Motor control device for electric vehicle
A motor control device for an electric vehicle, which includes a power transmission path configured such that an output of a first motor and an output of a second motor are, respectively, transmittable to left and right wheels of the vehicle via a differential mechanism, includes a non-interference correction part for predictively correcting an output from a first motor control part or a second motor control part to an opposite motor to a motor performing vibration suppression correction via the power transmission path, such that a change in motor output by a vibration suppression correction torque amount cancels an interference torque interfering with a motor output of the opposite motor.
1. A motor control device for an electric vehicle which includes a power transmission path configured such that an output of a left motor and an output of a right motor are, respectively, transmittable to left wheel and right wheel of the vehicle via a differential mechanism;
wherein, in a collinear graph of the power transmission path, which has an abscissa representing the left motor, the left wheel, the right wheel, and the right motor in sequence at intervals of a gear ratio of the gears constituting sections between the respective elements, and an ordinate representing the respective rotation speeds, the rotation speeds of the left motor, the left wheel, the right wheel, and the right motor have a collinear relationship where they are positioned on the same straight line;
the motor control device comprising:
a first motor control part for controlling the output of the right motor based on a request value of the right motor request torque;
a second motor control part for controlling the output of the left motor based on a request value of the left motor request torque;
wherein the first motor control part includes a first motor vibration suppression part that corrects the right motor required torque so that the rotation speed of the right motor does not fluctuate beyond a predetermined range;
wherein the second motor control part includes a second motor vibration suppression part that corrects the left motor required torque so that the rotation speed of the left motor does not fluctuate beyond the predetermined range;
wherein the first motor control part includes a first non-interference part that further corrects the right motor required torque corrected by the first motor vibration suppression part so as to cancel out a change in interference torque due to a correction torque amount of the first motor vibration suppression part; and
wherein the second motor control part includes a second non-interference part that further corrects the left motor required torque corrected by the second motor vibration suppression part so as to cancel out a change in interference torque due to a correction torque amount of the second motor vibration suppression part.
2. The motor control device for the electric vehicle according to claim 1 ,
wherein the power transmission path constitutes a turning moment control device capable of controlling a turning moment by controlling the respective outputs of the right motor and the left motor to adjust a sharing ratio of a driving torque in the left wheel and right wheel.
3. The motor control device for the electric vehicle according to claim 1 ,
wherein the first non-interference part further corrects the right motor required torque corrected by the first motor vibration suppression part when the motor output of the right motor changes according to the correction torque amount of the first vibration suppression part; and
wherein the second non-interference part further corrects the left motor required torque corrected by the second motor vibration suppression part when the motor output of the left motor changes according to the correction torque amount of the second vibration suppression part.
4. The motor control device for the electric vehicle according to claim 3 ,
wherein a correction amount of the first non-interference part is a torque amount obtained by multiplying the correction torque amount of the second motor vibration suppression part by a predetermined first interference coefficient; and
wherein a correction amount of the second non-interference part is a torque amount obtained by multiplying the correction torque amount of the first motor vibration suppression part by a predetermined second interference coefficient.
5. The motor control device for the electric vehicle according to claim 4 ,
wherein the first interference coefficient and the second interference coefficient are calculated based on a gear ratio which is formed by a gear train constituting the power transmission path.
6. The motor control device for the electric vehicle according to claim 1 ,
wherein the first motor vibration suppression part calculates a correction amount of the right motor required torque by feedback control based on a rotation speed of the right motor; and
wherein the second motor vibration suppression part calculates a correction amount of the left motor required torque by feedback control based on a rotation speed of the left motor.