CN104553822A - Electric-machines-drag torque compensation - Google Patents

Electric-machines-drag torque compensation Download PDF

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Publication number
CN104553822A
CN104553822A CN201410551133.8A CN201410551133A CN104553822A CN 104553822 A CN104553822 A CN 104553822A CN 201410551133 A CN201410551133 A CN 201410551133A CN 104553822 A CN104553822 A CN 104553822A
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CN
China
Prior art keywords
vehicle
axletree
motor
drag torque
friction
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Granted
Application number
CN201410551133.8A
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Chinese (zh)
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CN104553822B (en
Inventor
G·克洛泽
T·埃伯哈特
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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Publication of CN104553822A publication Critical patent/CN104553822A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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    • B60W20/14—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion in conjunction with braking regeneration
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • B60K2006/4808—Electric machine connected or connectable to gearbox output shaft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/465—Slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0026—Lookup tables or parameter maps
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

The invention relates to an apparatus and a corresponding method for improvement of the braking behavior of a hybrid vehicle. There will be described a control unit for a vehicle. The vehicle includes an electric machine, which is arranged to cause a drag torque to a first wheel axle of a plurality of wheel axles of the vehicle. The vehicle further includes a friction brake, which is arranged to cause a friction torque at a wheel axle reibbremsbaren of the plurality of wheel axles. The control unit is adapted to recognize a reduction of the electric machine caused by the drag torque at the first axle. Furthermore, the control unit is adapted to cause the friction brake to compensate for the reduction of induced drag torque of the electric motor by generating an additional friction torque on the wheel axis reibbremsbaren at least partially.

Description

Motor traction force square compensates
Technical field
The present invention relates to a kind of device of the braking characteristics for improving the vehicle, the especially motor vehicle driven by mixed power that comprise electric driver and a kind of method of correspondence.
Background technology
Motor vehicle driven by mixed power has combustion engine and motor.Motor can run for driving vehicle (as electrical motor) with for generation of electric energy (as electrical generator).In generator operation, carry out so-called energy regenerating, the kinetic energy by vehicle converts electric energy to.Described energy regenerating causes deceleration or the braking of vehicle.
Therefore motor vehicle driven by mixed power has multiple component that can contribute to car retardation.Described component comprises the deceleration of the drag torque of the combustion engine of vehicle, the drag torque of the motor of vehicle, the deceleration effort of energy regenerating and/or the one or more car side brakes (also referred to as friction brake) based on vehicle.
Bright content
The device of a kind of method and a kind of correspondence is described in this vehicle, and its chaufeur that can be vehicle by described multiple deceleration component realizes the accurate control to car retardation.Especially the stable braking characteristics of the vehicle comprising motor can be realized.
According on the one hand a kind of control unit for vehicle being described.Described vehicle can comprise two (the such as passenger car or load-carrying vehicle) of rut or the vehicle (such as motor bike) of single rut.Described vehicle can have motor, and described electric machine design is used for, and the first axletree of multiple axletrees of vehicle is driven and/or slow down (namely applying drive torque and/or retarding moment).Typically vehicle has propons and back axle, and axle described at least one can be driven by motor and/or slow down.Described vehicle has at least one friction brake in addition, and described friction brake is designed for, and the axletree of friction braking can cause friction moment at described multiple axletree.Described friction brake can comprise the drg of hydraulic pressure.In addition, described friction brake can be arranged on the wheel of vehicle.Can the axletree of friction braking can be consistent with the first axletree, namely the drag torque (namely slowing down or lock torque) of motor and the friction moment of friction brake can act on identical axletree.
In addition, described vehicle can have combustion engine, and described internal combustion (IC) Engine Design is used for, and one of described multiple axletree causes internal combustion engine traction moment.Therefore described vehicle can be motor vehicle driven by mixed power.The friction moment that therefore deceleration of vehicle can be caused by friction brake, by the drag torque that caused by motor and/or caused by internal combustion engine traction moment.
