FR2720698A1 - Control process for electric vehicle for smoothing transition between acceleration and braking - Google Patents

Control process for electric vehicle for smoothing transition between acceleration and braking Download PDF

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Publication number
FR2720698A1
FR2720698A1 FR9406885A FR9406885A FR2720698A1 FR 2720698 A1 FR2720698 A1 FR 2720698A1 FR 9406885 A FR9406885 A FR 9406885A FR 9406885 A FR9406885 A FR 9406885A FR 2720698 A1 FR2720698 A1 FR 2720698A1
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France
Prior art keywords
motor
current
acceleration
braking
control process
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Granted
Application number
FR9406885A
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French (fr)
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FR2720698B1 (en
Inventor
Olivier Metzelard
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Sagem SA
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Sagem SA
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Priority to FR9406885A priority Critical patent/FR2720698B1/en
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Publication of FR2720698B1 publication Critical patent/FR2720698B1/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
    • B60L15/20—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
    • 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
    • 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
    • Y02T10/72—Electric energy management in electromobility

Abstract

The control of the electrically powered vehicle is obtained by processing the signal obtained from the position of the accelerator pedal. The pedal position data is used to generate a linear relation (10) between signals controlling current in the drive motor and pedal position. When the pedal position indicates a transition between acceleration and braking is required the signal driving the motor is delayed after the current has reached zero (12), then further delayed at a low current level (13) to allow the slack in the drive train to be absorbed. The current is then allowed to increase at the normal rate, smoothly accelerating the motor.

Description

Procédé de commande d'un moteur de véhicule
Dans un véhicule à moteur, l'alimentation du moteur est contrôlée afin de fixer la vitesse du véhicule.Method for controlling a vehicle engine
In a motor vehicle, the power supply to the motor is controlled in order to fix the speed of the vehicle.

Si l'on considère par exemple une voiture à moteur électrique à courant continu, la pédale d'accélérateur commande un dispositif d'alimentation fournissant au moteur un courant d'excitation et un courait dtindu;t déterminés d'après la course de 1m pédale
On rappellera qu'un moteur électrique est alimenté, depuis une batterie, par un courant d'induit qui traverse le rotor du moteur pour lui fournir une énergie qui est transformée en un couple moteur. La vitesse de rotation du rotor, et donc la puissance du moteur, varie de ce fait dans le même sens que le courant d'induit.If we consider, for example, a car with an electric DC motor, the accelerator pedal controls a supply device supplying the motor with an excitation current and a dtindu current; t determined by the stroke of 1m pedal
It will be recalled that an electric motor is supplied, from a battery, by an armature current which crosses the rotor of the motor to supply it with energy which is transformed into a motor torque. The speed of rotation of the rotor, and therefore the power of the motor, therefore varies in the same direction as the armature current.

La partie fixe, ou stator, du moteur reçoit un courant d'excitation qui excite des pièces magnétiques coopérant avec des pièces homologues du rotor pour engendrer des forces magnétiques créant un couple de traction l'entraînant en rotation. The fixed part, or stator, of the motor receives an excitation current which excites magnetic parts cooperating with homologous parts of the rotor to generate magnetic forces creating a traction torque causing it to rotate.

Lors des changements de régime de fonctionnement du moteur, et en particulier lors d'une accélération brusque ou d'une décélération brusque dues à une variation de la course de la pédale d'accélérateur, le dispositif d'alimentation change le sens du courant d'induit, pour passer d'un couple résistant à un couple de traction, ou inversement. Ce changement de sens du couple engendre des à-coups désagréables secouant le conducteur. During changes in engine operating speed, and in particular during sudden acceleration or sudden deceleration due to a variation in the stroke of the accelerator pedal, the supply device changes the direction of the current d 'induced, to pass from a resistant couple to a traction torque, or vice versa. This change in direction of the torque generates unpleasant jolts shaking the driver.

En effet, les différents éléments constituant la chaîne cinématique allant du moteur aux roues présentent entre eux des jeux et ont des inerties mécaniques différentes, si bien qu'il se pose un problème de réattelage dû au fait qu'ils oscillent et se heurtent avant de finalement venir en coopération sous l'effet du couple apparu.  Indeed, the different elements constituting the kinematic chain going from the engine to the wheels have play between them and have different mechanical inertia, so that there is a problem of re-coupling due to the fact that they oscillate and collide before finally come in cooperation under the effect of the couple appeared.

La présente invention vise à éviter ces à-coups. The present invention aims to avoid these jolts.

