# US 9,517,704 B2 · Apparatus for controlling rotary machine

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- Number: US 9,517,704 B2
- Document ID: US9517704B2
- Status: Granted
- Kind: B2
- Application number: 14/830,008
- Filed: 2015-08-19
- Published: 2016-02-25
- Granted: 2016-12-13
- Earliest claimed: 2014-08-19
- Assignees: Denso Corporation
- Applicants: Denso Corporation
- Inventors: Syo Hashimoto
- Web page: https://patentgrep.com/patent/US9517704B2

## CPC

- B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L 3/0061: {relating to electrical machines}
- H02P 21/05: specially adapted for damping motor oscillations, e.g. for reducing hunting
- H02P 23/04: specially adapted for damping motor oscillations, e.g. for reducing hunting
- H02P 29/50: Reduction of harmonics
- B60L 2240/421: Speed
- B60L 2240/423: Torque
- B60L 2260/42: by adaptive correction
- B60L 2270/145: Structure borne vibrations
- Y02T 10/64: Electric machine technologies in electromobility
- Y02T 10/72: Electric energy management in electromobility
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

In a control apparatus, an extractor extracts, from a rotational speed of a rotating member, a vibration component included in the rotational speed of the rotating member. A first suppressor performs first suppression to suppress the rotational speed of the rotating member from changing due to change of a speed change ratio. A mode setter switchably sets one of an enabling mode to enable the first suppression or a disabling mode to disable the first suppression in the control apparatus according to a parameter indicative of the speed change ratio. A second suppressor performs second suppression to suppress change of the vibration component generated based on switching of one of the enabling mode and the disabling mode to the other thereof.

## Claims

### Claim 1

A control apparatus for a rotary electric machine of a vehicle, the vehicle being equipped with a drivetrain that includes a transmission for transmitting power output from rotation of a rotating member of the rotary electric machine to driving wheels according to a variable speed change ratio, the control apparatus comprising:
an extractor that extracts, from a rotational speed of the rotating member, a vibration component included in the rotational speed of the rotating member, the vibration component being based on vibrations of the drivetrain;
a compensation torque calculator that calculates, according to the vibration component extracted by the extractor, compensation torque that compensates for the vibrations of the drivetrain;
a controller that performs drive control of the rotary electric machine according to the compensation torque;
a first suppressor that performs first suppression to suppress the rotational speed of the rotating member from changing due to change of the speed change ratio;
a mode setter that switchably sets one of an enabling mode to enable the first suppression or a disabling mode to disable the first suppression in the control apparatus according to a parameter indicative of the speed change ratio; and
a second suppressor that performs second suppression to suppress change of the vibration component generated based on switching of one of the enabling mode and the disabling mode to the other thereof.

### Claim 2 (depends on 1)

The control apparatus according to claim 1, wherein:
the extractor has a digital filter, and is configured to:
repeatedly receive a value of the rotational speed of the rotating member,
extract, from a first history of successive values of the rotational speed of the rotating member to which the first suppression has been applied, the vibration component included in the rotational speed of the rotating member using the digital filter upon the enabling mode being set in the control apparatus; and
extract, from a second history of successive values of the rotational speed of the rotating member to which no first suppression has been applied, the vibration component included in the rotational speed of the rotating member using the digital filter upon the disabling mode being set in the control apparatus; and
the second suppressor is configured to:
determine whether one of the enabling mode and the disabling mode has just been switched to the other thereof;
replace, as the second suppression, the successive values of the second history of the rotational speed of the rotating member with at least one of the successive values of the first history of the rotational speed of the rotating member when it is determined that the disabling mode has just been switched to the enabling mode; and
replace, as the second suppression, the successive values of the first history of the rotational speed of the rotating member with at least one of the successive values of the second history of the rotational speed of the rotating member when it is determined that the enabling mode has just been switched to the disabling mode.

### Claim 3 (depends on 2)

The control apparatus according to claim 2, wherein:
the digital filter includes a bandpass filter having a predetermined passband including a resonant frequency of the drivetrain, and the extractor is configured to:
extract, as the vibration component, signal components included in the rotational speed of the rotating member; the signal components passing through the bandpass filter.

### Claim 4 (depends on 1)

The control apparatus according to claim 1, wherein:
the first suppressor comprises:
a temporal change calculator configured to repeatedly calculate a value of temporal change of the rotational speed of the rotating member per a predetermined time; and
a target change calculator configured to repeatedly calculate, per the predetermined time, a value of target change of the rotational speed of the rotating member associated with change of the speed change ratio,
the first suppressor being configured to subtract each value of the target change of the rotational speed of the rotating member from a corresponding value of the temporal change of the rotational speed of the rotating member, thus outputting a value of subtracted temporal change of the rotational speed of the rotating member;
the extractor has a digital filter, and is configured to:
extract, from a first history of successive values of the subtracted temporal change of the rotational speed of the rotating member output from the first suppressor, the vibration component included in the rotational speed of the rotating member using the digital filter upon the enabling mode being set in the control apparatus;
extract, from a second history of successive values of the temporal change of the rotational speed of the rotating member, the vibration component included in the rotational speed of the rotating member using the digital filter upon the disabling mode being set in the control apparatus; and
the second suppressor is configured to:
determine whether one of the enabling mode and the disabling mode has just been switched to the other thereof;
replace, as the second suppression, the successive values of the second history of the temporal change of the rotational speed of the rotating member with at least one of the successive values of the first history of the subtracted temporal change of the rotational speed of the rotating member when it is determined that the disabling mode has just been switched to the enabling mode; and
replace, as the second suppression, the successive values of the first history of the subtracted temporal change of the rotational speed of the rotating member with at least one of the successive values of the second history of the temporal change of the rotational speed of the rotating member when it is determined that the enabling mode has just been switched to the disabling mode.

