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

Claim 1:
2. The vehicle system vibration suppression control device as claimed in claim 1, comprising a disturbance torque observer, wherein:
the approximate model includes:
a subtractor configured to subtract an estimated disturbance torque ({circumflex over ( )}Tobs), which is calculated by the disturbance torque observer, and a shaft torsional torque ({circumflex over ( )}Td) from the output torque command (Tm) to output an estimated motor-accelerating torque component ({circumflex over ( )}TmA);
a block configured to calculate a motor side acceleration by dividing the estimated motor-accelerating torque component ({circumflex over ( )}TmA) by a time constant equivalent to motor rotational inertia;
a block configured to calculate a vehicle body side acceleration by dividing the shaft torsional torque ({circumflex over ( )}Td) by a combined rotational inertia of a vehicle body and tires;
a block configured to calculate a relative speed between the motor and the vehicle body by time-integrating a difference between the motor side acceleration and the vehicle body side acceleration;
a block configured to calculate a tire slip speed by multiplying the shaft torsional torque ({circumflex over ( )}Td) by a slip coefficient ({circumflex over ( )}Ds); and
a block configured to calculate the shaft torsional torque ({circumflex over ( )}Td) by transforming a difference between the tire slip speed and the relative speed between the motor and the vehicle body into a torsional phase of the elastic shaft by time integration, and multiplying the torsional phase of the elastic shaft by a torsional stiffness coefficient ({circumflex over ( )}Kd) of driveline;

wherein the disturbance torque observer is configured to:
integrate with the time constant equivalent to motor rotational inertia a deviation between the estimated motor-accelerating torque component ({circumflex over ( )}TmA) and the motor-accelerating torque component (TmA*) calculated by differentiating the measured speed component (ωm) of the motor rotational speed to produce an integrated quantity;
calculate the estimated disturbance torque ({circumflex over ( )}Tobs) by multiplying the integrated quantity by an observer gain (Kg); and
input the estimated disturbance torque ({circumflex over ( )}Tobs) to the subtractor.