MY177790A - Control method and control device for electric vehicle - Google Patents

Abstract

The control method for an electric vehicle sets a motor torque command value based on vehicle information and controls torque of a first motor (4f) connected to a first drive wheel (9f) which is one of a front drive wheel and a rear drive wheel. The control method for an electric vehicle calculates a first torque command value by a feedforward computation based on the motor torque command value, detects a rotation angular velocity of the first motor (4f), and estimates a rotation angular velocity of the first motor based on the first torque command value by using a vehicle model Gp(s) that simulates a transfer characteristic from a torque input to the first drive wheel (9f) to a rotation angular velocity of the first motor. Then, the control device calculates a second torque command value from a deviation between a detected value and an estimated value of the rotation angular velocity of the first motor by using a filter Hf(s)?Gp(s) composed of an inverse characteristic of the vehicle model Gp(s) and a band-pass filter Hf(s) with a center frequency close to a torsional vibration frequency of the vehicle, controls the torque of the first motor according to a front final torque command value obtained by adding the first torque command value and the second torque command value together, and corrects, when a braking/driving torque for a second drive wheel (9r) being the drive wheel other than the first drive wheel (9f) is input, the estimated value of the rotation angular velocity of the first motor based on the braking/driving torque.