Control unit is designed for, and identifies reduction and/or the disappearance of the drag torque caused on the first axletree by motor.Especially can determine, all drag torques caused by motor disappear.In addition can determine, there is reduction or the disappearance of the drag torque caused on the first axletree by motor, and at this, vehicle-state (especially the manipulation of the adjustment of the deflection of the brake pedal of vehicle and/or the change-speed box of vehicle and/or the throttle of vehicle) keeps not changing.The reduction of the drag torque caused on the first axletree by motor or disappearance may cause undesirable " the removing braking " of vehicle.In other words, the reduction of the drag torque caused on the first axletree by motor can cause the reduction of the deceleration of vehicle.Such reduction of car retardation is typically felt as unhappiness by the chaufeur of vehicle.
Described vehicle such as can have power-transfer clutch, motor and the first axletree to be coupled or from the first axletree decoupling zero.So control unit can be designed for, determine that power-transfer clutch is opened, and identify reduction or the disappearance of the drag torque caused on the first axletree by motor thus.
Additionally or alternatively, described vehicle can be had for providing the electric energy of drive motor and/or the storage battery for storing the electric energy produced by motor.Described storage battery can be high tension battery (such as in the scope of 300V).Described control unit can be designed for and identify that storage battery has met or exceeded predefined charge condition, to identify reduction or the disappearance of the drag torque caused on the first axletree by motor.Especially can determine, storage battery no longer can receive more electric energy, and therefore cancels the energy regenerating by motor.The energy regenerating drag torque associated with energy regenerating is typically also cancelled by the cancellation of energy regenerating.
Control unit is designed for, domination friction brake, by can the axletree of friction braking produce additional friction moment at least in part (also complete if desired) compensate the reduction of the drag torque caused by motor.Especially can by can the axletree of friction braking produce additional friction moment at least in part (also complete if desired) compensate the disappearance of the drag torque caused by motor.The compensation of 50%, 60%, 70%, 80%, 90% of the disappeared drag torque caused by motor or more can be carried out.
The drag torque caused on the first axletree by motor can cause first of vehicle to slow down.In other words, the drag torque caused on the first axletree by motor can cause the first share of the deceleration of vehicle.The friction moment additionally produced by friction brake can cause the deceleration of vehicle, and this deceleration corresponds to first at least in part and slows down.In other words, the described friction moment additionally produced by friction brake can cause the following share of the deceleration of vehicle, and described share at least in part (such as 90% or more) corresponds to first share of slowing down.
Therefore motor reduction or the deceleration component that disappears can be compensated by the deceleration component of the correspondence of friction brake.Can avoid thus undesirable " the removing braking " of vehicle.
Control unit can be designed for, and detects the brake pedal deflection of vehicle.In addition control unit can be designed for, and except the described friction moment additionally produced by friction brake, domination friction brake, the deflection according to brake pedal the axletree of friction braking can cause standard friction moment.In other words, the described friction moment (disappearance for small electromotor drag torque) additionally produced by the friction brake standard friction moment that can produce independent of the deflection according to brake pedal of friction brake.Especially, when not carrying out manipulation the deflection of not brake pedal (that is when) of brake pedal, the friction moment additionally produced by friction brake can also be arranged.
Described control unit can be designed for, and determines vehicle-state.Vehicle-state such as can comprise the moving velocity of vehicle and/or the deflection of brake pedal.Control unit can be designed for, and based on predefined characteristic data, determines with reference to drag torque for determined vehicle-state.In other words, can determine with reference to drag torque by predefined characteristic data with by determined vehicle-state.Described predefined characteristic data can be stored in the memory cell of vehicle.Described control unit can be designed for storage unit access.
Predefined characteristic data can show the reference drag torque for different vehicle-states.Be used herein to the vehicle-state determined, with reference to drag torque, the drag torque caused by motor for the described vehicle-state determined be shown.In other words, described predefined characteristic data can show the drag torque that caused by motor for different vehicle-states.The drag torque caused by motor especially can be relevant with the deflection of the brake pedal of the moving velocity of vehicle and/or vehicle.Therefore characteristic data can comprise for different moving velocitys and/or the reference drag torque that deflects for the difference of brake pedal.Described predefined characteristic data can experimentally be determined.