A cet effet, l'invention concerne un procédé de commande d'un moteur de véhicule, dans lequel on génère un signal de conduite pour contrôler l'amplitude et le sens d'un signal de commande appliqué au moteur, auquel sont couplés des éléments d'entraînement du véhicule, caractérisé par Le fait qu'on surveille le signal ts coninande, on le retarde quand il s'annule et on continu de retarder le signal de zonmnnd2 aptes son changement de sens mais à un niveau d'ampLitude non nulle de réduction des jeux entre le moteur et les éléments d'entraînement. To this end, the invention relates to a method for controlling a vehicle engine, in which a driving signal is generated to control the amplitude and the direction of a control signal applied to the engine, to which elements are coupled vehicle drive, characterized by The fact that we monitor the ts coninande signal, we delay it when it is canceled and we continue to delay the signal of zonmnnd2 able to change its direction but at a level of ampLitude not zero reduction in clearance between the motor and the drive elements.

Ainsi, les éléments de la chaîne cinématique ne sont, pendant le retard à courant nul, soumis à aucune force et peuvent ainsi "flotter" librement dans la plage de jeu qu'ils présentent par rapport à leurs éléments adjacents. Ensuite, lors du second retard, les éléments de la chaîne cinématique sont sollicités, mais peuvent ne l'être que faiblement, pour venir coopérer entre eux et n' ont donc pas tendance à osciller et à créer des àcoups. Thus, the elements of the kinematic chain are not, during the delay at zero current, subjected to any force and can thus "float" freely in the range of play which they present with respect to their adjacent elements. Then, during the second delay, the elements of the kinematic chain are stressed, but may only be weakly, to come to cooperate with each other and therefore do not tend to oscillate and create jolts.

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 à courant continu 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 du temps t porté 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 a DC motor of an electric car and its organs and control circuits and - Figure 2 shows the shape of the armature current of the motor as a function of time t 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 10 croissant linéairement, dans cet exemple, depuis une valeur négative pour s'annuler et devenir positif. The driver of the car has an accelerator pedal 1 which supplies a driving signal 10 linearly increasing in a calculation block 2, in this example from a negative value in order to cancel out and become positive.

Le bloc de calcul 2 calcule, d'après la valeur du signal de conduite 10 et selon une loi prédéterminée, une valeur de courant d'induit 11 et commande, d'après cette valeur calculée, un dispositif 3 d'alimentation en courant d'induit d'un moteur 4. Le moteur 4 entraîne des éléments 5 d'entraînement de la voiture, formant une chaîne cinématique s'étendant jusqu'aux roues. The calculation block 2 calculates, according to the value of the driving signal 10 and according to a predetermined law, an armature current value 11 and controls, according to this calculated value, a device 3 for supplying current d armature of a motor 4. The motor 4 drives the drive elements 5 of the car, forming a kinematic chain extending to the wheels.

Comme le montre la figure 2, sur laquelle les amplitudes I du courant d'induit et du signal de conduits 10 sont portées en ordonnées, le courant d leduit 11, représenté à plus petite écnelle que le signal de conduite 10 afin de pouvoir y être superposé, suit, avant de s'annuler, la variation du signal de conduite 10. As shown in FIG. 2, on which the amplitudes I of the armature current and of the conduit signal 10 are plotted on the ordinate, the current of the conduit 11, shown to be smaller than the conductive signal 10 so that it can be there superimposed, follows, before canceling, the variation of the driving signal 10.

Pour commander le moteur 4, on contrôle, par le signal de conduite 10, l'amplitude et le sens du courant d'induit 11, ou signal de commande, on surveille le signal de commande 11, on le retarde quand il s'annule et on continue de retarder le signal de commande 11 après son changement de sens mais à un niveau d'amplitude non nulle de réduction des jeux entre le moteur 4 et les éléments d'entraînement 5. To control the motor 4, we control, by the driving signal 10, the amplitude and the direction of the armature current 11, or control signal, we monitor the control signal 11, we delay it when it is canceled and the control signal 11 continues to be delayed after its change of direction but to a level of non-zero amplitude of reduction of the clearances between the motor 4 and the drive elements 5.

Ainsi, lors du passage à zéro du courant de conduite 10, et donc du courant d'induit 11, le courant d'induit est retardé, c'est-à-dire maintenu à une valeur quasiment nulle, sur ici une durée de retard 12 d'environ 50 millisecondes, tandis que le signal de conduite 10 continue à augmenter. La durée de retard 12 est choisie en fonction de l'inertie mécanique du moteur 4 et des éléments 5, afin de leur permettre de cesser leur coopération et de prendre sensiblement une position médiane sur une plage de jeu qu'ils présentent les uns par rapport aux autres. Thus, when the line current 10, and therefore the armature current 11, crosses to zero, the armature current is delayed, that is to say maintained at an almost zero value, here a delay time 12 by about 50 milliseconds, while the driving signal 10 continues to increase. The delay time 12 is chosen as a function of the mechanical inertia of the motor 4 and of the elements 5, in order to allow them to cease their cooperation and to take up substantially a median position over a range of play which they present in relation to each other. to others.

