Patent ID: 11942884
Assignee: MEIDENSHA CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC H  B  G  Y | IPC B  G  H

Claim 9:
10. A vehicle system vibration suppression control device for a vehicle system in which a vehicle is driven via an elastic shaft by a motor drive device having a torque control function, the vehicle system vibration suppression control device comprising:
a disturbance torque observer configured to:
calculate a measured motor rotational speed (ωm_det) based on a measured value of a motor rotational phase and a measured value of time; and
determine an estimated disturbance torque ({circumflex over ( )}Tobs) based on a time differential component (TmA_det) of the measured motor rotational speed (ωm_det) and an output torque command (Tm); and

a feedback control section configured to:
produce a torque command (Tref_LPF) by causing an input torque command (Tref) to pass through a prefilter;
produce a compensation torque component (ΔTcomp) by causing an estimated motor-accelerating torque component ({circumflex over ( )}TmA) to pass through a vibration suppression control filter, wherein the estimated motor-accelerating torque component ({circumflex over ( )}TmA) is calculated by a model of the vehicle;
calculate the output torque command (Tm) by subtracting the compensation torque component (ΔTcomp) from the torque command (Tref_LPF); and
instruct the motor drive device to generate a motor torque corresponding to the calculated output torque command (Tm);

wherein the disturbance torque observer is a first block based on a sampled-data system model and configured to:
receive input of a second quantity ({circumflex over ( )}Tm) calculated by subtracting the estimated disturbance torque ({circumflex over ( )}Tobs) from the output torque command (Tm); and
calculate the estimated motor-accelerating torque component ({circumflex over ( )}TmA) based on the second quantity ({circumflex over ( )}Tm);

wherein the disturbance torque observer includes:
a second block or a {circumflex over ( )}Tm-{circumflex over ( )}TmA transformation block;
wherein the second block includes a subtractor configured to subtract a shaft torsional torque ({circumflex over ( )}Td) from the second quantity ({circumflex over ( )}Tm) to output the estimated motor-accelerating torque component ({circumflex over ( )}TmA);
wherein the second block is configured to:
calculate a first quantity by subtracting a product of the estimated motor-accelerating torque component ({circumflex over ( )}TmA) and an integral coefficient (Tc/{circumflex over ( )}TJm) from a product of the shaft torsional torque ({circumflex over ( )}Td) and an integral coefficient (Tc/{circumflex over ( )}TJwM);
calculate a third quantity by first approximate integration of the first quantity;
calculate a tire slip speed by multiplying the shaft torsional torque ({circumflex over ( )}Td) by a slip coefficient ({circumflex over ( )}Ds);
calculate a shaft torsional speed ({circumflex over ( )}ωd) by subtracting the tire slip speed from the third quantity;
produce a fourth quantity by second approximate integration of a product of the shaft torsional speed ({circumflex over ( )}ωd) and an integral coefficient ({circumflex over ( )}Kd·Tc);
produce the shaft torsional torque ({circumflex over ( )}Td) by causing the fourth quantity to pass through a delayer;

wherein the {circumflex over ( )}Tm-{circumflex over ( )}TmA transformation block is composed of a second order filter having a coefficient designed based on a second order transfer function expressed by a mathematical expression (12),, G
       
        pTmA
        ⁢
        2
       
      
      (
      s
      )
     
     =
     
      
       
        
         s
         2
        
        +
        
         
          (
          
           
            K
            d
           
           ·
           
            D
            s
           
          
          )
         
         ·
         s
        
        +
        
         
          K
          d
         
         ·
         
          
           
            1
           
          
          
           
            
             TJ
             wM
            
           
          
         
        
       
       
        
         s
         2
        
        +
        
         (
         
          
           K
           d
          
          ·
          
           D
           s
          
          ·
          s
         
         )
        
        +
        
         
          K
          d
         
         ·
         
          (
          
           
            1
            
             TJ
             m
            
           
           +
           
            1
            
             TJ
             wM
            
           
          
          )
         
        
       
      
      =
      
       
        
         s
         2
        
        +
        
         2
         ·
         
          ζ
          a
         
         ·
         
          ω
          a
         
         ·
         s
        
        +
        
         ω
         a
         2
        
       
       
        
         s
         2
        
        +
        
         2
         ·
         
          ζ
          r
         
         ·
         
          ω
          r
         
         ·
         s
        
        +
        
         ω
         r
         2
        
       
      