Described control unit can be designed for, based on determining can additional friction moment on the axletree of friction braking for the determined of determined vehicle-state with reference to drag torque.The additional friction moment produced especially by one or more friction brake can correspond to determined with reference to drag torque, to compensate reduction or the disappearance of the drag torque caused by motor like this.
The drag torque caused by motor can comprise haulage capacity and reclaim share, and described haulage capacity is reclaimed share and also produced when not brake activation pedal by electrical motor (in generator operation).In addition the drag torque caused by motor can have Brake energy recovery share, and described Brake energy recovery share is relevant with the deflection of brake pedal.
The method being used for car retardation is described according to another aspect.Described vehicle have for the multiple axletrees to vehicle first axletree drive and/or slow down or braking motor.In addition described vehicle has friction brake, and it is designed for, and the axletree of friction braking can cause friction moment at described multiple axletree.Described method such as can be implemented by the control unit of vehicle (such as motor controller).Described method comprises the reduction identifying the drag torque caused on the first axletree by motor.In addition described method comprises: domination friction brake, by the axletree of friction braking producing the reduction that additional friction moment compensates the drag torque caused by motor at least in part.
According to another aspect, a kind of software (SW) program is described.Described SW program can be designed for be implemented on a processor, and implements method described in this document thus.
According to another aspect, storage medium is described.Described storage medium can have SW program, and described SW program design is used for implementing on a processor and implementing method described in this document thus.
It should be noted that methods, devices and systems described in this document can not only use individually but also in conjunction with other methods, devices and systems described in this document.The every aspect of methods, devices and systems described in this document in addition can combine mutually in diversified mode.Especially the feature of claim can combine mutually in diversified mode.
Accompanying drawing explanation
In addition the present invention is further illustrated by embodiment.In figure:
Fig. 1 illustrates the block diagram of exemplary vehicle;
Fig. 2 a, 2b, 2c and 2d illustrate the exemplary synthesis of negative wheel moment; And
Fig. 3 illustrates the diagram of circuit of the exemplary method of the deceleration of the vehicle for having motor.
Detailed description of the invention
As stated in the beginning, presents relates to the deceleration of vehicle, the especially motor vehicle driven by mixed power with electric driver.Motor vehicle driven by mixed power has multiple component, and described component may be used for car retardation or braking.Fig. 1 illustrates the block diagram of exemplary vehicle 100 (such as passenger car, load-carrying vehicle or motor bike).Vehicle 100 has the position of driver 106 that can be occupied by the chaufeur of vehicle 100, to control vehicle 100.Such as can brake activation pedal 103 and/or throttle (not drawing) from position of driver 106, to make vehicle 100 slow down or accelerate.The manipulation of brake pedal 103 typically causes handling car side brake (also referred to as friction brake) 110, and described car side brake causes friction on the wheel 109 of vehicle 100, and causes the deceleration of vehicle 100 thus.
In addition vehicle 100 typically has combustion engine 102, and described combustion engine can drive the axletree 107 of vehicle 100 via change-speed box 101 and can drive the wheel 109 of vehicle 100 whereby.In reverse situation, combustion engine 102 can be driven (especially when vehicle 100 throttle is not handled, and when being linked into gear in addition) by the axletree 107 of vehicle 100 via change-speed box 101.So combustion engine 102 produces drag torque, by described drag torque, vehicle 100 is slowed down.The drag torque caused by combustion engine 102 can be adjusted by the gear select lever 104 of chaufeur by vehicle 100.Especially can change the transmitting ratio of change-speed box 101 by gear select lever 104 and change the size of drag torque of combustion engine 102 whereby.
