CN102059951A - 用于运行电动车辆的方法 - Google Patents
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
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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
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0092—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption with use of redundant elements for safety purposes
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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
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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
- 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
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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
- 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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- Power Engineering (AREA)
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- Sustainable Development (AREA)
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Regulating Braking Force (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
本发明涉及一种用于运行电动车辆的方法,其中电动车辆(10)具有电动机(11)和制动装置(14),以及其中电动机(11)和制动装置(14)能够由控制器(16)影响。在电动车辆(10)的停止状态中,当控制器(16)出现故障时对制动装置(14)进行操作,从而使电动车辆(10)不能运动或至少仅能在非常小的范围内运动。
Description
技术领域
本发明涉及一种根据权利要求1的前序部分所述的、用于运行电动车辆的方法。
背景技术
电动车辆已知地由例如电池馈电的电动机所驱动。电动机的转速以及进而电动车辆的速度在此由电子控制器监控并且以期望的方式控制和/或调解。特别地,当电动车辆应该停止或应该停留在停止状态中时,断开该电动机。
如果在电动车辆的这种停止状态中出现了控制器中的故障,则因此可能的是,即电动机短时间地产生转矩,该转矩导致了电动车辆的不期望的运动。为了避免事故,对于这种情况提出的要求是,即使在出现了控制器的故障时也不允许导致停放的电动车辆的大于10cm的运动。
发明内容
前述要求由根据权利要求1所述的方法实现。
在根据本发明的方法中由此出发,即电动车辆处于停止状态中。如果在该停止状态中出现了控制器中的故障,则设计为,对制动装置进行操作,从而使电动车辆不能运动或至少仅能在非常小的范围中运动。以这种方式确保了,即使在出现了控制器的故障时也不会导致停放的电动车辆的大于10cm的运动。
特别有利的是,盘式制动器或车轮制动器或传动机构锁止装置或类似物设置为制动装置。该设备优选地应该是可电激活的。因此可能的是,将电动车辆的已经存在的制动装置应用于实现本发明。
在一个有利的设计方案中,与控制器无关地实施根据本发明的方法。因此实现了,当控制器例如完全损坏时,也还能实施该方法。
本发明的其它特征、应用可能性和优点由下面的对本发明的实施例的描述结合附图得出。在此,所有描述或示出的特征自身或组合地构成了本发明的内容,而不取决于其在权利要求中的概要或对前面权利要求的引用,以及不取决于其在说明书或附图中的表述或显示。
附图说明
图1示意性地示出了根据本发明的电动车辆的框图,以及图2示出了根据本发明的用于运行根据图1的电动车辆的方法的一个实施例的示意性的流程图。
具体实施方式
在图1中示出了电动车辆10的一部分及其电动机11,可以利用该电动机通过驱动轴12驱动电动车辆10的车轮13。车轮13在此示例性地配有制动装置14。此外设有控制器16,利用该控制器可以对电动机11和制动装置14施加影响。特别地,控制器16包含微处理器,该微处理器这样编程,以致于电动机11产生作用于驱动轴12的转矩,转矩导致了电动车辆10的期望的速度。此外这样设计控制器16,即,可以由该控制器对制动装置14进行操作并且进而制动电动车辆10。
作为替代方案可能的是,控制器16设计为上一级的车辆-主计算机;并且在这个上一级的控制器16与电动机11或制动装置14之间分别中间接入另外的控制器。中间接入的控制器随后可以特别地针对分别有待触发的装置,例如是以用于触发制动装置14的专有制动-控制器为形式的装置。
如果电动车辆10应该停止或停留在停止状态中,则因此由控制器16断开电动机11。这意味着,电动机11这样地由控制器16触发,以致于电动机11不再在驱动轴12上产生转矩。这样做的结果是,车轮13不再被驱动并且电动车辆10进而如所期望地停止或停留在停止状态中。
这种通过控制器16对电动机11施加的影响在此不取决于借助于任意的制动装置在必要时对电动车辆10的附加的制动。
现在可能的是,在控制器16中出现故障,该故障导致了,电动机11产生转矩,该转矩随后可能自身导致电动车辆的不期望的运动。为了避免这种不期望的运动,提出了下面说明的方法。
在根据图2的方法中由此出发,即,电动车辆10处于停止状态中。这意味着,正如已经提到的那样,电动机11被断开。此外由此出发,即,制动装置14没有被驾驶员操作或仅仅被驾驶员略微操作,电动车辆10也就处于未被制动的停止状态中。
在步骤21中连续地测定,控制器16是否无故障地工作。这种测定可以借助于已知的措施实现。特别地,控制器16的故障可以由此测定,即,电动车辆10进行了不期望的运动,或由此测定,即,尽管电动车辆10在这两种情况下自身应该停留在停止状态中,然而电动机11输出了转矩。
如果不存在故障,则如所述地,连续地重复步骤21。相反如果识别出故障,则在步骤22中对制动装置14进行操作。基于连续地进行步骤21以及基于步骤21和22的尽可能高的处理速度,在此可以确保,制动装置的操作在时间上这样快地进行,以致于尽管存在电动机11的转矩,但电动车辆10不会运动或至少仅在非常小的范围中运动。
