Controller and controlling method of electric vehicle

A method of controlling an electric vehicle having as a power source an electric motor driven based on a torque command value, the controlling method comprising:

• sensing vehicle information;
• setting a first torque target value based on the vehicle information;
• calculating the torque command value to the electric motor;
• calculating a first paragraph of a second torque target value by implementing a first filtering treatment of the torque command value, the first filtering treatment including a transmission characteristic having a band pass filter characteristic;
• calculating a second paragraph of the second torque target value by implementing a second filtering treatment of a motor revolution speed which is one of pieces of the vehicle information, the second filtering treatment including:
• the transmission characteristic having the band pass filter characteristic, and
• a model of a transmission characteristic between:
• a torque input to the vehicle, and
• the motor revolution speed;
• calculating the second torque target value based on a deviation between:
• the first paragraph of the second torque target value, and
• the second paragraph of the second torque target value,
• wherein
• based on the first torque target value and the second torque target value, the torque command value calculating operation calculates the torque command value, and
• in the second filtering treatment, the second paragraph calculating operation uses an attenuation coefficient which is set larger than an identification value of the model of the transmission characteristic.

A controller of an electric vehicle having as a power source an electric motor driven based on a torque command value, the controller comprising:

• a sensing means for sensing vehicle information;
• a torque target value setting means for setting a first torque target value based on the vehicle information;
• a torque command value calculating means for calculating the torque command value to the electric motor;
• a first paragraph calculating means for calculating a first paragraph of a second torque target value by implementing a first filtering treatment of the torque command value, the first filtering treatment including a transmission characteristic having a band pass filter characteristic;
• a second paragraph calculating means for calculating a second paragraph of the second torque target value by implementing a second filtering treatment of a motor revolution speed which is one of pieces of the vehicle information, the second filtering treatment including:
• the transmission characteristic having the band pass filter characteristic, and
• a model of a transmission characteristic between:
• a torque input to the vehicle, and
• the motor revolution speed;
• a torque target value calculating means for calculating the second torque target value based on a deviation between:
• the first paragraph of the second torque target value, and
• the second paragraph of the second torque target value,
• wherein
• based on the first torque target value and the second torque target value, the torque command value calculating means calculates the torque command value, and
• in the second filtering treatment, the second paragraph calculating means uses an attenuation coefficient which is set larger than an identification value of the model of the transmission characteristic.

A controller of an electric vehicle having as a power source an electric motor driven based on a torque command value, the controller comprising:

• a sensor for sensing vehicle information;
• a torque target value setter for setting a first torque target value based on the vehicle information;
• a torque command value calculator for calculating the torque command value to the electric motor;
• a first paragraph calculator for calculating a first paragraph of a second torque target value by implementing a first filtering treatment of the torque command value, the first filtering treatment including a transmission characteristic having a band pass filter characteristic;
• a second paragraph calculator for calculating a second paragraph of the second torque target value by implementing a second filtering treatment of a motor revolution speed which is one of pieces of the vehicle information, the second filtering treatment including:
• a transmission characteristic having the band pass filter characteristic, and
• a model of a transmission characteristic between:
• a torque input to the vehicle, and
• the motor revolution speed;
• a torque target value calculator for calculating the second torque target value based on a deviation between:
• the first paragraph of the second torque target value, and
• the second paragraph of the second torque target value,
• wherein
• the model includes a numerator given by a second order expression and a denominator given by a third order expression,
• the torque target value calculator includes:
• a subtractor for subtracting the second paragraph of the second torque target value from the first paragraph of the second torque target value, and
• a filter for outputting the second torque target value by implementing a third filtering treatment of an output value of the subtractor, the third filtering treatment including a transmission characteristic including a numerator given by a second order expression and a denominator given by a second order expression,
• the transmission characteristic of the filter includes:
• the numerator which is given by the second order expression of the numerator of the model, and
• the denominator which is given by the second order expression having a second attenuation coefficient, the second attenuation coefficient being set larger than a first attenuation coefficient calculated from the numerator of the model and being set less than or equal to 1, and
• the torque command value calculator calculates the torque command value based on:
• the first torque target value, and
• the second torque target value subjected to the third filtering treatment by the filter.

