Vehicle driving system and vehicle driving system control method

摘要

A motor controller obtains: a first motor target rotation number, a first motor actual rotation number of a first motor, a second motor target rotation number, and a second motor actual rotation number of a second motor; determines a first rotation number difference between the first motor target rotation number and the first motor actual rotation number of the first motor, and a second rotation number difference between the second motor target rotation number and the second motor actual rotation number of the second motor, determines first and second rotation control torques based on a smaller one of the first rotation number difference and the second rotation number difference; and determines a first motor torque of the first motor and a second motor torque of the second motor based on the first and second rotation control torques.

主权项

1. A vehicle driving system comprising:
a left wheel driving system having: a first motor which drives a left wheel of a vehicle; and a first speed changer which is provided on a power transmission path between the first motor and the left wheel; a right wheel driving system having: a second motor which drives a right wheel of the vehicle; and a second speed changer which is provided on a power transmission path between the second motor and the right wheel; and a motor controller which controls the first motor and the second motor, wherein: the first and the second speed changers each has first to third rotational elements; the first motor is connected to the first rotational element of the first speed changer; the second motor is connected to the first rotational element of the second speed changer; the left wheel is connected to the second rotational element of the first speed changer; the right wheel is connected to the second rotational element of the second speed changer; the third rotational element of the first speed changer and the third rotational element of the second speed changer are connected to each other; and the motor controller:
obtains a target rotation state quantity of the first motor, an actual rotation state quantity of the first motor, a target rotation state quantity of the second motor, and an actual rotation state quantity of the second motor;determines a first rotation state quantity difference which is a rotation state quantity difference between the target rotation state quantity of the first motor and the actual rotation state quantity of the first motor, and a second rotation state quantity difference which is a rotation state quantity difference between the target rotation state quantity of the second motor and the actual rotation state quantity of the second motor;determines a rotation state quantity control torque based on a smaller one of the first rotation state quantity difference and the second rotation state quantity difference; anddetermines a control torque of the first motor and a control torque of the second motor based on the rotation state quantity control torque.