yuuji Katsumata

Yoichi Hirakawa

Hideaki Nakayama

The control method for an electric vehicle sets a motor torque command value based on vehicle information and controls torque of a first motor connected to a first drive wheel which is one of a front drive wheel and a rear drive wheel. The control method for an electric vehicle calculates a first torque command value by a feedforward computation based on the motor torque command value, detects a rotation angular velocity of the first motor, and estimates a rotation angular velocity of the first motor based on the first torque command value by using a vehicle model Gp(s) that simulates a transfer characteristic from a torque input to the first drive wheel to a rotation angular velocity of the first motor.

Control method and control device for electric vehicle

The control device for the electric vehicle determines whether or not the starting operation of the vehicle has been performed by the driver, calculates the disturbance torque estimated value Td necessary for maintaining the vehicle stop state corresponding to the disturbance acting on the vehicle, and performs a control such that the driving torque of the motor converges to the disturbance torque estimated value Td when the vehicle is determined to be just before stop of the vehicle during running or determined to have undergone the starting operation. Then, the control device for the electric vehicle controls the responsiveness of the driving torque to the disturbance acting on the vehicle, and increases the responsiveness of the driving torque of the motor compared with the responsiveness of the driving torque just before stop of the vehicle when the starting operation is determined to have been performed.

Control device for electric vehicle and control method for electric vehicle

A method of controlling a motor having windings of a plurality of phases includes an estimation step of calculating a current vector norm from d-axis current and q-axis current flowing in the motor, calculating power loss from the current vector norm and the entire heat resistance of the motor, and estimating the maximum temperature of the windings of the plurality of phases based on the power loss and a transfer function having first or higher-order transfer characteristics, in the case where the motor is in a low rotation state, and a limiting step of limiting input power based on the maximum temperature estimated in the estimation step.

Method of controlling motor and device of controlling motor

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.

Method for controlling hybrid vehicle and device for controlling hybrid vehicle

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.

A control device is provided for an electric vehicle that generates a braking force corresponding to an opening degree of an accelerator pedal to decelerate the electric vehicle. The control device for the electric vehicle includes a motor configured to generate a driving force or a regenerative braking force of the electric vehicle, a friction braking unit configured to generate a friction braking force, and a controller configured to control at least one of the motor and the friction braking unit corresponding to the opening degree of the accelerator pedal. The controller determines whether all of regenerative electric power generated by the motor is consumed in the electric vehicle when the motor is caused to perform a regenerative braking. The controller causes the motor to perform the regenerative braking when the regenerative electric power is determined to be consumed in the electric vehicle.

A device for controlling an electric vehicle includes: a feedforward computation unit that is configured to input a motor torque instruction value and compute a first torque target value by feedforward computation; and a motor torque control unit that is configured to control a motor torque according to the first torque target value. The feedforward computation unit includes: a vehicle model which is configured to input the motor torque instruction value to model a characteristic from the motor torque to a drive shaft torsional angular velocity; and a drive shaft torsional angular velocity feedback model which is configured to feed back the drive shaft torsional angular velocity output from the vehicle model to the motor torque instruction value to compute the first torque target value.

Device for controlling electric vehicle and method of controlling electric vehicle

A vehicle vibration suppression control device includes: a first torque target value calculation unit that inputs a motor torque instruction value and that uses a previously modeled transmission characteristic of the vehicle to calculate a first torque target value; a second torque target value calculation unit that includes a filter having a characteristic of a model H(s)/Gp(s) formed with a model Gp(s) of a transmission characteristic of a torque input to the vehicle and a motor angular velocity and a bandpass filter H(s) in which a frequency in the vicinity of a torsional vibration frequency in the vehicle is a center frequency, that inputs a deviation between a detection value of the vehicle state amount and an estimation value of the vehicle state amount and that calculates a second torque target value; and a motor torque control unit that controls a motor torque according to a final torque target value obtained by adding the first torque target value and the second torque target value. The vehicle state amount is estimated based on the first torque target value on which the lag processing has been performed and the second torque target value.

Vehicle vibration suppression control device and vehicle vibration suppression control method

A golf cart includes a frame, an adjuster, and a pair of suspension assemblies that reduce changes in camber angles in a pair of wheels caused by an adjustment of a ground clearance. The adjuster includes a pair of first adjusting portions and a pair of second adjusting portions. Each of the first adjusting portions includes a first upper hole and a first lower hole. Each of the second adjusting portions includes a second upper hole and a second lower hole. Each suspension assembly includes a damper and an arm portion. When the golf cart is set to a high ground clearance, the first adjusting portions are installed between the frame and the dampers, and the second adjusting portions are installed between the frame and the arm portions.

Adjuster, frame and vehicle

An apparatus to control an electric motor to drive an electric-powered vehicle includes an accelerator position detector, a current controller to provide current to the electric motor through an inverter, a semiconductor device of the current controller configured to operate the inverter in response to a detected accelerator position, and a torque compensator to supply the electric motor with a modified current of the semiconductor device, wherein the torque compensator is configured to provide the modified current to the electric motor at a predetermined interval of time in response to a temperature increase in the semiconductor device when the detected accelerator position exceeds a predetermined threshold.

Control apparatus of electric motor

A preceding-vehicle follow-up control apparatus is arranged to calculate a target vehicle speed for following-up a preceding vehicle at a target vehicle-to-vehicle distance. The target vehicle speed is calculated from an equation having a form of a linear combination of a form which includes a linear connection between a product of a first gain and a difference between the vehicle-to-vehicle distance and the target vehicle-to-vehicle distance and a product of a second gain and the relative speed. The control apparatus controls a driving apparatus and a transmission apparatus of a vehicle so as to adjust a vehicle speed at the target vehicle speed. This enables the vehicle-to-vehicle distance to be converged into a target value without excessively increasing or decreasing the relative speed during this follow-up control.

Vehicle follow-up control apparatus

A vehicle having an antilock brake system to control a brake so as to suppress locking of wheels when a slip ratio of the wheels exceeds a predetermined value is also provided with a continuously variable transmission (CVT). When antilock brake control is being performed, a drive shaft torque controller computes a command torque of an engine and command drive ratio of the CVT so that a drive shaft torque is a predetermined torque. An engine controller controls the engine according to the command torque and a CVT controller controls the transmission according to the command drive ratio.

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Kanagawa, Japan

Ken Itou