Control method and control device for electric 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.
1. A control method for electric vehicle including a motor that functions as a traveling driving source and provides a regenerative braking force to a vehicle, and a friction braking portion that provides a friction braking force to the vehicle, the control method comprising:
detecting a speed parameter proportionate to a running speed of the electric vehicle;
estimating, via a controller, a disturbance torque that acts on the motor;
performing, via a controller, a control such that the motor torque converges to an estimated value of the disturbance torque as the speed parameter decreases; and
performing, via a controller, a control such that a friction braking amount of the friction braking portion converges to a value determined on the basis of the estimated value of the disturbance torque, and causing the motor torque to converge to almost 0 when the speed parameter becomes almost 0, and the vehicle is determined to be in a vehicle stop state.
2. The control method for electric vehicle according to claim 1 , wherein
the value to which the friction braking amount is caused to converge is equal to or more than a difference between the estimated value of the disturbance torque and the motor torque.
3. The control method for electric vehicle according to claim 1 , wherein
a rate of change of the motor torque when the motor torque is caused to converge to a predetermined value is adjusted corresponding to a response delay with respect to a command value of the friction braking amount.
4. The control method for electric vehicle according to claim 1 , comprising:
setting a first torque target value on the basis of vehicle information;
setting a second torque target value that converges to the estimated value of the disturbance torque as the speed parameter decreases;
comparing the first torque target value with the second torque target value to set a greater value as a third torque target value; and
causing the motor torque to converge to the third torque target value, and causing the friction braking amount to converge to 0 when the electric vehicle starts from a state that holds a vehicle stop state by the friction braking amount.
5. The control method for electric vehicle according to claim 4 , wherein
a rate of change of the motor torque when the motor torque is caused to converge to the third torque target value is adjusted corresponding to a response delay with respect to a command value of the friction braking amount.
6. The control method for electric vehicle according to claim 1 , comprising
when the speed parameter becomes almost 0, and a parameter that is an index showing the vehicle state and different from the speed parameter is equal to or more than a predetermined value, performing a control such that the friction braking amount of the friction braking portion converges to the value determined on the basis of the estimated value of the disturbance torque, and causing the motor torque to converge to almost 0.
7. The control method for electric vehicle according to claim 6 , wherein
the parameter is the estimated value of the disturbance torque that acts on the motor, and
when the speed parameter becomes almost 0, and the estimated value of the disturbance torque is equal to or more than a predetermined threshold, the control method performs a control such that the friction braking amount of the friction braking portion converges to the value determined on the basis of the estimated value of the disturbance torque, and causing the motor torque to converge to almost 0.
8. The control method for electric vehicle according to claim 6 , comprising:
detecting a temperature of the motor as the parameter, and
when the speed parameter becomes almost 0, and the temperature of the motor is equal to or more than a predetermined threshold, performing a control such that the friction braking amount of the friction braking portion converges to the value determined on the basis of the estimated value of the disturbance torque, and causing the motor torque to converge to almost 0.
9. The control method for electric vehicle according to claim 6 , comprising:
calculating a vehicle stop period of the electric vehicle as the parameter,
when the speed parameter becomes almost 0, and the vehicle stop period is equal to or more than a predetermined threshold, performing a control such that the friction braking amount of the friction braking portion converges to the value determined on the basis of the estimated value of the disturbance torque, and causing the motor torque to converge to almost 0.
10. The control method for electric vehicle according to claim 6 , comprising:
calculating a power consumption of the motor as the parameter, and
when the speed parameter becomes almost 0, and the power consumption is equal to or more than a predetermined threshold, performing a control such that the friction braking amount of the friction braking portion converges to the value determined on the basis of the estimated value of the disturbance torque, and causing the motor torque to converge to almost 0.
11. The control method for electric vehicle according to claim 6 , comprising:
detecting an amount of accelerator operation that is an operation state of an accelerator pedal, and
when a control is performed such that the friction braking amount of the friction braking portion converges to the value determined on the basis of the estimated value of the disturbance torque, and the motor torque converges to almost 0, maintaining a state where the friction braking amount has converged to the disturbance torque until the amount of accelerator operation has increased.
12. A control device for electric vehicle including a motor that functions as a traveling driving source and provides a regenerative braking force to a vehicle, a friction braking portion that provides a friction braking force to the vehicle, and a controller that controls the motor and the friction braking portion, wherein the controller is programmed to:
detect a speed parameter proportionate to a running speed of the electric vehicle;
estimate a disturbance torque that acts on the motor;
control a friction braking amount of the friction braking portion; and
control a torque of the motor, wherein
when the speed parameter becomes almost 0, and the vehicle is determined to be in a vehicle stop state, cause the friction braking amount to electrically converge to a value determined on the basis of an estimated value of the disturbance torque, and cause the motor torque to converge to almost 0.