FR2720697A1 - Control process for electrically powered vehicle - Google Patents

Control process for electrically powered vehicle Download PDF

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Publication number
FR2720697A1
FR2720697A1 FR9406884A FR9406884A FR2720697A1 FR 2720697 A1 FR2720697 A1 FR 2720697A1 FR 9406884 A FR9406884 A FR 9406884A FR 9406884 A FR9406884 A FR 9406884A FR 2720697 A1 FR2720697 A1 FR 2720697A1
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France
Prior art keywords
current
value
stroke
vehicle
engine
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Granted
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FR9406884A
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French (fr)
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FR2720697B1 (en
Inventor
Olivier Metzelard
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Sagem SA
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Sagem SA
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Priority to FR9406884A priority Critical patent/FR2720697B1/en
Publication of FR2720697A1 publication Critical patent/FR2720697A1/en
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Publication of FR2720697B1 publication Critical patent/FR2720697B1/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • 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
    • B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • 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)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The control process involves establishing a linear relation between travel of the accelerator pedal and the value of current passing through the motor. The current varies between a minimum negative value (Imin) which is established from a measure of the speed of the vehicle, and a predetermined maximum positive value (Imax). From the measure of speed of the vehicle a virtual path (11) for the accelerator pedal is determined for the current to become zero (12). If the virtual path zero current cross-over exceeds a set threshold (13) the linear relation between the accelerator pedal movement and the current is modified (14,15) so that the position that brings the current to zero is less than the threshold value.

Description

Procédé de commande à sensibilité améliorée
d'un moteur de véhicule à propulsion électrique
Le conducteur d'un véhicule électrique dispose d'organes de commande pour accélérer ou ralentir la marche du véhicule. Ainsi, en prenant l'exemple d'une voiture électrique, la pedale d'accélérateur permet ae, régler le courant travers-or 'e moteur, donc son couplez de freinage ou de traction. Au repos de la pédale, 1 pédale impose un courant de freinage et, à mesure que le conducteur l'enfonce, l'amplitude du courant de freinage, qui varie linéairement, commence par s'annuler avant que le courant, après changement de sens, ne devienne courant de traction, ou moteur, avec un couple croissant, et ce, jusqu'à une valeur maximale déterminée.Improved sensitivity control method
an electrically propelled vehicle engine
The driver of an electric vehicle has control elements to accelerate or slow down the running of the vehicle. Thus, taking the example of an electric car, the accelerator pedal allows ae, adjust the current through-or 'e engine, so couple braking or traction. When the pedal is at rest, 1 pedal imposes a braking current and, as the driver presses it, the amplitude of the braking current, which varies linearly, begins to cancel before the current, after changing direction , does not become traction current, or motor, with increasing torque, and this, up to a determined maximum value.

Pour le conducteur de la voiture, une telle relation entre l'enfoncement de la pédale d'accélérateur et l'apparition d'un couple moteur perceptible pour accélérer la voiture n'est pas satisfaisante. En effet, dans une voiture à moteur à explosion, le moteur quitte son fonctionnement en frein moteur au plus faible enfoncement de la pédale d'accélérateur et la voiture paraît nerveuse. La demanderesse a donc cherché un procédé fournissant au conducteur une meilleure sensation et un plus grand confort. For the driver of the car, such a relationship between depressing the accelerator pedal and the appearance of a noticeable engine torque to accelerate the car is not satisfactory. In fact, in a car with an internal combustion engine, the engine leaves its operation as an engine brake when the accelerator pedal is depressed and the car appears nervous. The Applicant has therefore sought a process providing the driver with a better feeling and greater comfort.

