DE102011012840A1 - Method for determining operating parameter of motor vehicle, involves applying drive force of electric drive machine on assigned wheel through shaft, where torque of wheel or drive speed of motor vehicle is evaluated - Google Patents
Method for determining operating parameter of motor vehicle, involves applying drive force of electric drive machine on assigned wheel through shaft, where torque of wheel or drive speed of motor vehicle is evaluated Download PDFInfo
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- DE102011012840A1 DE102011012840A1 DE102011012840A DE102011012840A DE102011012840A1 DE 102011012840 A1 DE102011012840 A1 DE 102011012840A1 DE 102011012840 A DE102011012840 A DE 102011012840A DE 102011012840 A DE102011012840 A DE 102011012840A DE 102011012840 A1 DE102011012840 A1 DE 102011012840A1
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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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
- 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
-
- 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
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
- B60L2240/461—Speed
-
- 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
- B60L2240/463—Torque
-
- 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
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
-
- 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
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0037—Mathematical models of vehicle sub-units
- B60W2050/0039—Mathematical models of vehicle sub-units of the propulsion unit
-
- 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
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0037—Mathematical models of vehicle sub-units
- B60W2050/0041—Mathematical models of vehicle sub-units of the drive line
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/088—Inertia
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zum Bestimmen einer Betriebsgröße eines Kraftwagens mit wenigstens einer elektrischen Maschine nach dem Oberbegriff von Patentanspruch 1.The invention relates to a method for determining an operating variable of a motor vehicle with at least one electric machine according to the preamble of patent claim 1.
Um verschiedene Fahrerassistenzsysteme in modernen Kraftwagen betreiben zu können, muss eine Vielzahl von Informationen über den Fahrzustand des Kraftwagens erfasst werden. Manche Betriebsgrößen des Kraftwagens können dabei mittels geeigneter Sensoren direkt gemessen werden, andere werden auf Grundlage solcher Messwerte abgeschätzt.In order to operate various driver assistance systems in modern motor vehicles, a large amount of information about the driving condition of the motor vehicle has to be detected. Some operating variables of the motor vehicle can be measured directly by means of suitable sensors, others are estimated on the basis of such measured values.
Besonders wichtige Betriebsgrößen, die üblicherweise nicht direkt gemessen werden, sind die Fahrtgeschwindigkeit des Kraftwagens und das auf die Räder wirkende Drehmoment. Beide Betriebsgrößen werden üblicherweise auf Grundlage der direkt gemessenen Raddrehzahlen geschätzt. Dies ist beispielsweise aus der
Bei Kraftwagen mit elektrischem Antrieb, insbesondere mit Einzelradantrieb, ist zudem das zwischen Antriebsmotor und Rad übertragene Drehmoment von Interesse. Um dieses zu bestimmen, wird oft das Drehmoment am Abtrieb der Antriebsmaschine ermittelt, welches sich jedoch oft deutlich vom übertragenen Drehmoment unterscheidet. Die direkte Messgröße ist dabei in der Regel die Drehzahl am Abtrieb der Antriebsmaschine.In motor vehicles with electric drive, especially with single-wheel drive, also the torque transmitted between the drive motor and the wheel is of interest. To determine this, often the torque is determined at the output of the prime mover, which, however, often differs significantly from the transmitted torque. The direct measure is usually the speed at the output of the prime mover.
Die Bestimmung des Drehmoments an den Rädern auf Grundlage der Raddrehzahl ist mit dem Nachteil behaftet, dass hierbei mögliche Verfälschungen durch Torsionsschwingungen der Gelenkwelle zwischen Rad und Antriebsmaschine, Schlupf des Rades gegenüber der Fahrbahn und dergleichen nicht berücksichtigt werden.The determination of the torque at the wheels based on the wheel speed has the disadvantage that in this case possible distortions by torsional vibrations of the propeller shaft between the wheel and the engine, slip of the wheel relative to the road and the like are not taken into account.
Der vorliegenden Erfindung liegt somit die Aufgabe zugrunde, ein Verfahren nach dem Oberbegriff von Patentanspruch 1 bereitzustellen, welches eine besonders genaue Bestimmung des Drehmoments an den Rädern eines Kraftwagens erlaubt.The present invention is therefore an object of the invention to provide a method according to the preamble of claim 1, which allows a particularly accurate determination of the torque on the wheels of a motor vehicle.
Diese Aufgabe wird durch ein Verfahren mit den Merkmalen des Patentanspruchs 1 gelöst.This object is achieved by a method having the features of patent claim 1.
