Control apparatus for electric vehicle, control system for electric vehicle, and control method for electric vehicle
Provided is a control apparatus for an electric vehicle, which is capable of suppressing simultaneous slip of front and rear wheels. The control apparatus for an electric vehicle includes a control portion configured to control a front electric motor and a rear electric motor so that an achievement rate of a torque command with respect to a target torque in one motor of the front and rear electric motors is lower than the achievement rate in the other motor of the front and rear electric motors.
1. A control apparatus for an electric vehicle including a front electric motor which outputs torque to front wheels of the electric vehicle and a rear electric motor which outputs torque to rear wheels of the vehicle, the control apparatus comprising:
a target torque calculation portion configured to calculate a front target torque for the front electric motor and a rear target torque for the rear electric motor;
a torque command portion configured to output a front torque command to the front electric motor and a rear torque command to the rear electric motor; and
a control portion configured to control the front electric motor and the rear electric motor so that a front side achievement rate indicative of a temporal delay from a time point when the front target torque starts changing to a time point when the front torque command catches up with the front target torque or a rear side achievement rate indicative of a temporal delay from a time point when the rear target torque starts changing to a time point when the rear torque command catches up with the rear target torque is lower than the other achievement rate.
2. The control apparatus for the electric vehicle according to claim 1 ,
wherein the control portion compensates, in the other motor, for a decrease in the torque attributable to the reduction of the achievement rate in the one motor.
3. The control apparatus for the electric vehicle according to claim 2 ,
wherein, in a case where the vehicle travels at a speed of a predetermined or larger value, and the target torques have negative values indicative of deceleration, the control portion reduces the achievement rate in the one motor.
4. The control apparatus for the electric vehicle according to claim 1 ,
wherein the control portion does not compensate, in the other motor, for a decrease in the torque attributable to the reduction of the achievement rate in the one motor.
5. The control apparatus for the electric vehicle according to claim 4 ,
wherein, in a case where the vehicle travels at a speed lower than a predetermined value, and a road surface has a longitudinal gradient of a predetermined or larger value, the control portion reduces the achievement rate in the one motor.
6. The control apparatus for the electric vehicle according to claim 1 ,
wherein, when the vehicle starts moving on the road surface with a longitudinal gradient of a predetermined or larger value or when the vehicle is decelerated on the road surface with the longitudinal gradient of the predetermined or larger value, the control portion reduces the achievement rate in the one motor.
7. The control apparatus for the electric vehicle according to claim 1 ,
wherein the one motor is the rear electric motor.
8. A control method for an electric vehicle including a front electric motor which outputs torque to front wheels of the electric vehicle and a rear electric motor which outputs torque to rear wheels of the vehicle, the control method comprising:
calculating a front target torque for the front electric motor and a rear target torque for the rear electric motor;
outputting a front torque command to the front electric motor and a rear torque command to the rear electric motor; and
controlling the front electric motor and the rear electric motor so that a front achievement rate indicative of a temporal delay from a time point when the front target torque starts changing to a time point when the front torque command catches up with the front target torque or a rear side achievement rate indicative of a temporal delay from a time point when the rear target torque starts changing to a time point when the rear torque command catches up with the rear target torque is lower than the other achievement rate.
9. The control method for the electric vehicle according to claim 8 ,
wherein the controlling the front electric motor and the rear electric motor includes compensating, in the other motor, for a decrease in the torque attributable to the reduction of the achievement rate in the one motor.
10. The control method for the electric vehicle according to claim 9 ,
wherein the controlling the front electric motor and the rear electric motor includes reducing the achievement rate in the one motor in a case where the vehicle travels at a speed of a predetermined or larger value, and the target torques have negative values indicative of deceleration.
11. The control method for the electric vehicle according to claim 8 ,
wherein the controlling the front electric motor and the rear electric motor does not compensate, in the other motor, for a decrease in the torque attributable to the reduction of the achievement rate in the one motor.
12. The control method for the electric vehicle according to claim 11 ,
wherein the controlling the front electric motor and the rear electric motor includes reducing the achievement rate in the one motor in a case where the vehicle travels at a speed lower than a predetermined value, and a road surface has a longitudinal gradient of a predetermined or larger value.
13. The control method for the electric vehicle according to claim 8 ,
wherein the controlling the front electric motor and the rear electric motor includes reducing the achievement rate in the one motor when the vehicle starts moving on the road surface with a longitudinal gradient of a predetermined or larger value or when the vehicle is decelerated on the road surface with the longitudinal gradient of the predetermined or larger value.
14. The control method for the electric vehicle according to claim 8 ,
wherein the one motor is the rear electric motor.
15. A control system for an electric vehicle, the control system comprising:
a front electric motor configured to output torque to front wheels of the electric vehicle;
a rear electric motor configured to output torque to rear wheels of the vehicle; and
a control unit configured to control the front electric motor and the rear electric motor,
wherein the control unit comprises:
a target torque calculation portion configured to calculate a front target torque for the front electric motor and a rear target torque for the rear electric motor;
a torque command portion configured to output a front torque command to the front electric motor and a rear torque command to the rear electric motor; and
a control portion configured to control the front electric motor and the rear electric motor so that a front side achievement rate indicative of a temporal delay from a time point when the front target torque starts changing to a time point when the front torque command catches up with the front target torque or a rear side achievement rate indicative of a temporal delay from a time point when the rear target torque starts changing to a time point when the rear torque command catches up with the rear target torque is lower than the other achievement rate.
16. The control system for the electric vehicle according to claim 15 ,
wherein the control portion reduces the achievement rate in the one motor when the vehicle starts moving on the road surface with a longitudinal gradient of a predetermined or larger value or when the vehicle is decelerated on the road surface with the longitudinal gradient of the predetermined or larger value.
17. The control system for the electric vehicle according to claim 15 ,
wherein the one motor is the rear electric motor.