A cet effet, l'invention concerne un procédé de commande d'un moteur de véhicule à propulsion électrique, dans lequel on établit une correspondance linéaire entre la course d'un organe de commande d'accélération du moteur et la valeur du courant traversant le moteur, variant entre une valeur minimale négative, que l'on établit à partir d'une mesure de la vitesse du véhicule, et une valeur maximale positive prédéterminée, caractérisé par le fait qu'on détermine, pour la vitesse du véhicule, une course virtuelle de l'organe de commande pour laquelle le courant s'annulerait, on compare ladite course virtuelle à un seuil prédéterminé et, si cette course virtuelle excède le seuil, on modifie ladite correspondance linéaire pour que la course réelle annulant le courant n'excède pas ledit seuil. To this end, the invention relates to a method for controlling an electrically propelled vehicle engine, in which a linear correspondence is established between the travel of an engine acceleration control member and the value of the current flowing through the motor, varying between a minimum negative value, which is established from a measurement of the vehicle speed, and a predetermined positive maximum value, characterized in that a stroke is determined for the speed of the vehicle virtual of the control unit for which the current would cancel, we compare said virtual stroke with a predetermined threshold and, if this virtual stroke exceeds the threshold, we modify said linear correspondence so that the real stroke canceling the current does not exceed not said threshold.

Ainsi, pour une voiture électrique, lorsque La pédale d'accélérateur est en position de repos et grâce à l'invention, le courant du moteur est trL sensible à la moindre sollicitation de la pédale et le couple de freinage disparaît rapidement au profit d'un couple moteur. On peut ainsi définir toute forme de correspondance entre la course de la pédale et le courant, ou le couple exercé par le moteur, et ceci pour chaque vitesse de la voiture. Thus, for an electric car, when the accelerator pedal is in the rest position and thanks to the invention, the current of the engine is very sensitive to the slightest stress on the pedal and the braking torque quickly disappears in favor of engine torque. We can thus define any form of correspondence between the stroke of the pedal and the current, or the torque exerted by the motor, and this for each speed of the car.

On peut modifier la correspondance linéaire de façon discrète et, de préférence, au voisinage de l'annulation du courant. One can modify the linear correspondence in a discrete way and, preferably, in the vicinity of the cancellation of the current.

L'invention sera mieux comprise à l'aide de la description suivante du mode de mise en oeuvre préféré du procédé de commande de l'invention, en référence au dessin annexé, sur lequel: - la figure 1 est une représentation par blocs d'un moteur de voiture électrique et de ses organes et circuits de commande et - la figure 2 représente l'allure du courant d'induit du moteur en fonction de la course de la pédale d'accélérateur, portée en abscisse. The invention will be better understood using the following description of the preferred embodiment of the control method of the invention, with reference to the accompanying drawing, in which: - Figure 1 is a block representation of an electric car engine and its organs and control circuits and - Figure 2 shows the shape of the armature current of the engine as a function of the stroke of the accelerator pedal, plotted on the abscissa.

Le conducteur de la voiture dispose d'une pédale d'accélérateur 1 qui fournit, à un bloc de calcul 2, un signal de conduite. Le bloc de calcul 2 calcule d'après la valeur du signal de conduite et selon une loi prédéterminée, une valeur de courant d'induit et commande, d'après cette valeur calculée, un dispositif 3 d'alimentation en courant d'induit du moteur 4 de la voiture. The driver of the car has an accelerator pedal 1 which supplies a driving signal to a computer block 2. The calculation block 2 calculates according to the value of the driving signal and according to a predetermined law, an armature current value and controls, according to this calculated value, a device 3 for supplying the armature current of the 4 engine of the car.

Le courant d'induit du moteur 4 peut, sous la commande de la pédale d'accélérateur 1, varier entre une valeur minimale négative Imin, correspondant à un fonctionnement en frein moteur, et une valeur maximale
Imax fournissant un couple moteur. La valeur du courant
I d'induit est déterminée sur un segment de droite 11, ou courbe virtuelle, reliant Imin à Imax, c'est-à-dire qu'il y a ici une correspondance linéaire entre la course de la pédale d'accélérateur 1 et la variation du courant d'induit.The armature current of the engine 4 can, under the control of the accelerator pedal 1, vary between a minimum negative value Imin, corresponding to an operation in engine brake, and a maximum value
Imax providing engine torque. The value of the current
I of armature is determined on a line segment 11, or virtual curve, connecting Imin to Imax, that is to say that there is here a linear correspondence between the stroke of the accelerator pedal 1 and the variation of armature current.