A method of controlling an electric vehicle having as a power source an electric motor driven based on a torque command value, the controlling method comprising:

• sensing vehicle information;
• setting a first torque target value based on the vehicle information;
• calculating the torque command value to the electric motor;
• calculating a first paragraph of a second torque target value by implementing a first filtering treatment of the torque command value, the first filtering treatment including a transmission characteristic having a band pass filter characteristic;
• calculating a second paragraph of the second torque target value by implementing a second filtering treatment of a motor revolution speed which is one of pieces of the vehicle information, the second filtering treatment including:
• a transmission characteristic having the band pass filter characteristic, and
• a model of a transmission characteristic between:
• a torque input to the vehicle, and
• the motor revolution speed;
• calculating the second torque target value based on a deviation between:
• the first paragraph of the second torque target value, and
• the second paragraph of the second torque target value,
• wherein
• the model includes a numerator given by a second order expression and a denominator given by a third order expression,
• the second torque target value calculating operation includes:
• subtracting the second paragraph of the second torque target value from the first paragraph of the second torque target value, and
• outputting the second torque target value by implementing a third filtering treatment of an output value of the subtracting operation, the third filtering treatment including a transmission characteristic including a numerator given by a second order expression and a denominator given by a second order expression,
• the transmission characteristic of the outputting operation includes:
• the numerator which is given by the second order expression of the numerator of the model, and
• the denominator which is given by the second order expression having a second attenuation coefficient, the second attenuation coefficient being set larger than a first attenuation coefficient calculated from the numerator of the model and being set less than or equal to 1, and
• the torque command value calculating calculates the torque command value based on:
• the first torque target value, and
• the second torque target value subjected to the third filtering treatment by the outputting operation.

A controller of an electric vehicle having as a power source an electric motor driven based on a torque command value, the controller comprising:

• a sensing means for sensing vehicle information;
• a torque target value setting means for setting a first torque target value based on the vehicle information;
• a torque command value calculating means for calculating the torque command value to the electric motor;
• a first paragraph calculating means for calculating a first paragraph of a second torque target value by implementing a first filtering treatment of the torque command value, the first filtering treatment including a transmission characteristic having a band pass filter characteristic;
• a second paragraph calculating means for calculating a second paragraph of the second torque target value by implementing a second filtering treatment of a motor revolution speed which is one of pieces of the vehicle information, the second filtering treatment including:
• a transmission characteristic having the band pass filter characteristic, and
• a model of a transmission characteristic between:
• a torque input to the vehicle, and
• the motor revolution speed;
• a torque target value calculating means for calculating the second torque target value based on a deviation between:
• the first paragraph of the second torque target value, and
• the second paragraph of the second torque target value,
• wherein
• the model includes a numerator given by a second order expression and a denominator given by a third order expression,
• the torque target value calculating means includes:
• a subtracting means for subtracting the second paragraph of the second torque target value from the first paragraph of the second torque target value, and
• a filtering means for outputting the second torque target value by implementing a third filtering treatment of an output value of the subtractor, the third filtering treatment including a transmission characteristic including a numerator given by a second order expression and a denominator given by a second order expression,
• the transmission characteristic of the filtering means includes:
• the numerator which is given by the second order expression of the numerator of the model, and
• the denominator which is given by the second order expression having a second attenuation coefficient, the second attenuation coefficient being set larger than a first attenuation coefficient calculated from the numerator of the model and being set less than or equal to 1, and
• the torque command value calculating means calculates the torque command value based on:
• the first torque target value, and
• the second torque target value subjected to the third filtering treatment by the filtering means.