An embodiment of the present invention is a method for controlling an electric vehicle having: a plurality of drive wheels; and a plurality of motors for generating a driving force to each of the plurality of driving wheels. In this control method, the vehicle body speed is estimated for each drive wheel on the basis of the rotational speed of the motor. Furthermore, on the basis of the vehicle body speed estimated for each drive wheel, a drive wheel external disturbance torque, which is an external disturbance torque acting on the drive wheel, is estimated for each drive wheel. Furthermore, on the basis of the drive wheel external disturbance torque estimated for each drive wheel, a vehicle external disturbance torque, which is a real external disturbance torque acting on the electric vehicle as a whole, is estimated, and on the basis of the vehicle external disturbance torque, the torque to be output by each of the plurality of motors is controlled.
本发明的某个方式是一种电动车辆的控制方法,该电动车辆具有:多个驱动轮;以及多个电动机,它们使多个驱动轮分别产生驱动力。在该控制方法中,基于电动机的旋转速度,针对每个驱动轮而对车身速度进行推定。另外,基于针对每个驱动轮而推定出的车身速度,针对每个驱动轮对作用于驱动轮的外部干扰转矩即驱动轮外部干扰转矩进行推定。而且,基于针对每个驱动轮而推定出的驱动轮外部干扰转矩,对作为整体而作用于电动车辆的真实的外部干扰转矩即车辆外部干扰转矩进行推定,基于该车辆外部干扰转矩,对多个电动机分别应当输出的转矩进行控制。
METHOD FOR CONTROLLING ELECTRIC VEHICLE AND DEVICE FOR CONTROLLING ELECTRIC VEHICLE
电动车辆的控制方法以及电动车辆的控制装置
2024-11-08
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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