### Claim 5 (depends on 4)

The control apparatus according to claim 4, wherein:
the rotating member includes an output shaft of the rotary electric machine,
the transmission includes a first shaft coupled to the output shaft, and a second shaft coupled to the driving wheels, and
the target change calculator includes a speed-change ratio calculator configured to calculate change of the speed change ratio per the predetermined time,
the target change calculator being configured to multiply a rotational speed of the second shaft by the change of the speed change ratio, thus calculating the target change of the rotational speed of the rotating member per the predetermined time.

### Claim 6 (depends on 1)

The control apparatus according to claim 1, wherein:
the first suppressor comprises:
a target change calculator configured to repeatedly calculate, per a predetermined time, a value of target change of the rotational speed of the rotating member associated with change of the speed change ratio,
the first suppressor being configured to subtract each value of the target change of the rotational speed of the rotating member from a corresponding value of the rotational speed of the rotating member, thus outputting a value of subtracted rotational speed of the rotating member;
the extractor has a digital filter, and is configured to:
extract, from a first history of successive values of the subtracted rotational speed of the rotating member output from the first suppressor, the vibration component included in the rotational speed of the rotating member using the digital filter upon the enabling mode being set in the control apparatus;
extract, from a second history of successive values of the rotational speed of the rotating member, the vibration component included in the rotational speed of the rotating member using the digital filter upon the disabling mode being set in the control apparatus; and
the second suppressor is configured to:
determine whether one of the enabling mode and the disabling mode has just been switched to the other thereof;
replace, as the second suppression, the successive values of the second history of the rotational speed of the rotating member with at least one of the successive values of the first history of the subtracted rotational speed of the rotating member when it is determined that the disabling mode has just been switched to the enabling mode; and
replace, as the second suppression, the successive values of the first history of the subtracted rotational speed of the rotating member with at least one of the successive values of the second history of the rotational speed of the rotating member when it is determined that the enabling mode is switched to the disabling mode.

### Claim 7 (depends on 1)

The control apparatus according to claim 1, wherein:
the first suppressor comprises:
a target change calculator configured to cyclically calculate, per a predetermined time, a value of target change of the rotational speed of the rotating member associated with change of the speed change ratio; and
an integrator configured to add, for each cycle, a currently calculated value of the target change of the rotational speed of the rotating member to an integrated value of the previously calculated values of the target change of the rotational speed of the rotating member, thus calculating an integrated value of the target change of the rotational speed of the rotating member for each cycle;
the first suppressor being configured to subtract the integrated value of the target change of the rotational speed of the rotating member for each cycle from a corresponding value of the rotational speed of the rotating member, thus outputting a value of subtracted rotational speed of the rotating member for each cycle;
the extractor has a digital filter, and is configured to:
extract, from a first history of successive values of the subtracted rotational speed of the rotating member output from the first suppressor, the vibration component included in the rotational speed of the rotating member using the digital filter upon the enabling mode being set in the control apparatus;
extract, from a second history of successive values of the rotational speed of the rotating member, the vibration component included in the rotational speed of the rotating member using the digital filter upon the disabling mode being set in the control apparatus; and
the second suppressor is configured to:
determine whether one of the enabling mode and the disabling mode has just been switched to the other thereof;
replace, as the second suppression, the successive values of the second history of the rotational speed of the rotating member with at least one of the successive values of the first history of the subtracted rotational speed of the rotating member when it is determined that the disabling mode has just been switched to the enabling mode; and
replace, as the second suppression, the successive values of the first history of the subtracted rotational speed of the rotating member with at least one of the successive values of the second history of the rotational speed of the rotating member when it is determined that the enabling mode is switched to the disabling mode.

### Claim 8 (depends on 1)

The control apparatus according to claim 1, wherein the transmission includes a continuously variable transmission capable of continuously chanting the speed change ratio while maintaining the power transmittable between the rotary electric machine and the driving wheels.

### Claim 9

A control apparatus for a rotary electric machine of a vehicle, the vehicle being equipped with a drivetrain that includes a transmission for transmitting power output from rotation of a rotating member of the rotary electric machine to driving wheels according to a variable speed change ratio, the control apparatus comprising
a suppressor that performs first suppression to suppress a rotational speed of the rotating member from changing associated with change of the speed change ratio;
a first extractor that extracts, from a suppressed rotational speed of the rotating member to which the first suppression has been applied, a first vibration component included in the suppressed rotational speed of the rotating member, the first vibration component being based on vibrations of the drivetrain;
a second extractor that extracts, from the rotational speed of the rotating member, a second vibration component included in the rotational speed of the rotating member, the second vibration component being based on vibrations of the drivetrain;
a mode setter that switchably sets one of an enabling mode to enable the first suppression and a disabling mode to disable the first suppression in the control apparatus according to a parameter indicative of the speed change ratio;
a compensation torque calculator that calculates, according to a final vibration component input thereto, compensation torque that compensates for the vibrations of the drivetrain;
a controller that performs drive control of the rotary electric machine according to the compensation torque; and
a gradual changer that:
selects the first vibration component to thereby output the first vibration component to the compensation torque calculator as the final vibration component upon the enabling mode being set in the control apparatus;
selects the second vibration component to thereby output the second vibration component to the compensation torque calculator as the final vibration component upon the disabling mode being set in the control apparatus;
gradually changes the final vibration component to be output to the controller from the second vibration component to the first vibration component upon the disabling mode having been switched to the enabling mode; and
gradually changes the final vibration component to be output to the controller from the first vibration component to the second vibration component upon the enabling mode having been switched to the disabling mode.