Control device of electric vehicle
A control device of an electric vehicle includes: a target rotation speed calculation unit that calculates a target rotation speed of a drive wheel based on a vehicle body speed; and a slip control unit that detects a slip of the drive wheel when a wheel speed exceeds the target rotation speed of the drive wheel and that controls motor torque of the motor in such a manner that the wheel speed becomes an appropriate rotation speed in detection of the slip. Further, the slip control unit controls the motor torque by feedback control according to a difference between the rotation speed of the motor and the target rotation speed of the drive wheel in detection of the slip.
1. A control device of an electric vehicle including a driving motor, and a rotation speed detector that detects a rotation speed of the motor, the control device comprising:
a first processor programmed to function as a target rotation speed calculation unit that calculates a target rotation speed of a drive wheel on the basis of a vehicle body speed of the electric vehicle; and
a second processor programmed to function as a slip control unit that detects a slip of the drive wheel in a case where a wheel speed exceeds the target rotation speed of the drive wheel and that controls motor torque of the motor so that the wheel speed becomes a speed that matches the target rotation speed in detection of the slip,
wherein the slip control unit controls the motor torque by feedback control according to a difference between the rotation speed of the motor and the target rotation speed of the drive wheel in detection of the slip.
2. The control device of an electric vehicle according to claim 1 ,
wherein the slip control unit integrates an excess amount of the rotation speed of the motor with respect to the target rotation speed of the drive wheel, and estimates that the wheel speed is in a state of exceeding the target rotation speed of the drive wheel, and detects the slip in a case where the integrated amount thereof exceeds a predetermined threshold.
3. The control device of an electric vehicle according to claim 2 ,
wherein the predetermined threshold is determined in proportion to magnitude of a fluctuation amount of the motor torque.
4. The control device of an electric vehicle according to claim 1 ,
wherein the slip control unit uses the motor torque before a start of the feedback control as a default value in the feedback control.
5. The control device of an electric vehicle according to claim 1 , further comprising:
a third processor programmed to function as a basic command torque calculation unit that calculates basic command torque of the motor on the basis of an accelerator position, wherein the slip control unit controls the motor torque with the basic command torque in driving of the electric vehicle as an upper limit in the feedback control in the driving of the electric vehicle.
6. The control device of an electric vehicle according to claim 5 ,
wherein the slip control unit controls the motor torque with predetermined negative torque as a lower limit and permits an output of the negative torque only for a predetermined period in the feedback control in the driving of the electric vehicle.