Method and vehicle control device
A design method for output control of a left driving source and a right driving source in a vehicle. The design method includes: preparing a sum model modeling motion states while the vehicle is running straight, and a difference model modeling motion states while the vehicle is cornering; calculating an equivalent sum value corresponding to a sum of a left-axle input/output including an input parameter or an output parameter of the left driving system and a right-axle input/output including an input parameter or an output parameter of the right driving system (A 1 ), and an equivalent difference value corresponding to a difference between the left-axle input/output and the right-axle input/output (A 2 ); grasping motion states while the vehicle is running straight by applying the equivalent sum value to the sum model (A 3 ); and grasping motion states by applying the equivalent difference value to the difference model (A 4 ).
1 . A design method for output control of a left driving source and a right driving source in a vehicle provided with a left driving system including a left axle and a left wheel and a right driving system including a right axle and a right wheel, motion power from the left driving source being transmitted to the left axle and the left wheel, motion power from the right driving source being transmitted to the right axle and the right wheel, the design method comprising:
preparing a sum model modeling motion states of the left driving system, the right driving system, the left driving source, and the right driving source while the vehicle is running straight, and a difference model modeling motion states of the left driving system, the right driving system, the left driving source, and the right driving source while the vehicle is cornering;
calculating an equivalent sum value corresponding to a sum of a left-axle input/output including an input parameter or an output parameter of the left driving system and a right-axle input/output including an input parameter or an output parameter of the right driving system, and an equivalent difference value corresponding to a difference between the left-axle input/output and the right-axle input/output;
grasping motion states of the left driving system and the right driving system while the vehicle is running straight by applying the equivalent sum value to the sum model; and
grasping motion states of the left driving system and the right driving system while the vehicle is cornering by applying the equivalent difference value to the difference model.
2 . The design method according to claim 1 , wherein
the sum model and the difference model are both two-inertia system models.
3 . The design method according to claim 1 , wherein
the sum model includes a transfer function indicating an input/output characteristic of a two-inertia system including driving-side inertia calculated based on inertia of the left driving source and the right driving source, a spring damper designed with a stiffness and a viscosity, and load-side inertia calculated based on a vehicle body weight of the vehicle.
4 . The design method according to claim 2 , wherein
the sum model includes a transfer function indicating an input/output characteristic of a two-inertia system including driving-side inertia calculated based on inertia of the left driving source and the right driving source, a spring damper designed with a stiffness and a viscosity, and load-side inertia calculated based on a vehicle body weight of the vehicle.
5 . The design method according to claim 1 , wherein
the difference model includes a transfer function indicating an input/output characteristic of a two-inertia system including driving-side inertia corresponding to equivalent inertia calculated based on a torque difference amplification ratio of when a left-right difference is generated, a spring damper designed with a stiffness and a viscosity, and load-side inertia calculated based on yaw inertia of the vehicle.
6 . The design method according to claim 2 , wherein
the difference model includes a transfer function indicating an input/output characteristic of a two-inertia system including driving-side inertia corresponding to equivalent inertia calculated based on a torque difference amplification ratio of when a left-right difference is generated, a spring damper designed with a stiffness and a viscosity, and load-side inertia calculated based on yaw inertia of the vehicle.
7 . The design method according to claim 3 , wherein
the difference model includes a transfer function indicating an input/output characteristic of a two-inertia system including driving-side inertia corresponding to equivalent inertia calculated based on a torque difference amplification ratio of when a left-right difference is generated, a spring damper designed with a stiffness and a viscosity, and load-side inertia calculated based on yaw inertia of the vehicle.
8 . The design method according to claim 4 , wherein
the difference model includes a transfer function indicating an input/output characteristic of a two-inertia system including driving-side inertia corresponding to equivalent inertia calculated based on a torque difference amplification ratio of when a left-right difference is generated, a spring damper designed with a stiffness and a viscosity, and load-side inertia calculated based on yaw inertia of the vehicle.
9 . A vehicle control device for output control of a left driving source and a right driving source in a vehicle provided with a left driving system including a left axle and a left wheel and a right driving system including a right axle and a right wheel, motion power from the left driving source being transmitted to the left axle and the left wheel, motion power from the right driving source being transmitted to the right axle and the right wheel, the vehicle control device comprising:
a calculator that calculates an equivalent sum value corresponding to a sum of a left-axle input/output including an input parameter or an output parameter of the left driving system and a right-axle input/output including an input parameter or an output parameter of the right driving system, and an equivalent difference value corresponding to a difference between the left-axle input/output and the right-axle input/output; and
a storing unit that stores a sum model modeling motion states of the left driving system, the right driving system, the left driving source, and the right driving source while the vehicle is running straight, and a difference model modeling motion states of the left driving system, the right driving system, the left driving source, and the right driving source while the vehicle is cornering, the equivalent sum value being applied to the sum model, the equivalent difference value being applied to the difference model.
10 . The vehicle control device according to claim 9 , further comprising:
a controller that controls outputs of the left driving source and the right driving source, using a sum-model state quantity obtained by applying the equivalent sum value to the sum model and a difference-model state quantity obtained by applying the equivalent difference value to the difference model.