Vehicle, and vehicle control method
According to this vehicle and control method for the same, an electric motor control device sets a target left power and a target right power, on the basis of the power suppliable by a power supply, power loss dependent on the respective rotation state quantities of a left electric motor and a right electric motor, the target power difference between the left electric motor and the right electric motor, and the target sum of power of the left electric motor and the right electric motor, and controls the left electric motor and the right electric motor using the target left power and the target right power.
1. A vehicle comprising:
a left electric motor mechanically connected to a left wheel;
a right electric motor mechanically connected to a right wheel;
an electric motor controller, which is configured to control a left motive power that is a motive power generated by the left electric motor, and control a right motive power that is a motive power generated by the right electric motor; and
an electric power source electrically connected to the left electric motor and the right electric motor;
wherein the electric motor controller is configured to:
determine a left and right sum upper limit value, which is a maximum value of a sum of the left motive power and the right motive power, based on the electric power that is capable of being supplied from the electric power source;
determine a target left motive power for the left electric motor and a target fight motive power for the right electric motor, based on the left and right sum upper limit value, a target left and right difference, which is a target value for a difference between the left motive power and the right motive power, and a target left and right sum, which is a target value for a sum of the left motive power and the right motive power;
determine a left loss electric power based on the target left motive power and a rotational state quantity of the left electric motor, and a right loss electric power based on the target right motive power and a rotational state quantity of the right electric motor;
correct the left and right sum upper limit value based on the left loss electric power and the right loss electric power, to thereby determine a corrected left and right sum upper limit value;
correct the target left motive power and the target right motive power based on the corrected left and right sum upper limit value and the target left and right difference; and
control the left electric motor and the right electric motor based on the target left motive power and the target right motive power, which have been corrected.
2. A method of controlling a vehicle, wherein:
the vehicle includes:
a left electric motor mechanically connected to a left wheel;
a right electric motor mechanically connected to a right wheel;
an electric motor controller, which is configured to control a left motive power that is a motive power generated by the left electric motor, and control a right motive power that is a motive power generated by the right electric motor; and
an electric power source electrically connected to the left electric motor and the right electric motor;
wherein the electric motor controller is configured to perform the steps of:
determining a left and right sum upper limit value, which is a maximum value of a sum of the left motive power and the right motive power, based on the electric power that is capable of being supplied from the electric power source;
determining a target left motive power for the left electric motor and a target right motive power for the right electric motor based on the left and right sum upper limit value, a target left and right difference, which is a target value for a difference between the left motive power and the right motive power, and a target left and right sum, which is a target value for a sum of the left motive power and the right motive power;
determining a left loss electric power based on the target left motive power and a rotational state quantity of the left electric motor, and a right loss electric power based on the target right motive power and a rotational state quantity of the right electric motor;
correcting the left and right sum upper limit value based on the left loss electric power and the right loss electric power, to thereby determine a corrected left and right sum upper limit value;
correcting the target left motive power and the target right motive power based on the corrected left and right sum upper limit value and the target left and right difference; and
controlling the left electric motor and the right electric motor, based on the target left motive power and the target right motive power, which have been corrected.
3. A vehicle comprising:
a left electric motor mechanically connected to a left wheel;
a right electric motor mechanically connected to a right wheel;
an electric motor controller, which is configured to control a left motive power that is a motive power generated by the left electric motor, and control a right motive power that is a motive power generated by the right electric motor; and
an electric power source electrically connected to the left electric motor and the right electric motor;
wherein the electric motor controller is configured to:
set a target left motive power for the left electric motor and a target right motive power for the right electric motor, by limiting a target motive power difference between the left electric motor and the right electric motor, and a target motive power sum of the left electric motor and the right electric motor to a range of an electric power that is capable of being supplied from the electric power source, an electric power loss varied depending on respective rotational state quantities of the left electric motor and the right electric motor being reflected in the electric power; and
control the left electric motor and the right electric motor using the target left motive power and the target right motive power.
4. The vehicle according to claim 3 , wherein the electric motor controller is configured to:
set an upper limit value for a sum motive power of the left electric motor and the right electric motor, based on the electric power that is capable of being supplied, the electric power loss depending on the rotational state quantities, and the target motive power difference; and
set the target left motive power and the target right motive power to ranges in which the target motive power sum does not exceed the upper limit for the sum motive power while the target motive power difference is maintained.
5. The vehicle according to claim 4 , wherein the electric motor controller is configured to:
set a reference upper limit value for the sum motive power based on the electric power that is capable of being supplied and the rotational state quantities;
calculate an electric power loss depending on the rotational state quantities based on the reference upper limit value for the sum motive power and the rotational state quantities;
set a left motive power limiting value, which is a limiting value for the target left motive power, and a right motive power limiting value, which is a limiting value for the target right motive power, based on the reference upper limit value and the target motive power difference;
calculate a correcting value for the electric power loss based on the left motive power limiting value, the right motive power limiting value, and the rotational state quantities; and
set the upper limit value for the sum motive power based on the electric power that is capable of being supplied, the electric power loss, and the correcting value.