초록 ▼

A driving force control apparatus for a vehicle includes a first sensor that detects an output command supplied to a power source, a second sensor that detects an operating condition amount of a vehicle and a controller. The controller calculates a basic command value of an output of the power sourc

A driving force control apparatus for a vehicle includes a first sensor that detects an output command supplied to a power source, a second sensor that detects an operating condition amount of a vehicle and a controller. The controller calculates a basic command value of an output of the power source based upon the output command from the first sensor, calculates a reference model command value based upon the basic command value and transmission characteristic of a response of reference model, calculates a correction value from a deviation between the reference model command value and a predetermined frequency component corresponding to a vibration of a vehicle driving system extracted out of the operating condition amount of the vehicle, and calculates a target command value based upon the basic command value and the correction value to control the torque of the power source.

대표청구항 ▼

What is claimed is: 1. A driving force control apparatus for a vehicle, wherein the vehicle comprises at least one power source, a drive mechanism connected to the one power source, and a driving wheel to which a torque to be outputted from the one power source is transmitted through the drive mech

What is claimed is: 1. A driving force control apparatus for a vehicle, wherein the vehicle comprises at least one power source, a drive mechanism connected to the one power source, and a driving wheel to which a torque to be outputted from the one power source is transmitted through the drive mechanism, the apparatus comprising: a first sensor that detects an output command supplied to the one power source; a second sensor that detects an operating condition amount of the vehicle; and a controller programmed to: calculate a basic command value of an output of the one power source based upon the output command to the one power source for the vehicle from the first sensor; calculate a reference model command value based upon the basic command value and a transmission characteristic of a response of reference model; calculate a correction value based upon a deviation between the reference model command value and a predetermined frequency component corresponding to a vibration of a vehicle driving system extracted out of the operating condition amount of the vehicle from the second sensor; calculate a target command value based upon the basic command value and the correction value; and control the output of the one power source based upon the target command value. 2. The driving force control apparatus as defined in claim 1, wherein the controller calculates a phase compensation value for dynamic characteristic compensation based upon the basic command value, and calculates the target command value based upon the phase compensation value and the correction value. 3. The driving force control apparatus as defined in claim 2, wherein the controller calculates a reverse system of a transmission characteristic Gp (s) to a driving wheel torque with respect to the operating condition amount, and a response of reference model Gm (s) to the driving wheel torque with respect to the operating condition amount for the dynamic characteristic compensation. 4. The driving force control apparatus as defined in claim 3, wherein the controller calculates the response of the reference model Gm (s) in accordance with the operating condition amount for the dynamic characteristic compensation, wherein the response of the reference model Gm (s) corresponds to a response of reference model Gm (s) of the reference model command value calculation. 5. The driving force control apparatus as defined in claim 1, wherein the controller calculates: a torque reference model value based upon a response of reference model from an input of the basic command value; and a rotation speed reference model value of the driving wheel from the torque reference model value; extracts a predetermined frequency component corresponding to a vibration of the vehicle drive system from a rotation speed value of the driving wheel; 0013 calculates a torque correction value from a deviation between the rotation speed reference model value and the frequency component; and 0014 corrects the basic command value based upon the torque correction value. 6. The driving force control apparatus as defined in claim 5, wherein the controller extracts the predetermined frequency component corresponding to the vibration of the vehicle drive system through a band pass filter, and thereafter calculates the torque correction value at least by multiplying the predetermined frequency component by a proportional gain. 7. The driving force control apparatus as defined in claim 1, wherein the controller calculates a torque reference model based upon a response of reference model from an input of the basic command value, calculates a rotation acceleration speed reference model value of the driving wheel from the torque reference model value, estimates a rotation acceleration speed value of the driving wheel through a band pass filter from an input of a rotation speed value of the driving wheel, performs a low pass filtering to the rotation acceleration speed reference model value of the driving wheel by using a low pass filter that allows only for a delay element component of the band pass filter, to calculate a final rotation acceleration speed reference model value of the driving wheel, calculates a torque correction value based upon a deviation between the final rotation acceleration speed reference model value and the rotation acceleration speed reference model estimation value of the driving wheel, and corrects the basic command value based upon the torque correction value. 8. The driving force apparatus as defined in claim 7, wherein the band pass filter includes a transmission characteristic to extract only the predetermined frequency component corresponding to the vibration of the vehicle drive system. 9. The driving force control apparatus as defined in claim 7, wherein the band pass filter and the low pass filter wherein each of constants τ H, τ L is set in accordance with the frequency component, and the torque correction value is calculated by use of at least a proportional gain to the deviation between the final rotation acceleration speed reference model value and the rotation acceleration speed reference model estimation value of the driving wheel. 