Electrically driven vehicle
There is provided an electrically driven vehicle that well balances calculation volumes and communication volumes of two control devices configured to drive and control motors for driving. The electrically driven vehicle comprises at least one motor for driving and a first control device and a second control device configured to control the motor. The first control device is configured to calculate a target torque that is to be output from the motor, based on information including an accelerator position, to calculate a current command based on the calculated target torque, and to send the calculated current command to the second control device. The second control device is configured to use the current command, a phase current of the motor and a rotational angle of the motor such as to drive the motor by feedback control.
1. An electrically driven vehicle comprising at least one motor for driving and a first control device and a second control device configured to control the motor, wherein
the first control device and the second control device are connected by a high speed communication line and a low speed communication line that has a lower communication speed than the high-speed communication line,
the first control device is configured to:
calculate a target torque that is to be output from the motor; based on information including an accelerator position;
calculate a current command based on the target torque; and
send the current command to the second control device over the high speed communication line, and
the second control device is configured to:
use the current command calculated by the first control device, a phase current of the motor and a rotational angle of the motor such as to drive the motor by feedback control; and
send the current command to the first control device over the low speed communication line.
2. The electrically driven vehicle according to claim 1 , comprising:
a plurality of motors as the at least one motor, wherein
the first control device is configured as a single main control unit to calculate the target torque and the current command of each of the plurality of motors, and
the second control unit is configured as a plurality of feedback control units to perform feedback control with regard to each of the plurality of motors.
3. The electrically driven vehicle according to claim 1 ,
wherein the at least one motor comprises a plurality of in-wheel motors built in a plurality of drive wheels.
4. The electrically driven vehicle according to claim 2 ,
wherein the plurality of motors are a plurality of in-wheel motors built in a plurality of drive wheels.
5. The electrically driven vehicle according to claim 1 ,
in an event of an abnormality occurring in communication by the high-speed communication line, the first control device is configured to calculate a current command that is to be used to control the at least one motor, within a range of failsafe and to send the calculated current command by using the low-speed communication line.
6. The electrically driven vehicle according to claim 2 ,
in an event of an abnormality occurring in communication by the high-speed communication line, the first control device is configured to calculate current commands that are to be used to control the plurality of motors, within a range of failsafe and to send the calculated current commands by using the low-speed communication line.
7. The electrically driven vehicle according to claim 3 ,
in an event of an abnormality occurring in communication by the high-speed communication line, the first control device is configured to calculate current commands that are to be used to control the plurality of in-wheel motors, within a range of failsafe and to send the calculated current commands by using the low-speed communication line.