To provide a motion control device of a right and left independent drive vehicle which corrects motor torque difference by considering external influences and improves control accuracy of driving forces of right and left wheels.SOLUTION: A motion control device 2 calculates a wheel torque value from a difference between a reference vehicle state quantity calculated from operation information of a driver or operation indication of a higher-order driving device, and an actual vehicle state quantity calculated from information concerning a motion and a posture of the vehicle and, based thereon, controls a plurality of motors and drives right and left wheels independently. Further, the motion control device 2 calculates a momentum error from a difference between a reference momentum calculated based on a wheel rotation speed and a tire steering angle and an actual momentum calculated based on information concerning the motion and the posture of the vehicle, extracts a momentum error due to the torque difference of the motor from the calculated momentum error, calculates a wheel torque correction amount based on the momentum error due to the extracted torque difference of the motor, adds the wheel torque correction amount to the wheel torque value, and outputs wheel torque instruction to the plurality of motors.SELECTED DRAWING: Figure 3

    【課題】外的影響を考慮してモータトルク差を補正し、左右輪の駆動力の制御精度を高める。【解決手段】運動制御装置2は、運転者の操作情報、或いは上位の運転装置の操作指示から算出した車両の状態量基準と、車両の運動及び姿勢に関する情報から算出した実車両の状態量との差分からホイールトルク値を算出し、これに基づいて複数のモータを制御して左右の車輪を独立駆動する。さらに運動制御装置2は、車輪回転速度及びタイヤ舵角に基づいて算出した運動量基準と、車両の運動及び姿勢に関する情報に基づいて算出した実運動量との差分から運動量誤差を算出し、運動量誤差からモータのトルク差に起因する運動量誤差を抽出し、抽出したモータのトルク差に起因する運動量誤差に基づいてホイールトルク補正量を算出し、ホイールトルク値にホイールトルク補正量を加算して複数のモータにホイールトルク指令を出力する。【選択図】 図3


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    Title :

    MOTION CONTROL DEVICE OF RIGHT AND LEFT INDEPENDENT DRIVE VEHICLE


    Additional title:

    左右独立駆動車両の運動制御装置


    Contributors:

    Publication date :

    2023-12-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



    MOTION CONTROL DEVICE FOR LEFT AND RIGHT INDEPENDENT DRIVE VEHICLE

    YAMASAKI MASARU | European Patent Office | 2023

    Free access

    MOTION CONTROL DEVICE FOR LEFT AND RIGHT INDEPENDENT DRIVE VEHICLE

    YAMASAKI MASARU | European Patent Office | 2023

    Free access