US 9,315,116 B2 · Electric drive vehicle

Abstract

Provided is an electric drive vehicle which can control wheel speed so as to achieve an appropriate slip ratio of the wheels even when pitching vibration of the vehicle is large. This electric drive vehicle is provided with electric motors (1, 4), drive wheels (3, 6), driven wheels (7, 8), an electric motor controller (50) for controlling the electric motors, and speed detectors (9-12) for detecting the wheel speed of the drive wheels and the driven wheels. The electric motor controller is provided with: a slip ratio calculation unit (21) which calculates the slip ratio of the drive wheels from the wheel speed detected values detected by the speed detectors; a torque command calculation unit (20) which calculates torque commands for the drive wheels; a drive force calculation unit (19) which, from the wheel speed detected values of the drive wheels and the torque commands of the drive wheels, calculates the drive force generated in the drive wheels; and filters (54, 55) which reduce the pitching vibration frequency components of the vehicle included in the slip ratio and the drive force.

Claims14

Dependent claims

An electric drive vehicle comprising:

electric motors;
drive wheels which are driven or braked by the electric motors;
driven wheels which are driven by rotation of the drive wheels;
an electric motor controller which controls the electric motors;
and speed detectors which detect wheel speeds of the drive wheels and the driven wheels;
wherein:
the electric motor controller has:
a slip ratio calculation unit which calculates a slip ratio of the drive wheels from detected values of the wheel speeds detected by the speed detectors;
a torque command calculation unit which calculates a torque command for the drive wheels;
a drive force calculation unit which calculates a drive force to be generated in the drive wheels, from the detected value of the wheel speed of the drive wheels and the torque command for the drive wheels;
a filter which eliminates a pitching vibrational frequency spectrum of a vehicle body included in each of the slip ratio and the drive force;
and
the electric motor controller controls the electric motors based on numerical values of the slip ratio and the drive force in each of which the pitching vibrational frequency spectrum of the vehicle body has been eliminated by the filter so as to control a torque of the drive wheels.

10 more elements

An electric drive vehicle comprising:

electric motors;
drive wheels which are driven or braked by the electric motors;
driven wheels which are driven by rotation of the drive wheels;
an electric motor controller which controls the electric motors;
and
speed detectors which detect wheel speeds of the drive wheels and the driven wheels;
wherein:
the electric motor controller has:
a filter which eliminates a pitching vibrational frequency spectrum of a vehicle body included in each of detected values of the wheel speeds detected by the speed detectors;
and
a slip ratio calculation unit which calculates a slip ratio of the drive wheels from the detected values of the wheel speeds in each of which the pitching vibrational frequency spectrum of the vehicle body has been eliminated by the filter;
and
the electric motor controller controls the electric motors based on a numerical value of the slip ratio of the drive wheels which has been calculated by the slip ratio calculation unit so as to control a torque of the drive wheels.

10 more elements

Dependencies are inferred from the claim text.

Electric drive vehicle

Life of this patent

Electric drive vehicle

Life of this patent

Abstract

Claims14