Erfindungsgemäß ist bei einem solchen Verfahren vorgesehen, dass mittels eines Modells, welches als Eingangsgrößen eine erste, einen Rotationszustand des Rades charakterisierende Größe und eine zweite, einen Rotationszustand der elektrischen Antriebsmaschine charakterisierende Größe aufweist, ein Drehmoment des Rades und/oder eine Fahrtgeschwindigkeit des Kraftwagens abgeschätzt wird. Als solche Größen eignen sich insbesondere die Drehzahl, der Drehwinkel oder die Drehwinkelgeschwindigkeit.According to the invention, it is provided in such a method that a torque of the wheel and / or a travel speed of the motor vehicle are estimated by means of a model having as input variables a first variable characterizing a state of rotation of the wheel and a second variable characterizing a state of rotation of the electric drive machine becomes. In particular, the rotational speed, the rotation angle or the rotational angular velocity are suitable as such variables.
Durch die Einbeziehung des Rotationszustands des Rades und der elektrischen Antriebsmaschine – also der Rotationszustände an beiden Enden der die Antriebsmaschine mit dem Rad verbindenden Gelenkwelle – kann insbesondere das tatsächlich auf das Rad wirkende Drehmoment besonders gut abgeschätzt werden, da hierdurch auch Schwingungen der Welle mit erfasst werden und in die Drehmomentenschätzung eingehen können. Das Verfahren kann beispielsweise mit ohnehin im Fahrzeug vorhandenen Drehzahlsensoren durchgeführt werden, so dass keine Zusatzkosten bei der Herstellung des Kraftwagens anfallen. Die Drehzahl der Antriebsmaschine kann zudem auch direkt von einem Steuergerät der Antriebsmaschine bereitgestellt werden, ohne dass ein eigener Sensor verwendet werden muss.By incorporating the state of rotation of the wheel and the electric drive machine - ie the rotational states at both ends of the drive shaft connected to the drive shaft - in particular the actually acting on the wheel torque can be estimated particularly well, as this also vibrations of the shaft are detected and into the torque estimate. The method can be carried out, for example, with speed sensors already present in the vehicle, so that no additional costs are incurred in the production of the motor vehicle. In addition, the rotational speed of the drive machine can also be provided directly by a control unit of the drive machine without having to use a separate sensor.
Vorzugsweise berücksichtigt das Modell zumindest die Trägheitsmasse der Antriebsmaschine, des Rades und des Kraftwagens. Zusammen mit den zwischen diesen Trägheitsmassen aufgrund der verbindenden Elemente wirkenden Kräfte kann so das System Antriebsmaschine-Rad-Fahrbahn besonders einfach modelliert werden. Zur vollständigen Beschreibung des Systems muss zudem wenigstens das Übertragungsverhalten zwischen Antriebsmaschine und Rad sowie das Übertragungsverhalten zwischen Rad und Fahrbahn berücksichtigt werden.Preferably, the model takes into account at least the inertial mass of the prime mover, the wheel and the motor vehicle. Together with the forces acting between these inertial masses due to the connecting elements forces so the system prime mover-wheel-track can be modeled very easy. For a complete description of the system, at least the transmission behavior between the drive machine and the wheel as well as the transmission behavior between the wheel and the roadway must be taken into account.
Bei einer bevorzugten Ausführungsform der Erfindung umfasst das Modell eine Bewegungsgleichung für die relativen Rotationsbewegungen zwischen Antriebsmaschine, Welle, Rad und Fahrbahn. Mittels eines derartigen Modells können sowohl Schwingungen der Welle als auch Effekte des Rad-Fahrbahn-Kontaktes in die Bestimmung des am Rad wirkenden Drehmoments bzw. der Fahrtgeschwindigkeit mit einbezogen werden, so dass besonders genaue Ergebnisse erhalten werden.In a preferred embodiment of the invention, the model comprises an equation of motion for the relative rotational movements between prime mover, shaft, wheel and roadway. By means of such a model, both vibrations of the shaft and effects of the wheel-track contact can be included in the determination of the wheel acting on the wheel or the travel speed, so that particularly accurate results are obtained.