10. The driving force control apparatus as defined in claim 1, wherein the power source comprises an engine or a motor, the drive mechanism comprises a transmission connected to the engine or the motor, and the controller changes the predetermined frequency component corresponding to the vibration of the vehicle drive system based upon a gear ratio of the transmission. 11. The driving force control apparatus as defined in claim 10, wherein the controller sets the predetermined frequency component to be narrow in band width in the case of a low vibration frequency and to be wide in band width in the case of a high vibration frequency. 12. A driving force control apparatus for a vehicle, wherein the vehicle comprises a first power source, a second power source having a response performance different from the first power source, a drive mechanism connected to at least one of the first and the second power source, and a driving wheel to which a torque to be outputted from at least the one of the first and the second power source is transmitted through the drive mechanism, the apparatus comprising: a first sensor that detects an output command supplied to at least the one of the first and the second power source; a second sensor that detects an operating condition amount of a vehicle; and a controller programmed to: calculate as a basic command value of outputs to the first power source and the second power source a first basic command value and a second basic command value based upon based upon the output command from the first sensor; calculate a reference model command value based upon the basic command value and a transmission characteristic of a response of reference model; calculate a correction value based upon a deviation between the reference model command value and a predetermined frequency component corresponding to a vibration of a vehicle driving system extracted out of the operating condition amount from the second sensor; calculate a target command value by correcting at least one of the first and the second basic command value based upon the correction value; and control the outputs of the first and the second power source based upon the target command value. 13. The driving force control apparatus as defined in claim 12, wherein the controller calculates: a torque reference model value based upon the response of the reference model from inputs of the first and the second basic command value; and a rotation speed reference model value of the driving wheel from the torque reference value; calculates a deviation between the rotation speed reference model value of the driving wheel and the rotation speed value thereof; extracts a predetermined frequency component corresponding to a vibration of the vehicle drive system from the deviation; calculates a torque correction value based upon the deviation and the vibration frequency component; and corrects at least one of the first and the second basic command value based upon torque correction value. 14. The driving force control apparatus as defined in claim 13, wherein the controller extracts only the predetermined frequency component corresponding to the vibration of the vehicle drive system through a band pass filter, and thereafter calculates the torque correction value at least by multiplying the predetermined frequency component by a proportional gain. 15. The driving force control apparatus as defined in claim 12, wherein the first power source comprises an engine, and the second power source comprises a motor, wherein the controller corrects only the second basic command value to the motor based upon the correction value. 16. The driving force control apparatus as defined in claim 13, wherein the controller calculates a first phase compensation amount from a product of a reverse system of a transmission characteristic G p' (s) to a driving wheel torque with respect to a torque generated by the first power source, and a response of reference model Gm (s) to a predetermined driving wheel torque, calculates a first torque command value by carrying out a phase compensation to the first basic command value based upon the first phase compensation amount, calculates a second phase compensation amount from a transmission characteristic Wm (s) to the driving wheel torque with respect to a torque generated by the second power source based upon a characteristic equal to the first phase compensation amount, calculates a second torque command value by carrying out a phase compensation to the second basic command value based upon the second phase compensation amount, calculates a final first torque command value by correcting the first torque command value based upon the torque correction value, and calculates a final second torque command value by correcting the second torque command value based upon the torque correction value. 17. The driving force control apparatus as defined in claim 16, wherein the controller performs the calculations of the first phase compensation and the second phase compensation, and the calculation of the torque reference model with the response of the reference model Gm (s) to the driving wheel torque in common there between. 18. The driving force control apparatus as defined in claim 16, wherein the controller calculates a first torque reference model value based upon the response of the reference model Gm (s) to the driving wheel torque, and a transmission characteristic Ge (s) from the final first torque command value to an actual torque of the first power source as an input of the first basic command value, calculates a second torque reference model value based upon the response of the reference model Gm (s) to the driving wheel torque as an input of the second basic command value, calculates a torque reference model value based upon the first torque reference model value and the second torque reference model value, and calculates a rotation speed reference model value of the driving wheel based upon the torque reference model value. 19. The driving force control apparatus as defined in claim 18, wherein the first power source comprises an engine and the controller approximates the transmission characteristic Ge (s) with a first delay model and a waste time model. 20. The driving force control apparatus as defined in claim 19, wherein the controller sets time constant τ e of the first delay model to be smaller as the engine rotation speed or the final first torque command value becomes larger. 21. The driving force control apparatus as defined in claim 20, wherein the controller sets time constant τ e of the first delay model to be smaller than an actual engine delay time. 22. The driving force control apparatus as defined in claim 16, wherein the controller sets a constant of the transmission characteristic Gp' (s), taking into account the delay characteristic of the first power source for the first phase compensation.