Le retard 12 est suivi d'un autre retard 13, ici d'environ 50 millisecondes, pour lequel le courant d'induit est limité et fixé à 5 ampères dans cet exemple. The delay 12 is followed by another delay 13, here around 50 milliseconds, for which the armature current is limited and fixed at 5 amperes in this example.

La durée du retard 13 est choisie en fonction de l'inertie mécanique du moteur 4 et des éléments 5, afin de leur permettre de quitter la position médiane sur la plage de jeu et de reprendre leur coopération, mais après changement de sens du jeu. Le retard 13 est choisi d'autant plus élevé que le courant d'induit correspondant, qui assure le rappel en coopération, est faible.The duration of the delay 13 is chosen as a function of the mechanical inertia of the motor 4 and of the elements 5, in order to allow them to leave the middle position on the range of play and to resume their cooperation, but after a change in the direction of play. The delay 13 is chosen the higher the corresponding armature current, which ensures the return in cooperation, is low.

Ensuite, le courant d'induit reprend une pente, ou dérivée temporelle, parallèle à celle du signal de conduite 10 et atteindra la valeur voulue lorsque le signal de conduite 10 se stabilisera à une valeur de palier. Then, the armature current takes a slope, or time derivative, parallel to that of the driving signal 10 and will reach the desired value when the driving signal 10 will stabilize at a plateau value.

Ainsi, le renversement du sens du jeu, ou réattelage, s'effectue en appliquant aux éléments de la chaîne cinématique 5 des forces très limitées, ce qui évite l'apparition d'à-coups. Thus, the reversal of the direction of play, or re-coupling, is carried out by applying to the elements of the kinematic chain 5 very limited forces, which avoids the appearance of jolts.

Le procédé de l'invention n'est pas limité à l'exemple ci-dessus de voiture à moteur rotatif à courant continu mais peut être appliqué à tout moteur de véhicule, linéaire ou rotatif, à courant continu ou alternatif.  The method of the invention is not limited to the above example of a car with a rotary DC motor but can be applied to any vehicle engine, linear or rotary, with direct or alternating current.

Claims (1)

REVENDICATION CLAIM Procédé de commande d'un moteur de véhicule, dans lequel on génère un signal de conduite (10) pour contrôler l'amplitude et le sens d'un signal de commande (11) appliqué au moteur (4), auquel sont couplés des éléments d'entraînement (5) du véhicule, caractérisé par le fait qu'on surveille le signal de commande (11), on le retarde (12) quand il s'annule et on continue de retarder (13) le signal de commande après son changement de sens mais à un niveau d'amplitude non nulle de réduction des jeux entre le moteur (4) et les éléments d'entraînement (5).  Method for controlling a vehicle engine, in which a driving signal (10) is generated to control the amplitude and the direction of a control signal (11) applied to the engine (4), to which elements are coupled drive (5) of the vehicle, characterized by monitoring the control signal (11), delaying it (12) when it is canceled and continuing to delay (13) the control signal after it change of direction but at a level of amplitude not zero reduction of the games between the motor (4) and the drive elements (5).
FR9406885A 1994-06-06 1994-06-06 Method for controlling a vehicle engine. Expired - Fee Related FR2720698B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR9406885A FR2720698B1 (en) 1994-06-06 1994-06-06 Method for controlling a vehicle engine.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9406885A FR2720698B1 (en) 1994-06-06 1994-06-06 Method for controlling a vehicle engine.

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FR2720698A1 true FR2720698A1 (en) 1995-12-08
FR2720698B1 FR2720698B1 (en) 1996-07-12

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FR9406885A Expired - Fee Related FR2720698B1 (en) 1994-06-06 1994-06-06 Method for controlling a vehicle engine.

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Citations (4)

* 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
DE4110905A1 (en) * 1990-04-04 1991-10-17 Hitachi Ltd CONTROL DEVICE FOR ELECTRIC VEHICLE
WO1993003940A1 (en) * 1991-08-26 1993-03-04 Mannesmann Ag Process for changing the speed of a vehicle and vehicle for implementing the process
EP0575700A1 (en) * 1992-06-20 1993-12-29 Jungheinrich Aktiengesellschaft Methode and device to deliver a voltage to a DC traction motor

Patent Citations (4)

* 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
DE4110905A1 (en) * 1990-04-04 1991-10-17 Hitachi Ltd CONTROL DEVICE FOR ELECTRIC VEHICLE
WO1993003940A1 (en) * 1991-08-26 1993-03-04 Mannesmann Ag Process for changing the speed of a vehicle and vehicle for implementing the process
EP0575700A1 (en) * 1992-06-20 1993-12-29 Jungheinrich Aktiengesellschaft Methode and device to deliver a voltage to a DC traction motor

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FR2720698B1 (en) 1996-07-12

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