不言而喻的是,制动装置14可以是电动车辆10的各种适合于将电动车辆10固定保持在停止状态中的装置。此外,这种装置应该是可尽可能地电激活的。其例如可以是与车轮13耦合的盘式制动器,或者是例如在图1中示出的车轮制动器,或者是与车轮13抗扭地连接的传动机构的传动机构锁止装置,或者是与车轮13抗扭地连接的双离合传动机构的两个离合器的同时操作,或者是类似物。
如果电动车辆10与上述设想相反并不处于未被制动的停止状态中,也即如果电动车辆10在现在的停止状态中以任意方式被制动并且进而被固定保持,则因此电动车辆10的运动就应该已经是不可能的。上面说明的方法在这种情况下仅仅引起了提高的安全性,即电动车辆10的运动无论如何都是不可能的。
根据图2的方法可以由控制器16或由上一级的控制器或由中间接入的控制器实施。作为替代方案可能的是,该方法由与控制器16无关的设备实施,该设备能够对制动装置14进行操作。该设备例如可以是附加的微处理器或所谓的ASIC。在这种情况下,当控制器16的微处理器例如完全损坏时,根据图2的方法也还可以实施。同样可能的是,在控制器16中实现了多个硬件-和软件-级,例如功能级和监控级;并且根据图2的方法存在于监控级中。如果在功能级中存在故障,则所说明的方法因此可以继续由监控级实施。
Claims (7)
1.一种用于运行电动车辆(10)的方法,其中所述电动车辆(10)具有电动机(11)和制动装置(14),以及其中所述电动机(11)和所述制动装置(14)能够由控制器(16)影响,其特征在于,在所述电动车辆(10)的停止状态中,当所述控制器(16)出现故障时对所述制动装置(14)进行操作,从而使所述电动车辆(10)不能运动或至少仅能在非常小的范围内运动。
2.根据前述权利要求所述的方法,其中通过如下方式测定所述控制器(16)的故障,即,尽管所述电动车辆(10)应该停留在停止状态中,但是所述电动车辆(10)仍进行运动。
3.根据前述权利要求中任一项所述的方法,其中通过如下方式测定所述控制器(16)的故障,即,尽管所述电动车辆(10)应该停留在停止状态中,但是所述电动机(11)仍输出转矩。
4.根据前述权利要求中任一项所述的方法,其中作为制动装置(14)使用盘式制动器或车轮制动器或传动机构锁止装置或类似物。
5.根据前述权利要求中任一项所述的方法,其中与所述控制器(16)无关地实施所述方法。
6.一种用于运行电动车辆(10)的计算机程序,其中所述计算机程序适于实施根据前述权利要求中任一项所述的方法。
7.一种用于运行电动车辆(10)的控制器(16),其中所述控制器(16)具有根据权利要求6所述的计算机程序。
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DE102009046832.3 | 2009-11-18 | ||
DE102009046832A DE102009046832A1 (de) | 2009-11-18 | 2009-11-18 | Verfahren zum Betreiben eines Elektrofahrzeugs |
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DE102013205698A1 (de) * | 2013-03-28 | 2014-10-02 | Siemens Aktiengesellschaft | Vorrichtung zur Steuerung einer Antriebseinrichtung bei einem Schienenfahrzeug |
DE102016218229A1 (de) * | 2016-09-22 | 2018-03-22 | Robert Bosch Gmbh | Bremssystem-Steuergerät für ein Fahrzeug |
DE102017201066A1 (de) * | 2017-01-24 | 2018-07-26 | Audi Ag | Verfahren zum Aktivieren einer Feststellbremse eines Kraftfahrzeugs sowie System zur Steuerung einer Feststellbremse eines Kraftfahrzeugs |
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US20020088653A1 (en) * | 1997-10-06 | 2002-07-11 | Hitachi Ltd. | Electric vehicle and method of keeping the electric vehicle at stopping position |
JPH11288316A (ja) * | 1998-04-01 | 1999-10-19 | Shinko Electric Co Ltd | 無人搬送車の停止装置 |
US20040124697A1 (en) * | 2000-12-04 | 2004-07-01 | Macgregor G. David | Vehicle brake safety system apparatus and methods |
CN1906061A (zh) * | 2004-01-19 | 2007-01-31 | 丰田自动车株式会社 | 车辆控制系统的故障检测装置 |
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US20080262687A1 (en) * | 2007-04-20 | 2008-10-23 | Toyota Jidosha Kabushiki Kaisha | Electric parking brake system and method for controlling the same |
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US20090250996A1 (en) * | 2008-02-28 | 2009-10-08 | Jungheinirch Aktiengesellschaft | Braking system for a floor conveyor |
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DE102009046832A1 (de) | 2011-05-19 |
CN102059951B (zh) | 2016-03-30 |
US20110172866A1 (en) | 2011-07-14 |
US8855841B2 (en) | 2014-10-07 |
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