Zur vollständigen Beschreibung müssen im Rahmen des Modells Zustände berücksichtigt werden, durch die der Verdrehwinkel zwischen Rad und Antriebsmaschine sowie die Verdrehwinkelgeschwindigkeit zwischen Rad und Kraftwagen ermittelt werden kann. Vorzugsweise umfasst das Modell zu diesem Zweck als Zustandsgrößen einen Verdrehwinkel zwischen Antriebsmaschine und Rad, eine Verdrehwinkelgeschwindigkeit zwischen Antriebsmaschine und Rad, eine Winkelgeschwindigkeit des Rads sowie eine Winkelgeschwindigkeit des Kraftwagens. Die translatorische Bewegung des Kraftwagens wird also in eine bezüglich der Trägheit äquivalente rotatorische Bewegung umgesetzt. Mit diesen Zustandsgrößen kann das modellierte System vollständig beschrieben werden, wobei das Modell durch die Betrachtung im rein rotatorischen Bezugssystem rechnerisch besonders einfach handzuhaben ist.For a complete description, conditions must be taken into account in the model by which the angle of rotation between the wheel and the engine and the Verdrehwinkelgeschwindigkeit between the wheel and cars can be determined. For this purpose, the model preferably includes, as state variables, an angle of rotation between the engine and the wheel, a rotational angular velocity between the engine and the wheel, an angular velocity of the wheel and an angular velocity of the motor vehicle. The translational movement of the motor vehicle is thus converted into a rotational movement equivalent to the inertia. With these state variables, the modeled system can be fully described, the model by the consideration in a purely rotational frame of reference is computationally easy to handle.
Bei einer weiteren bevorzugten Ausführungsform der Erfindung wird der Rad-Fahrbahn-Kontakt des Kraftwagens durch ein zeitvariantes Dämpfungsglied modelliert. Die Modellierung kann dabei linear oder nichtlinear sein. Dies ermöglicht zusätzliche Rückschlüsse auf kurzfristige Zustandsänderungen des Rades, insbesondere dessen Schlupfzustand. Hierdurch kann ein Überschreiten des Kraftschlussmaximums, ein drohendes Blockieren oder Durchdrehen erkannt werden. Die zeitvarianten Parameter können dabei aus Zustandsgrößen des Systems berechnet werden. Besonders zweckmäßig ist die Verwendung eines adaptiven Modells.In a further preferred embodiment of the invention, the wheel-carriageway contact of the motor vehicle is modeled by a time-variant attenuator. The modeling can be linear or nonlinear. This allows additional conclusions about short-term state changes of the wheel, in particular its slip state. As a result, an exceeding of the traction maximum, impending blocking or spinning can be detected. The time-variant parameters can be calculated from state variables of the system. Particularly useful is the use of an adaptive model.
Vorzugsweise umfasst das Modell zumindest eine externe Anregungsgröße, also eine auf zumindest ein Element des Modells wirkende externe Kraft, bzw. ein externes Trägheitsmoment. Hierbei kann es sich beispielsweise um ein Luftspaltmoment der Antriebsmaschine, ein auf die Trägheitsmasse des Rades wirkendes Drehmoment einer Reibungsbremse oder einen auf den Kraftwagen wirkenden Luft- oder Steigungswiderstand handeln. Informationen über die zumindest eine Anregungsgröße können durch geeignete Sensoren direkt gemessen, in externen Steuergeräten abgeschätzt oder im Rahmen des Modells selbst berechnet werden.The model preferably comprises at least one external excitation variable, that is to say an external force acting on at least one element of the model, or an external moment of inertia. This may be, for example, an air gap torque of the prime mover, a force acting on the inertial mass of the wheel torque of a friction brake or acting on the car air or gradient resistance. Information about the at least one excitation variable can be measured directly by suitable sensors, estimated in external control units or calculated within the framework of the model itself.