La valeur maximale Imax est fixe, tandis que la valeur minimale Imin prend une valeur d'autant plus négative que la vitesse du moteur 4 est élevée, afin de fournir un couple de freinage suffisant. La loi fixant cette variation de la valeur minimale Imin en fonction de la vitesse est mémorisée dans le bloc de calcul 2, qui reçoit la mesure de la vitesse du moteur 4 à partir d'un capteur, non représenté. The maximum value Imax is fixed, while the minimum value Imin takes a value all the more negative the higher the speed of the motor 4, in order to provide sufficient braking torque. The law fixing this variation of the minimum value Imin as a function of the speed is stored in the calculation block 2, which receives the measurement of the speed of the motor 4 from a sensor, not shown.

Le bloc de calcul 2 compare ensuite la courbe virtuelle 11 à un seuil prédéterminé 13 et, si la course virtuelle 12 excède le seuil 13, le bloc de calcul 2 modifie la correspondance linéaire indiquée ci-dessus pour que la course réelle annulant le courant d'induit I n'excède pas le seuil 13. The calculation block 2 then compares the virtual curve 11 with a predetermined threshold 13 and, if the virtual stroke 12 exceeds the threshold 13, the calculation block 2 modifies the linear correspondence indicated above so that the real stroke canceling the current d armature I does not exceed threshold 13.

Dans cet exemple, la correspondance linéaire entre la course de la pédale 1 et le courant d'induit est successivement définie, de façon discrète, par deux segments 14-15 se raccordant en un point 16, à courant légèrement positif, ce qui modifie la correspondance linéaire de façon discrète. Le segment 14 coupe donc, ici, l'axe des abscisses pour une valeur de course de la pédale 1 un peu inférieure au seuil 13. Le segment 14, dont la pente représente la sensibilité du moteur 4 lorsque la pédale d'accélérateur 1 est au voisinage de sa position de repos, présente ainsi une pente supérieure à celle du segment unique 11 et accroît ainsi la nervosité de la voiture en début d'accélération. In this example, the linear correspondence between the stroke of the pedal 1 and the armature current is successively defined, in a discrete manner, by two segments 14-15 connecting at a point 16, with slightly positive current, which modifies the discrete linear correspondence. The segment 14 therefore cuts, here, the abscissa axis for a stroke value of the pedal 1 slightly less than the threshold 13. The segment 14, the slope of which represents the sensitivity of the engine 4 when the accelerator pedal 1 is in the vicinity of its rest position, thus has a slope greater than that of the single segment 11 and thus increases the nervousness of the car at the start of acceleration.

L'invention n'est pas limitée à un moteur rotatif mais peut aussi être appliquée à un moteur linéaire.  The invention is not limited to a rotary motor but can also be applied to a linear motor.

Claims (3)

