A vehicle comprises a drive motor (15) that generates a drive torque to be transmitted to drive wheels (18), a power supply source (12, 17) that includes, at least, a generator (12), and supplies power to the drive motor (15), and a programmable controller (20). The programmable controller (20) is p
A vehicle comprises a drive motor (15) that generates a drive torque to be transmitted to drive wheels (18), a power supply source (12, 17) that includes, at least, a generator (12), and supplies power to the drive motor (15), and a programmable controller (20). The programmable controller (20) is programmed so as to calculate a required drive torque based upon a vehicle traveling state, calculate a power supply value representing power to be supplied from the power supply source (12, 17) to the drive motor (15) based upon the required drive torque, control the drive motor (15) to enable the drive motor (15) to output a drive torque determined by reducing a frequency component in the required drive torque, which is equivalent to torsional vibration of the drive system, and control the power supply source (12, 17) to enable the power supply source (12, 17) to supply to the drive motor (15) power obtained by reducing the frequency component in the power supply that is equivalent to the torsional vibration of the drive system.
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1. A control device equipped with a programmable controller configured to execute control for an electric motor vehicle comprising: a drive motor that generates a drive torque to be transmitted to drive wheels; anda power supply source including at least a generator having an electric motor and prov
1. A control device equipped with a programmable controller configured to execute control for an electric motor vehicle comprising: a drive motor that generates a drive torque to be transmitted to drive wheels; anda power supply source including at least a generator having an electric motor and providing power to the drive motor,wherein the programmable controller is programmed to calculate a required drive torque based upon a traveling state of the vehicle,calculate a power supply value representing power to be supplied from the power supply source to the drive motor,perform damping processing for both of the required drive torque and the power generated by the generator to compensate for a delay time of the power supply source,control the power supply source to supply to the drive motor power resulting from the damping processing so as to reduce a frequency component in the power generated by the generator, the frequency component being equivalent to a torsional vibration of a drive system of the vehicle,calculate a drive torque to be indicated in a command issued to the drive motor based upon an output of the generator,control the drive motor based upon the drive torque, andcontrol the power generated by the generator to be substantially equivalent to a target generation power value representing target power to be generated and supplied to the drive motor. 2. The control device for the electric motor vehicle as defined in claim 1, wherein: the power supply source further includes a storage battery; andthe controller is further programmed to designate a sum of power chargeable in the storage battery and the power supply value as a power generation command value, and control the generator based upon a value obtained by executing the damping processing on the power generation command value if the power supply value exceeds power that the storage battery is configured to supply to the drive motor;calculate a target charge/discharge power value for the storage battery by subtracting a target generation power value representing target power to be generated and supplied to the drive motor from the power generation command value resulting from the damping processing, and execute the damping processing for the target charge/discharge power value; andcalculate a generator auxiliary drive power command value by subtracting the target charge/discharge power value resulting from the damping processing from power that is actually generated, and control the drive motor based upon the calculated value. 3. The control device for the electric motor vehicle as defined in claim 2, wherein the controller is further programmed to: execute upper/lower limit processing for the power supply value based upon the actually generated power, and allowable output power output from and allowable input power input to the storage battery, anddesignate a value obtained by applying an upper limit and a lower limit to a value, resulting from the upper/lower limit processing, based upon the target charge/discharge power value and the allowable output power and the allowable input power pertaining to the storage battery as a damping filter-applied drive power command value. 4. The control device for the electric motor vehicle as defined in claim 3, wherein the controller is further programmed to: designate a sum of a value obtained by executing the damping processing for the damping filter-applied drive power command value and the generator auxiliary drive power command value as a drive power command value;calculate a drive loss at the drive motor based upon the drive power command value, a rotating speed of the drive motor and a voltage at the storage battery; anddesignate, as a drive motor torque command value, a value obtained by dividing a value representing a difference between the drive power command value and the drive loss by the rotating speed of the drive motor. 5. The control device for the electric motor vehicle as defined in claim 2, wherein the controller is further programmed to: designate, as the target charge/discharge power value, a value obtained by applying an engine response delay filter and a damping filter to a value representing a difference between the power generation command value resulting from the damping processing and a target power generation value representing target power to be generated and supplied to the drive motor. 6. The control device for the electric motor vehicle as defined in claim 2, wherein the controller is further programmed to: execute limit processing for the power supply value by designating a sum of the actually generated power and allowable output power that the storage battery is configured to output as an upper limit and by designating a value representing a difference between the actually generated power and power chargeable to the storage battery as a lower limit,further apply limits to a value resulting from the limit processing by designating a sum of part of the actually generated power, which is allocated to charge the storage battery, and the allowable output power at the storage battery as an upper limit and designating a difference between part of the actually generated power, which is allocated to discharge the storage battery, and allowable input power at the storage battery as a lower limit, anddesignate the value obtained by applying the limits as a damping filter-applied drive power command value. 7. The control device for the electric motor vehicle as defined in claim 1, wherein: the programmable controller is configured to detect the traveling state via an accelerator pedal position sensor and a drive motor rotating speed sensor. 8. The control device for the electric motor vehicle as defined in claim 2, wherein: the programmable controller is configured to detect the traveling state via an accelerator pedal position sensor, a drive motor rotating speed sensor and a sensor that detects a voltage at the storage battery. 9. A control device for an electric motor vehicle, comprising a drive motor that generates a drive torque to be transmitted to drive wheels; anda power supply source including at least a generator having an electric motor and providing power to the drive motor, the control device comprising:a required drive torque calculation means for calculating a required drive torque based upon a traveling state of the vehicle;a power supply value calculation means for calculating a power supply value indicating power to be supplied to the drive motor from the power supply source; anda power supply command means for performing damping processing for both of the required drive torque and the power generated by the generator to compensate for a delay time of the power supply source,controlling the power supply source so as to supply to the drive motor power resulting from the damping processing so as to reduce a frequency component in the power generated by the generator, the frequency component being equivalent to a torsional vibration of a drive system of the vehicle,calculating a drive torque to be indicated in a command to the drive motor based upon an output of the generator,controlling the drive motor based upon the drive torque, andcontrolling the power generated by the generator to be substantially equivalent to a target generation power value representing target power to be generated and supplied to the drive motor. 10. A control method for an electric motor vehicle comprising a drive motor that generates a drive torque to be transmitted to drive wheels and a power supply source including at least a generator having an electric motor and providing power to the drive motor, the control method comprising: calculating a required drive torque based upon a traveling state of the vehicle,calculating a power supply value indicating power to be supplied to the drive motor from the power supply source,performing damping processing for both of the required drive torque and the power generated by the generator to compensate for a delay time of the power supply source,controlling the power supply source so as to supply to the drive motor power resulting from the damping processing so as to reduce a frequency component in the power generated by the generator, the frequency component being equivalent to a torsional vibration of a drive system of the vehicle,calculating a drive torque to be indicated in a command to the drive motor based upon an output of the generator,controlling the drive motor based upon the drive torque, andcontrolling the power generated by the generator to be substantially equivalent to a target generation power value representing target power to be generated and supplied to the drive motor. 11. The control device of claim 1, wherein the damping processing is executed such that a drive power of the drive motor substantially matches the power generated by the generator. 12. The control device of claim 9, wherein the damping processing is executed such that a drive power of the drive motor substantially matches the power generated by the generator. 13. The control method of claim 10, wherein the damping processing is executed such that a drive power of the drive motor substantially matches the power generated by the generator.
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이 특허에 인용된 특허 (15)
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