     
    
   
   
    
     (
     12
     )
    
   
  
 

wherein the disturbance torque observer further includes:
an integrator configured to integrate a deviation component ({circumflex over ( )}TmA_dly) between a fifth quantity ({circumflex over ( )}TmA_dly) and the time differential component (TmA_det), wherein the fifth quantity ({circumflex over ( )}TmA_dly) is produced by delaying the estimated motor-accelerating torque component ({circumflex over ( )}TmA);
a gain multiplier configured to multiply an output of the integrator by an observer gain (Kg); and
a delayer configured to delay an output of the gain multiplier to produce the estimated disturbance torque ({circumflex over ( )}Tobs);

wherein the deviation (ΔTmA_det) is determined by first, second, or third sampled data system model calculation;
wherein the first sampled data system model calculation is configured to:
calculate the measured motor rotational speed (ωm_det) by dividing a phase difference from a past sampled value of the motor rotational phase by a time difference;
produce a sixth quantity by delaying the measured motor rotational speed (ωm_det);
calculate the time differential component ({circumflex over ( )}TmA_det) by differentiating the sixth quantity with a coefficient (TJm/Tc);
produce the fifth quantity ({circumflex over ( )}TmA_dly) by delaying the estimated motor-accelerating torque component ({circumflex over ( )}TmA) by a delay block; and
calculate the deviation between the time differential component ({circumflex over ( )}TmA_det) and the fifth quantity ({circumflex over ( )}TmA_dly);

wherein the second sampled data system model calculation is configured to:
calculate the measured motor rotational speed (ωm_det) by dividing a phase difference from a past sampled value of the motor rotational phase by a constant sampling period;
produce a sixth quantity by delaying the measured motor rotational speed (ωm_det);
calculate the time differential component ({circumflex over ( )}TmA_det) by differentiating the sixth quantity with a coefficient (TJm/Tc);
produce the fifth quantity ({circumflex over ( )}TmA_dly) by delaying the estimated motor-accelerating torque component ({circumflex over ( )}TmA) by a delay block; and
calculate the deviation between the time differential component ({circumflex over ( )}TmA_det) and the fifth quantity ({circumflex over ( )}TmA_dly);

wherein the third sampled data system model calculation is configured to:
determine the time differential component ({circumflex over ( )}TmA_det) as an input signal from an integrating part of a sampled data system first-order delay filter, wherein the sampled data system first-order delay filter is configured to process the measured motor rotational speed (ωm_det) produced by differentiating a measured value of the motor rotational phase;
produce the fifth quantity ({circumflex over ( )}TmA_dly) by delaying the estimated motor-accelerating torque component ({circumflex over ( )}TmA) by a delay block having a first-order delay filter identical in coefficient to the sampled data system first-order delay filter; and
calculate the deviation between the time differential component ({circumflex over ( )}TmA_det) and the fifth quantity ({circumflex over ( )}TmA_dly); and

wherein the vibration suppression control filter (Fcomp(S)) is expressed by a mathematical expression (13),, F
       
        c
        ⁢
        o
        ⁢
        m
        ⁢
        p
       
      
      (
      s
      )
     
     =
     
      
       2
       ·
       
        (
        
         
          ζ
          A
         
         -
         
          ζ
          r
         
        
        )
       
       ·
       
        ω
        r
       
       ·
       s
      
      
       
        s
        2
       
       +
       
        2
        ·
        
         ζ
         a
        
        ·
        
         ω
         a
        
        ·
        s
       
       +
       
        ω
        a
        2
       
      
     
    
   
   
    
     (
     13
     )
    
   
  
 

where
s: a Laplace operator,
ωr=√(Kd·(1/TJm+1/TJwM),
ωa=√(Kd·(1/TJwM)),
ζr=(Kd·Ds)/(2·ωr),
ζa=(Kd·Ds)/(2·ωa),
ζA: an adjustable parameter,
Ds=TJM/(TJw+TJM)·Kt,
TJm: a time constant equivalent to motor inertia,
TJw: a time constant equivalent to driving wheel inertia (a combined value of multiple driving wheels),
TJM: a time constant equivalent to vehicle mass,
Kd: a torsional stiffness coefficient of driveline,
Kt: a coefficient relating to friction between tire and road surface, and
TJwM=TJw+TJM.