In addition vehicle 100 has motor 108.In described example, motor 108 is designed for, and drives the axletree 107 of vehicle 100.Such as can handle throttle time using motor 108 as motor running, to drive axletree 107.On the other hand can when brake activation pedal 103 using motor 108 as generator operation, to be electric energy (energy regenerating) by the kinetic energy of vehicle 100.The electric energy obtained is typically stored in storage battery 111 (such as the high tension battery of about 300V or higher).By using motor 108 as generator operation, axletree 107 causes Brake energy recovery moment, and vehicle 100 is slowed down by described Brake energy recovery moment.In addition the actuating device of motor 108 also causes the haulage capacity of motor to reclaim moment by axletree 107 when not having energy regenerating, reclaims moment vehicle 100 is slowed down by described haulage capacity.The Brake energy recovery moment of motor 108 and/or haulage capacity reclaim moment in this document also referred to as the drag torque caused by motor 108.
As illustrated in fig. 1, motor 108 can be separated by power-transfer clutch 112 and axletree 107 or be coupled with axletree 107.Brake energy recovery moment and the haulage capacity recovery moment (such as to reduce the load of combustion engine 102 when low rotating speed) of motor 108 can be cut off as required by power-transfer clutch 112.
Vehicle 100 has control unit 105 (such as the part of motor controller).Control unit 105 is designed for, such as, receiving one or more control signal by the control inputs of chaufeur.Described one or more control signal such as comprises the manipulation of the manipulation of brake pedal 103, the manipulation of throttle and/or gear select lever 104.In addition control unit 105 is designed for, according to described one or more control signal controlling combustion engine 102, change-speed box 101, power-transfer clutch 112 and/or motor 108.Especially the rotating speed of combustion engine 102 and/or electrical motor 108 can be improved when handling throttle.The energy regenerating operation of motor 108 and/or the manipulation of friction brake 110 can be caused on the other hand when brake activation pedal 103.
A kind of method is described in this document, the braking characteristics of the vehicle 100 with motor 108 can be improved by described method.Fig. 2 a illustrates that retarding moment 210 is to the exemplary synthesis on axletree 107 in following situation, and (by friction brake 110) does not carry out friction moment and (by motor 108) does not carry out Brake energy recovery in the described situation.Synthesized retarding moment 210 illustrates as the function of car speed 201.When vehicle 100 chaufeur neither brake activation pedal 103 also do not handle throttle, but when being linked into gear (namely between combustion engine 102 and axletree 107 exist connect), then typically deposit situation in fig. 2 a.In this case, whole retarding moment 210 is typically by the drag torque 211 of combustion engine 102 and drag torque 212 (namely haulage capacity the reclaims moment) synthesis of motor 108.
If additionally carry out now the manipulation of brake pedal 103, then all retarding moment 210 passes through other component or share raising.This illustrates in figure 2b.Whole retarding moment 210 improves by Brake energy recovery moment 213 (described Brake energy recovery moment is caused by motor 108) and/or by friction moment 214 (described friction moment is caused by one or more friction brake 110).Control unit 105 can be designed for, the drag torque 211,212 existed according to actuating device 102,108 determines the level of Brake energy recovery moment 213 and/or the level of friction moment 214, thus produces whole retarding moments 210 of the deflection corresponding to brake pedal 103.In other words, the level of energy regenerating moment 213 and/or the level of friction moment 214 can be determined according to the control signal of described one or more detection and according to the drag torque 211,212 existed of actuating device 102,108 by control unit 105.
As shown in Fig. 2 a and 2b, in motor vehicle driven by mixed power, in the traction situation of actuating device 102,108, by the friction moment 211 of combustion engine 102 with synthesized by the additional haulage capacity recovery moment 212 of the motor 108 as generator operation, (Fig. 2 a) in the longitudinal deceleration of vehicle 100.In brake condition, described longitudinal deceleration is reclaimed moment 212, the Brake energy recovery moment 213 of motor 108 and friction brake torque 214 by the haulage capacity of the friction moment 211 of combustion engine 102, motor 108 and is synthesized.
Based on different reasons, the disappearance of being reclaimed 212 and Brake energy recovery 213 by the haulage capacity of motor 108 especially may be there is in brake condition.Such as may degenerate based on actuating device (Antriebsdegradation) (motor degeneration) or make based on the high pressure accumulator 111 be full of the drag torque 212,213 caused by motor 108 disappear.Such as may reduce or weaken (such as passing through by the decoupling zero of power-transfer clutch 112 pairs of motors 108) haulage capacity regenerative power, to reduce the load (and avoiding whereby " stopping " of combustion engine 102) being used for combustion engine 102 when relatively low moving velocity 201 (close to shutting down).