Im Folgenden wird die Erfindung und ihre Ausführungsformen anhand der Zeichnung näher erläutert. Es zeigen:In the following the invention and its embodiments will be explained in more detail with reference to the drawing. Show it:
In elektrischen Fahrzeugen mit Einzelradantrieb wird jedes Rad
Um aus den mittels der Sensoren
Aus den Eingangsgrößen werden hierbei zunächst die Zustandsvariablen des Systems, also Größen, die das Verhalten des Systems beschreiben, berechnet. Als Zustandsvariablen des Systems werden der Verdrehwinkel der Gelenkwelle
Aus den so bestimmten Zustandsvariablen kann schließlich die gewünschte Information über das auf das Rad
Zur Berechnung der Zustandsvariablen und deren zeitlichen Änderung sind noch weitere Kenntnisse über das System aus Rad
Die Momentenübertragung zwischen Motor
Neben einer genauen Abschätzung von Fahrtgeschwindigkeit und Drehmoment am Rad
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 3922182 C2 [0003] DE 3922182 C2 [0003]
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011012840A DE102011012840A1 (en) | 2011-03-03 | 2011-03-03 | Method for determining operating parameter of motor vehicle, involves applying drive force of electric drive machine on assigned wheel through shaft, where torque of wheel or drive speed of motor vehicle is evaluated |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102011012840A DE102011012840A1 (en) | 2011-03-03 | 2011-03-03 | Method for determining operating parameter of motor vehicle, involves applying drive force of electric drive machine on assigned wheel through shaft, where torque of wheel or drive speed of motor vehicle is evaluated |
Publications (1)
Publication Number | Publication Date |
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DE102011012840A1 true DE102011012840A1 (en) | 2012-09-06 |
Family
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Family Applications (1)
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DE102011012840A Withdrawn DE102011012840A1 (en) | 2011-03-03 | 2011-03-03 | Method for determining operating parameter of motor vehicle, involves applying drive force of electric drive machine on assigned wheel through shaft, where torque of wheel or drive speed of motor vehicle is evaluated |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015111409B3 (en) * | 2015-07-14 | 2016-11-03 | Universität Rostock | Method for determining forces and / or torques |
DE102017109161A1 (en) | 2017-04-28 | 2018-10-31 | Universität Rostock | Method and device for handling faults in a drive system |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19849841A1 (en) * | 1997-11-03 | 1999-05-06 | Luk Getriebe Systeme Gmbh | Determining slip in clutch arranged in driving line between engine and gearbox |
DE10145891A1 (en) * | 2001-09-07 | 2003-06-12 | Daimler Chrysler Ag | Method and control for damping the torque oscillations of the drive train of an electrically driven road vehicle |
US6822415B1 (en) * | 2000-04-20 | 2004-11-23 | Kabushiki Kaish Yaskawa Denki | Motor controller |
DE102004042273A1 (en) * | 2004-09-01 | 2006-03-02 | Robert Bosch Gmbh | Method and device for operating a vehicle |
DE60036439T2 (en) * | 1999-08-17 | 2008-05-08 | Ford Global Technologies, LLC, Dearborn | Additional power source to reduce driveline vibration |
DE102008000870A1 (en) * | 2008-03-28 | 2009-10-01 | Zf Friedrichshafen Ag | Drive train operating method for hybrid motor vehicle, involves controlling electric motor of hybrid drive for damping oscillations of drive train such that actual speed of electric motor corresponds reference variable |
DE102009050387A1 (en) * | 2009-10-22 | 2011-04-28 | Conti Temic Microelectronic Gmbh | System for determining torsion angle- change of drive strand of vehicle, has evaluation device for determining change of torsion angle of drive strand by comparative evaluation of detected driving speed and wheel speed dependent parameters |
-
2011
- 2011-03-03 DE DE102011012840A patent/DE102011012840A1/en not_active Withdrawn
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19849841A1 (en) * | 1997-11-03 | 1999-05-06 | Luk Getriebe Systeme Gmbh | Determining slip in clutch arranged in driving line between engine and gearbox |
DE60036439T2 (en) * | 1999-08-17 | 2008-05-08 | Ford Global Technologies, LLC, Dearborn | Additional power source to reduce driveline vibration |
US6822415B1 (en) * | 2000-04-20 | 2004-11-23 | Kabushiki Kaish Yaskawa Denki | Motor controller |
DE10145891A1 (en) * | 2001-09-07 | 2003-06-12 | Daimler Chrysler Ag | Method and control for damping the torque oscillations of the drive train of an electrically driven road vehicle |
DE102004042273A1 (en) * | 2004-09-01 | 2006-03-02 | Robert Bosch Gmbh | Method and device for operating a vehicle |
DE102008000870A1 (en) * | 2008-03-28 | 2009-10-01 | Zf Friedrichshafen Ag | Drive train operating method for hybrid motor vehicle, involves controlling electric motor of hybrid drive for damping oscillations of drive train such that actual speed of electric motor corresponds reference variable |
DE102009050387A1 (en) * | 2009-10-22 | 2011-04-28 | Conti Temic Microelectronic Gmbh | System for determining torsion angle- change of drive strand of vehicle, has evaluation device for determining change of torsion angle of drive strand by comparative evaluation of detected driving speed and wheel speed dependent parameters |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015111409B3 (en) * | 2015-07-14 | 2016-11-03 | Universität Rostock | Method for determining forces and / or torques |
DE102017109161A1 (en) | 2017-04-28 | 2018-10-31 | Universität Rostock | Method and device for handling faults in a drive system |
DE102017109161B4 (en) | 2017-04-28 | 2021-12-09 | Universität Rostock | Method and device for handling errors in a drive system |
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