Device and method for controlling electric vehicle with torque command and vibration suppression control

1. A device for controlling an electric vehicle including a motor configured to generate a torque for braking or driving a drive wheel and a drive wheel speed sensor configured to detect a rotational speed of the drive wheel, the device comprising:

a controller configured to:

calculate a vehicle body speed of the vehicle;

calculate a travel state based on a state of the drive wheel during travel;

calculate a driver request torque command value directed to the motor based on an accelerator operation or a brake operation by a driver, and output the calculated driver request torque command value to the motor;

calculate, in order to suppress a vibration component caused by a resonance of the vehicle, a vibration suppression control torque command value directed to the motor, and output the calculated vibration suppression control torque command value to the motor;

control the motor based on the driver request torque command value and the vibration suppression control torque command value; and

set, when it is determined as the travel state that the drive wheel is in a grip state or that a road surface friction coefficient is equal to or higher than a predetermined value, a limit value of the vibration suppression control torque command value to be smaller than when it is determined as the travel state that the drive wheel is in a slip state or that the road surface friction coefficient is lower than the predetermined value,

wherein the controller is further configured to calculate the travel state based on whether or not antilock brake control, traction control, or front/rear wheel braking force distribution control is active, and

wherein the controller is further configured to set the limit to a smaller value when the antilock brake control, the traction control, or the front/rear wheel braking force distribution control is not activated than when the antilock brake control, the traction control, or the front/rear wheel braking force distribution control is active.

2. The device for controlling the electric vehicle according to claim 1 , wherein the controller is further configured to set, as the limit value, an absolute value of the vibration suppression control torque command value.

3. The device for controlling the electric vehicle according to claim 1 , wherein the controller is further configured to set the limit value such that a change amount per unit time with respect to the limit value has a gradient equal to or smaller than a predetermined gradient.

4. The device for controlling the electric vehicle according to claim 1 , wherein the controller is further configured to set, as the limit value, an absolute value of the vibration suppression control torque command value.

5. The device for controlling the electric vehicle according to claim 1 , wherein the controller is further configured to restrict a change amount per unit time with respect to the limit value.

6. The device for controlling the electric vehicle according to claim 1 , wherein the controller is further configured to calculate a state of the road surface friction coefficient during the travel, based on the state of the drive wheel.

7. The device for controlling the electric vehicle according to claim 1 , wherein the resonance is a resonance frequency corresponding to a natural frequency of a powertrain of the vehicle.

8. The device for controlling the electric vehicle according to claim 1 , wherein the controller is further configured to control the motor based on a final torque command value obtained by adding the vibration suppression control torque command value to the driver request torque command value.