Vehicle vibration control device
A vehicle vibration control device includes: a motor generator connected via a motor shaft to a power transmission path between a crankshaft of an engine and a drive axle that transmits a drive torque to a tire; and a motor generator control portion executing control of an output torque which is actually output by the motor generator. The motor generator control portion includes a damper torque calculation section that acquires information on a crank angle and a motor angle to calculate a damper torque generated by a damper, an explosion cycle calculation section, a reverse phase torque calculation section, a delay time calculation section, a compensation time calculation section, a first compensation time calculation section, a torque correction amount calculation section, and a command output section.
1. A vehicle vibration control device comprising:
a motor generator that is connected via a motor shaft to a power transmission path between a crankshaft of an engine and a drive axle that transmits a drive torque to a tire; and
a motor generator control portion that executes control of an output torque which is actually output by the motor generator, wherein
the motor generator control portion includes
a damper torque calculation section that acquires information on a crank angle as a rotation angle of the crankshaft and a motor angle as a rotation angle of the motor shaft to calculate a damper torque generated by a damper which is provided on the power transmission path and reduces vibration transmitted to the crankshaft, based on a difference between the crank angle and the motor angle,
an explosion cycle calculation section that calculates an explosion cycle of the engine based on the crank angle,
a reverse phase torque calculation section that calculates a reverse phase torque having a phase reverse to the damper torque based on the damper torque,
a delay time calculation section that calculates a delay time generated after a predetermined command to impart the output torque to the motor generator is output until the motor generator actually outputs the output torque in accordance with the predetermined command,
a compensation time calculation section that calculates a compensation time for adjusting a timing of outputting the output torque in order to compensate the delay time based on the explosion cycle and the delay time,
a first compensation time calculation section that calculates a first compensation time corresponding to an integral multiple excluding 0 of a preset control cycle time in the compensation time when a fractional time at which the compensation time is not an integral multiple of the control cycle time is generated, with reference to the compensation time and the control cycle time of the motor generator control portion,
a torque correction amount calculation section that calculates a torque correction amount with respect to a first torque value based on a second compensation time obtained by subtracting the first compensation time from the compensation time, the first torque value at a point in time going back by the first compensation time in the reverse phase torque, and a second torque value in the reverse phase torque at a predetermined point in time going back by an integral multiple of the control cycle time beyond the compensation time, when the fractional time is generated, and
a command output section that outputs a motor torque command given to the motor generator based on the reverse phase torque of which a phase is corrected by first phase correction based on the first compensation time and second phase correction that applies the torque correction amount to the first torque value.
2. The vehicle vibration control device according to claim 1 , wherein
the first compensation time is shorter than the compensation time and is calculated by multiplying the control cycle time by a maximum integer.
3. The vehicle vibration control device according to claim 2 , wherein
the predetermined point in time is a point in time going back by time which is calculated by multiplying the control cycle time by an integer obtained by adding 1 to the maximum integer.
4. The vehicle vibration control device according to claim 1 , wherein
the torque correction amount is calculated by linear interpolation based on a straight line and a slope obtained by connecting the first torque value at a point in time going back by the first compensation time in the reverse phase torque and the second torque value at the predetermined point in time.
5. The vehicle vibration control device according to claim 1 , wherein
the delay time includes a first delay in a control response from an output of the motor torque command from the command output section to an output of the output torque in response to the motor torque command by the motor generator, and a second delay based on a torque generated by the damper.