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

Claim 0:
1. 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:
at least one controller configured to:
contain an approximate model to which an output torque command (Tm) is inputted;
calculate a motor-accelerating torque component (TmA*) by differentiating a measured speed component (ωm) of a motor rotational speed;
produce a compensation torque component (TFcomp) by causing the motor-accelerating torque component (TmA*) to pass through a vibration suppression control filter (Fcomp(s));
calculate the output torque command (Tm) by subtracting the compensation torque component (TFcomp) from an input torque command (Tref); and
instruct the motor drive device to generate a motor torque corresponding to the calculated output torque command (Tm);
wherein the vibration suppression control filter (Fcomp(s)) is expressed by a mathematical expression (13),, F
       comp
      
      (
      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.