Control device for electric motor vehicle and control method for electric motor vehicle
A control device for electric motor vehicle using the motor as the traveling driving source and configured to decelerate by a regenerative braking force from the motor detects the accelerator operation amount, calculates the disturbance torque estimated value, and detects or estimates the resistance component unrelated to the gradient from the vehicle state. The control device for electric motor vehicle corrects the disturbance torque estimated value according to the detected or estimated resistance component unrelated to the gradient. The motor is controlled on the basis of the motor torque command value. When the accelerator operation amount is equal to or less than the predetermined value and the electric motor vehicle is just before the stop of the vehicle, the motor torque command value converges to the corrected disturbance torque estimated value in conjunction with the reduction of the rotation speed of the motor.
1. A control device for electric motor vehicle using an electric motor as a traveling drive source and configured to decelerate by a regenerative braking force from the electric motor, the control device for electric motor vehicle comprising:
one or more controllers configured to:
detect an accelerator operation amount;
calculate a disturbance torque estimated value based on disturbance factors;
detect or estimate a braking amount to add a braking force, via friction brakes, to the electric motor vehicle;
correct a disturbance torque estimated value according to the braking amount;
calculate a motor torque command value; and
control the electric motor on a basis of the motor torque command value, wherein
the one or more controllers are configured to calculate a brake torque estimated value from the braking amount, and the one or more controllers are configured to correct the disturbance torque estimated value on a basis of the brake torque estimated value;
when the accelerator operation amount is equal to or less than a predetermined value and the electric motor vehicle is just before a stop of the electric motor vehicle, the one or more controllers are configured to cause the motor torque command value to converge to the corrected disturbance torque estimated value in conjunction with a reduction of a speed parameter proportionate to a rotation speed of the electric motor.
2. The control device for electric motor vehicle according to claim 1 , further comprising
a fluid pressure sensor configured to detect a brake operation amount by a driver, wherein
the braking amount is decided on a basis of the brake operation amount detected by the fluid pressure sensor.
3. The control device for electric motor vehicle according to claim 2 , wherein
the braking amount is decided on a basis of a command value regarding an operation of the friction brakes.
4. The control device for electric motor vehicle according to claim 2 , wherein
the braking amount is decided considering responsiveness from an input of the braking amount to the electric motor vehicle until the braking force acts on the electric motor vehicle.
5. The control device for electric motor vehicle according to claim 1 , wherein
the brake torque estimated value has different signs according to a traveling direction of the electric motor vehicle.
6. The control device for electric motor vehicle according to claim 1 , wherein
the one or more controllers are configured to calculate the brake torque estimated value using a filter including a model for a transfer characteristic Gb(s) from an input of the braking amount to the electric motor vehicle proportionate to the rotation speed of the electric motor.
7. The control device for electric motor vehicle according to claim 6 , wherein
the one or more controllers are configured to calculate the brake torque estimated value additionally using a filter having a transfer characteristic H(s)/Gp(s), the transfer characteristic H(s)/Gp(s) being constituted of a low-pass filter H(s) and an inverse system of a model for a transfer characteristic Gp(s) from a torque input to the electric motor vehicle proportionate to the rotation speed of the electric motor.
8. The control device for electric motor vehicle according to claim 6 , wherein
when a vibration damping control to reduce a torsional vibration of a drive shaft is applied to the electric motor vehicle, the one or more controllers are configured to calculate the brake torque estimated value using the model for the transfer characteristic considering the vibration damping control.
9. A control method for electric motor vehicle using [a] an electric motor as a traveling drive source and configured to decelerate by a regenerative braking force from the electric motor, the control method for electric motor vehicle comprising:
detecting, via one or more controllers, an accelerator operation amount;
calculating, via the one or more controllers, a disturbance torque estimated value based on disturbance factors;
detecting or estimating, via the one or more controllers, a braking amount to add a braking force, via friction brakes, to the electric motor vehicle;
calculating, via the one or more controllers, a brake torque estimated value from the braking amount;
correcting, via the one or more controllers, the disturbance torque estimated value according to the brake torque estimated value;
calculating, via the one or more controllers, a motor torque command value converged to the corrected disturbance torque estimated value in conjunction with a reduction of a speed parameter proportionate to a rotation speed of the electric motor when the accelerator operation amount is equal to or less than a predetermined value and the electric motor vehicle is just before a stop of the electric motor vehicle; and
controlling, via the one or more controllers, the electric motor on a basis of the motor torque command value.