Weakening or disappearing of the drag torque 212,213 caused by motor 108 is illustrated by adding hatched face 215 in figure 2 c.As illustrated in figure 2 c, the disappearance of drag torque 212,213 causes the reduction of whole retarding moments 210 of vehicle 100, and this causes, and vehicle 100 is in subjective quilt " removing braking ".In other words, whole retarding moment 210 causes the reduction of the deceleration of vehicle 100 by the disappearance of drag torque 212,213 caused by motor 108, the reduction of described deceleration is typically felt as unhappiness by the chaufeur of vehicle 100.
Propose in this document, compensated the share 212,213 of the disappearance of deceleration 210 by additional friction braking component 216, thus produce whole decelerations 210 of the situation corresponding to the share 212,213 that do not disappear.This is illustrated by additional friction braking component 216 (adding the face of grid) in figure 2d.The friction braking moment 216 that additionally will be applied by described one or more friction brake 109 can be determined based on predefined torque characteristic curve 212,213 (namely based on predefined characteristic data).Torque characteristic curve 212,213 can provide (for vehicle 100) typical haulage capacity and reclaims moment 212 and Brake energy recovery moment 213 for different car speeds 201.Described torque characteristic curve 212,213 experimentally can be determined and be stored in the memory cell of vehicle 100.Therefore control unit 105 can be designed for, and when recognizing the drag torque 212,213 caused by motor 108 and disappearing, determines the friction braking moment 216 that additionally will be applied by friction brake 109 according to current car speed 201.
The braking characteristics of vehicle 100 is improved, this is because do not occur offending " the removing braking " of vehicle 100 by compensating the drag torque 212,213 (especially in brake condition) caused by motor 108 disappeared.The disappearance of the drag torque 212,213 caused especially by motor 108 keeps escaping detection for chaufeur.Also chaufeur the safety of vehicle 100 can be improved thus, because can be avoided to feel " removing braking " and the ill-conceived behavior of making a response to vehicle 100.In addition, the compensation of the disappearance to the drag torque 212,213 caused by motor 108 proposed in this document causes the brake system of motor vehicle driven by mixed power 100 close to the brake system of conventional vehicles not having electric driver.
Fig. 3 illustrates the diagram of circuit of the exemplary method 300 of the deceleration for vehicle 100.Vehicle 100 has the motor 108 for driving or for braking the first axletree 107.First axletree 107 can be an axletree of multiple axletrees (such as back axle and propons) of vehicle 100.Vehicle 100 has friction brake in addition, and described friction brake is designed for, and the axletree 107 of friction braking can cause friction moment 214,216 at described multiple axletree.Can the axletree of friction braking can be the first axletree (back axle of such as vehicle 100 and/or propons).In other words, the drag torque caused by motor 108 can act on identical axletree as the friction moment caused by friction brake.
Described method 300 comprises, and identifies disappearance or the reduction of 301 drag torques 212,213 caused on the first axletree 107 by motor 108.Described disappearance and/or reduction such as can cause from the first axletree 107 decoupling zero and/or by the storage battery 111 being full of electricity by motor 108.Described method 300 comprises in addition: arrange 302 friction brakes 110; By the axletree 107 of friction braking producing disappearance or the reduction that additional friction moment 216 compensates the drag torque 212,213 caused by motor 208 at least in part.Guarantee thus, also carry out the even and stable braking procedure of vehicle 100 when drag torque 212,213 disappears or reduce.
The present invention is not limited to the embodiment illustrated.Especially it should be noted that specification sheets and accompanying drawing only should illustrate the principle of proposed methods, devices and systems.