REVENDICATIONS 1. Procédé de commande d'un moteur (4) de véhicule à propulsion électrique, dans lequel on établit une correspondance linéaire (11) entre la course d'un organe (1) de commande d'accélération du moteur (4) et la valeur du courant traversant le moteur (4), variant entre uRe valeur minime t e néD2' ive (Imin), que l'on établit à partir d'une mesure de la vitesse du véhicule, et une valeur maximale positive prédéterminée (Imax), caractérisé par le fait qu'on détermine, pour la vitesse du véhicule, une course virtuelle (12) de l'organe de commande (1) pour laquelle le courant s'annulerait, on compare ladite course virtuelle (12) à un seuil prédéterminé (13) et, si cette course virtuelle (12) excède le seuil (13), on modifie ladite correspondance linéaire (11) pour que la course réelle annulant le courant n'excède pas ledit seuil (13).1. A method of controlling an engine (4) of an electrically powered vehicle, in which a linear correspondence (11) is established between the stroke of a member (1) for controlling the acceleration of the engine (4) and the value of the current passing through the motor (4), varying between a minimum value te neD2 'ive (Imin), which is established from a measurement of the speed of the vehicle, and a predetermined positive maximum value (Imax), characterized by the fact that a virtual stroke (12) of the control member (1) for which the current would cancel out is determined for the speed of the vehicle, said virtual stroke (12) is compared to a predetermined threshold (13) and, if this virtual stroke (12) exceeds the threshold (13), said linear correspondence (11) is modified so that the actual stroke canceling the current does not exceed said threshold (13). 2. Procédé selon la revendication 1, dans lequel on modifie la correspondance linéaire (11) de façon discrète (14, 15).2. Method according to claim 1, in which the linear correspondence (11) is modified in a discrete manner (14, 15). 3. Procédé selon la revendication 2, dans lequel on modifie ladite correspondance (11) au voisinage (16) de l'annulation du courant traversant le moteur (4). 3. Method according to claim 2, in which said correspondence (11) is modified in the vicinity (16) of the cancellation of the current passing through the motor (4).
FR9406884A 1994-06-06 1994-06-06 Method for controlling the sensitivity of an electrically propelled vehicle engine. Expired - Fee Related FR2720697B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR9406884A FR2720697B1 (en) 1994-06-06 1994-06-06 Method for controlling the sensitivity of an electrically propelled vehicle engine.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9406884A FR2720697B1 (en) 1994-06-06 1994-06-06 Method for controlling the sensitivity of an electrically propelled vehicle engine.

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FR2720697A1 true FR2720697A1 (en) 1995-12-08
FR2720697B1 FR2720697B1 (en) 1996-07-12

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FR9406884A Expired - Fee Related FR2720697B1 (en) 1994-06-06 1994-06-06 Method for controlling the sensitivity of an electrically propelled vehicle engine.

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008071123A1 (en) * 2006-12-11 2008-06-19 Byd Company Limited Apparatus and method for controlling an accelerator for electric vehicles
CN108715139A (en) * 2018-05-30 2018-10-30 北京新能源汽车股份有限公司 A kind of torque control method of electric vehicle, device and equipment

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4555651A (en) * 1983-01-05 1985-11-26 Towmotor Corporation Motor speed control apparatus
EP0575700A1 (en) * 1992-06-20 1993-12-29 Jungheinrich Aktiengesellschaft Methode and device to deliver a voltage to a DC traction motor

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4555651A (en) * 1983-01-05 1985-11-26 Towmotor Corporation Motor speed control apparatus
EP0575700A1 (en) * 1992-06-20 1993-12-29 Jungheinrich Aktiengesellschaft Methode and device to deliver a voltage to a DC traction motor

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008071123A1 (en) * 2006-12-11 2008-06-19 Byd Company Limited Apparatus and method for controlling an accelerator for electric vehicles
EP2091773A1 (en) * 2006-12-11 2009-08-26 Byd Company Limited Apparatus and method for controlling an accelerator for electric vehicles
CN101200170B (en) * 2006-12-11 2010-06-16 比亚迪股份有限公司 Electric automobile accelerating device and method
US8214096B2 (en) 2006-12-11 2012-07-03 Byd Co. Ltd. Apparatus and method for controlling an accelerator for electric vehicles
EP2091773A4 (en) * 2006-12-11 2014-01-29 Byd Co Ltd Apparatus and method for controlling an accelerator for electric vehicles
CN108715139A (en) * 2018-05-30 2018-10-30 北京新能源汽车股份有限公司 A kind of torque control method of electric vehicle, device and equipment

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Publication number Publication date
FR2720697B1 (en) 1996-07-12

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