Motor drive control device
A motor drive control device is capable of reducing gear rattling noise generated in a speed reducer without increasing size of the speed reducer and the number of components. A motor ECU controls a motor to generate a reverse set torque (Tn) when a target torque (T*) is reversed (at a time t 1 ). The motor ECU sequentially calculates a backlash (B) in a counter gear mechanism, and sets a time period (D 1 ) in which the reverse set torque (Tn) is generated by the motor and a time period (D 2 ) in which a return set torque (Tp) is generated by the motor so that the backlash (B) at a current time becomes equal to a time integrated value (corresponding to an area A) of an estimated relative velocity (V 2 −V 1 ) until a time of re-abutment.
1. A motor drive control device to be mounted in an in-wheel motor driven automobile comprising a motor and a speed reducer installed inside a wheel, the in-wheel motor driven automobile being configured to transmit a torque of the motor to the wheel through an intermediation of the speed reducer, the motor drive control device being configured to control driving of the motor in accordance with a target torque,
the motor drive control device comprising an electronic control unit configured to:
detect a relative position between a tooth of an input-side gear and a tooth of an output-side gear included in the speed reducer; and
reduce a rotation speed of the motor when a direction of the target torque is reversed from a first direction to a second direction and for increasing the rotation speed of the motor at timing determined based on the relative position in a middle of an idling time period in which the input-side gear rotates in the second direction relative to the output-side gear due to a backlash present between the input-side gear and the output-side gear, to thereby lower an approach velocity at which the tooth of the input-side gear approaches the tooth of the output-side gear.
2. The motor drive control device according to claim 1 , wherein the electronic control unit is further configured to:
control the rotation speed of the motor so that the tooth of the input-side gear comes into abutment against the tooth of the output-side gear in a state in which the approach velocity is lowered to a preset set velocity for reducing gear rattling noise.
3. The motor drive control device according to claim 1 , wherein the electronic control unit is further configured to:
set, based on the relative position, a first time period starting at a time at which the direction of the target torque is reversed from the first direction to the second direction, in which a braking torque is generated by the motor, and a second time period starting at an end of the first time period, in which a driving torque in the first direction is generated by the motor; and
return control to normal control corresponding to a control mode in which the driving of the motor is controlled in accordance with the target torque, at end of the second time period.
4. The motor drive control device according to claim 3 , wherein the electronic control unit is further configured to:
detect a relative velocity between the tooth of the input-side gear and the tooth of the output-side gear, and
set the first time period and the second time period based on the relative position and the relative velocity detected by the electronic control unit.
5. The motor drive control device according to claim 4 , wherein the electronic control unit is further configured to:
set the first time period and the second time period so that a current backlash representing a relative movement amount of the tooth of the input-side gear relative to the tooth of the output-side gear, which is required for the tooth of the input-side gear to come into abutment against the tooth of the output-side gear and is obtained based on the relative position, and an integrated value obtained by integrating a predicted approach velocity at which the tooth of the input-side gear moves to approach the tooth of the output-side gear in a period from a current time to a time at which the tooth of the input-side gear comes into abutment against the tooth of the output-side gear by time become equal to each other.
6. The motor drive control device according to claim 3 , wherein the braking torque and the driving torque in the first direction, which are to be generated by the motor during the idling time period, are set to have the same magnitude.