Claims (10)

1. for the control unit (105) of vehicle (100), wherein, described vehicle (100) has motor (108), described electric machine design is used for, first axletree (107) of multiple axletrees of described vehicle (100) causes drag torque (212, 213), wherein, vehicle (100) has friction brake (110), described friction brake is designed for, the axletree (107) of friction braking can cause friction moment (214 at described multiple axletree, 216), wherein control unit (105) is designed for,
-identify the reduction of the drag torque (212,213) caused on the first axletree (107) by motor (108); And
-domination friction brake (110), by the axletree (107) of friction braking producing the reduction that additional friction moment (216) compensates the drag torque (212,213) caused by motor (208) at least in part.
2. according to control unit according to claim 1 (105), wherein,
-control unit (105) is designed for, and identifies the disappearance of the drag torque (212,213) caused on the first axletree (107) by motor (108);
-the drag torque (212,213) that caused at the first axletree (107) by motor (108) causes first of vehicle (100) to slow down; And
-the friction moment (216) that additionally produced by friction brake (109) causes the deceleration of vehicle (100), and described deceleration corresponds to first at least in part and slows down.
3., according to the control unit (105) one of the claims Suo Shu, wherein said control unit (105) is designed for,
The deflection of the brake pedal (103) of-detection vehicle (100); And
-except the described friction moment (216) additionally produced by friction brake (109), domination friction brake (110), the deflection according to brake pedal (103) axletree (107) of friction braking can cause standard friction moment (214).
4. according to the control unit (105) one of the claims Suo Shu, wherein, control unit (105) is designed for,
-determine vehicle-state;
-based on predefined characteristic data, determine the reference drag torque of determined vehicle-state; Wherein, described predefined characteristic data shows the reference drag torque for different vehicle-states; Wherein, the drag torque (212,213) caused by motor (108) for the described vehicle-state determined is shown for the reference drag torque of the vehicle-state determined; And
-determined with reference to drag torque based on for determined vehicle-state, determines can additional friction moment (216) on the axletree (107) of friction braking.
5. according to control unit according to claim 4 (105), wherein,
-described vehicle-state comprises the moving velocity (201) of vehicle (100); And
-described characteristic data comprises the reference drag torque for different moving velocitys (201).
6. according to the control unit (105) one of claim 4 to 5 Suo Shu, wherein,
-described vehicle-state comprises the deflection of the brake pedal (103) of vehicle (100); And
-the drag torque (212,213) that caused by motor (108) has the Brake energy recovery share (213) relevant with the deflection of brake pedal (103).
7. according to the control unit (105) one of the claims Suo Shu, wherein,
-vehicle (100) has power-transfer clutch (112), motor (108) and the first axletree (107) to be coupled or from the first axletree (107) decoupling zero; And
-control unit (105) is designed for, and identifies that power-transfer clutch (112) is opened, to identify the reduction of the drag torque (212,213) caused on the first axletree (107) by motor (108).
8. according to the control unit (105) one of the claims Suo Shu, wherein,
-vehicle (100) has for providing the electric energy of drive motor (108) and the storage battery (111) for storing the electric energy produced by motor (108); And
-control unit (105) is designed for, identify that storage battery (111) has met or exceeded predefined charge condition, to identify the reduction of the drag torque (212,213) caused on the first axletree (107) by motor (108).
9. according to the control unit (105) one of the claims Suo Shu, wherein, vehicle (100) has combustion engine (102) in addition, and described internal combustion (IC) Engine Design is used for, and one of multiple axletree causes internal combustion engine traction moment (211).
10. the method (300) for making vehicle (100) slow down, wherein, vehicle (100) has motor (108), described electric machine design is used for, first axletree (107) of multiple axletrees of vehicle (100) causes drag torque (212,213), wherein, vehicle (100) has friction brake (110), described friction brake is designed for, the axletree (107) of friction braking can cause friction moment (214,216) at described multiple axletree, wherein, described method (300) comprises
The reduction of the drag torque (212,213) that-identification (301) is caused on the first axletree (107) by motor (108); And
-domination (302) friction brake (110), by the axletree (107) of friction braking producing the reduction that additional friction moment (216) compensates the drag torque (212,213) caused by motor (208) at least in part.
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