US-12623664-B2 - Vibration suppression control device

US12623664B2US 12623664 B2US12623664 B2US 12623664B2US-12623664-B2

Abstract

A vibration-suppression control device includes a processor calculating a rotation speed of a tire using an observer model including an observer model constant, and adding a damping torque, in which a gain adjustment corresponding to a gain constant is performed on a difference between the rotational speed of the tire and a rotational speed of the motor, to a torque of the motor. Further, the observer model constant is set in advance in a manner that the observer model constant in a state of during shifting is different from the observer model constant in a state of after shifting, and the processor uses the observer model, in which the observer model constant is switched between the state of during shifting and the state of after shifting.

Inventors

Shingo OKAYA

Assignees

TOYOTA JIDOSHA KABUSHIKI KAISHA

Dates

Publication Date: 20260512
Application Date: 20241209
Priority Date: 20231211

Claims (4)

1 . A vibration-suppression control device for a vehicle including an engine, a stepped transmission connected to the engine, and a motor connected to an output shaft side of the stepped transmission, the vibration-suppression control device comprising a processor configured to calculate a rotation speed of a tire using an observer model including an observer model constant, and add a damping torque, in which a gain adjustment corresponding to a gain constant is performed on a difference between the rotational speed of the tire and a rotational speed of the motor, to a torque of the motor, wherein the observer model constant is set in advance in a manner that the observer model constant in a state of during shifting in which a clutch of the stepped transmission is separated is different from the observer model constant in a state of after shifting where the clutch of the stepped transmission is connected, and the processor is configured to use the observer model, in which the observer model constant is switched between the state of during shifting and the state of after shifting.
2 . The vibration-suppression control device according to claim 1 , wherein the gain constant is set in advance in a manner that the gain constant in the state of during shifting is different from the gain constant in the state of after shifting, and the processor is configured to perform the gain adjustment in which the gain constant is switched between the state of during shifting and the state of after shifting.
3 . The vibration-suppression control device according to claim 2 , wherein the observer model constant and the gain constant are calculated in accordance with a resonance frequency of the vehicle.
4 . The vibration-suppression control device according to claim 1 , wherein the vehicle is a traction vehicle capable of towing a trailer.

Description

CROSS-REFERENCE TO RELATED APPLICATION(S) The present application claims priority to and incorporates by reference the entire contents of Japanese Patent Application No. 2023-208736 filed in Japan on Dec. 11, 2023. BACKGROUND The present disclosure relates to a vibration-suppression control device. Japanese Laid-open Patent Publication No. H11-031015 discloses a control method of suppressing the residual vibration by estimating the estimated load rotational speed of the load converted into the rotational speed of the motor shaft based on a control model predetermined by the observer, obtaining the deviation between the motor rotational speed and the estimated load rotational speed, and by adding the correction value obtained by multiplying the gain to the deviation to the speed command amount vibration. As described in Japanese Laid-open Patent Publication No. H11-031015, the control model used in the observer is expressed using the natural frequency of the vibration system of interest. SUMMARY There is a need for providing a vibration-suppression control device capable of appropriately suppressing vibration during and after shifting by a stepped transmission. According to an embodiment, a vibration-suppression control device for a vehicle including an engine, a stepped transmission connected to the engine, and a motor connected to an output shaft side of the stepped transmission, includes a processor which calculates a rotation speed of a tire using an observer model including an observer model constant, and adds a damping torque, in which a gain adjustment corresponding to a gain constant is performed on a difference between the rotational speed of the tire and a rotational speed of the motor, to a torque of the motor. Further, the observer model constant is set in advance in a manner that the observer model constant in a state of during shifting in which a clutch of the stepped transmission is separated is different from the observer model constant in a state of after shifting where the clutch of the stepped transmission is connected, and the processor uses the observer model, in which the observer model constant is switched between the state of during shifting and the state of after shifting. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic configuration diagram of a vehicle including a vibration-suppression control device according to an embodiment; FIG. 2 is a view illustrating a state in which a clutch of a stepped transmission is separated; and FIG. 3 is a schematic representation of a process in an ECU. DETAILED DESCRIPTION In a vehicle in which a stepped transmission is connected to an engine and a motor is connected to the output shaft side of the stepped transmission, the resonance frequency (natural frequency) differs between during and after the transmission by the stepped transmission. Therefore, in this vehicle, if the same control model as that after shifting is used even during shifting, the vibration may be amplified. A vibration-suppression control device according to an embodiment of the present disclosure will be described with reference to the drawings. In addition, components in the following embodiments include those which can be substituted and easily by those skilled in the art, or those which are substantially the same. EMBODIMENTS Configuration of the Vehicle FIG. 1 is a schematic configuration diagram of a vehicle including a vibration-suppression control device according to an embodiment. The vehicle 1 includes an engine 2, a torque converter 3, a stepped transmission 4, a motor 5, a tire 6, and an Electronic Control Unit (ECU) 7. The vehicle 1 is, for example, a traction vehicle capable of towing a trailer, but is not limited to a traction vehicle. The engine 2 is an internal combustion engine such as a gasoline engine or a diesel engine, and is driven by combustion of fuel to output torque. Torque from the engine 2 is transmitted to the tire 6 via the torque converter 3 and the stepped transmission 4. The torque converter 3 is connected to the engine 2, and transmits the torque from the engine 2 to the stepped transmission 4 by amplifying the torque. The stepped transmission 4 is connected to the engine 2 through the torque converter 3, and changes the ratio between the input rotational speed and the output rotational speed stepwise to transmit the torque from the torque converter 3 to the tire 6. The stepped transmission 4 is an 8-step Automatic Transmission (AT), but the number of stages is not particularly limited. The motor 5 is connected to the output shaft side of the stepped transmission 4, and has a function as a generator to generate electricity by being driven by receiving the torque output by the engine 2 (power generation function), and also has a function as an electric motor to output torque by being driven by electric power is supplied (electric motor function). The motor 5 is a motor generator, for example, a permanent magnet synchronous motor, or is c