CN103003111A - 用于在具有多个马达的车辆中减小驱动滑动的方法 - Google Patents

用于在具有多个马达的车辆中减小驱动滑动的方法 Download PDF

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CN103003111A
CN103003111A CN2011800365433A CN201180036543A CN103003111A CN 103003111 A CN103003111 A CN 103003111A CN 2011800365433 A CN2011800365433 A CN 2011800365433A CN 201180036543 A CN201180036543 A CN 201180036543A CN 103003111 A CN103003111 A CN 103003111A
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motor
wheel
driven
vehicle
drive torque
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J.伦茨
H.巴特尔斯
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to, or preventing, skidding of wheels
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/26—Wheel slip
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • 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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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

本发明涉及一种用于减小车辆车轮的驱动滑动的方法，该车辆车轮由不同的马达（3、4）来驱动。驱动滑动可以在下述情况下特别简单且成本经济地来调整：在由第一马达（3）驱动的第一组车轮（2a、2b）处实施滑动调节，并且在由第二马达（4）驱动的第二组车轮（2c、2d）处实施驱动力矩控制。

Description

用于在具有多个马达的车辆中减小驱动滑动的方法
技术领域
本发明涉及一种用于减小车辆车轮的驱动滑动的方法，该车辆车轮由不同的马达来驱动。
背景技术
在车辆加速时会出现下述情况：如果驱动力矩与摩擦系数相比过高，则各个车轮会处于驱动滑动中。从现有技术已知不同的滑动调节器（ASR驱动防滑系统），借助该滑动调节器将滑动的车轮的车轮速度调节到参考速度。该参考速度在此通常指车辆速度或空转车轮的速度。在具有内燃机的车辆中，ASR-调节相对而言不成问题。相反在具有一个或多个电动机的车辆中，ASR-调节是相对缓慢的，因为信号传输和信号处理是耗费的。因此会出现延时或者说静止时间（Totzeit），此时不能提供实时信号值并且其会损害该ASR-调节。因此，在具有电动机（EN）的车辆中ASR-调节不是最佳的。
发明内容
因此，本发明的目的是，在具有至少一个电动机的车辆中改进ASR-调节。
所述目的按本发明通过权利要求1和权利要求6中给出的特征来实现。本发明的其它设计方案是从属权利要求的主题。
按本发明提出，在由第一马达驱动的第一组车轮处实施滑动调节，在由第二马达驱动的第二组车轮处实施驱动力矩控制。该第一马达例如可以是内燃机，并且第二马达是电动机。在这种情况下，在内燃机上实施传统的滑动调节，而对电动机的驱动力矩进行控制。其主要优点在于，可避免在调节电动机时的每个调节问题，并且总地改进该滑动调节。
按本发明，一组车轮可包含一个车轮或多个车轮。本发明还可用于具有多个电动机的车辆，例如具有轮边电动机的车辆。
如果在第一车轮组上实施滑动调节，则优选估算路面-摩擦系数。从中可计算出用于第二马达（例如电动机）的驱动力矩，其能最大地形成或者说构建（absetzen）到路面或者说车道（Fahrbahn）上。该电动机优选被如此控制，使得该电动机仅产生最大可形成的驱动力矩的一部分。由此，可避免或至少减小在电动机驱动的车轮处驱动滑动的出现。
开头提到的参考速度优选从下述车轮的车轮转速中获取，该车轮的驱动力矩受控制。
本发明能应用在所有具有多个驱动马达的车辆中。如果所述驱动装置之一是电驱动装置，则优选在电驱动装置处实施滑动控制。
按本发明设置有控制设备，该控制设备实施驱动力矩控制。该ASR-调节和驱动力矩控制可由唯一一个控制设备或由不同的控制设备来实施。
附图说明
下面借助附图示例性地详细地阐述了本发明。其中示出了：
图1以示意性的框图示出了具有两个驱动装置的车辆。
具体实施方式
图1以示意性的框图示出了车辆1，其具有用于驱动前轴的内燃机3和用于驱动后轴的电动机4。前轴的车轮用2a、2b来标注，后轴的车轮用2c、2d来标注。
为了减小车轮2a-2d在加速时出现的驱动滑动，而规定了，在前轮2a、2b处实施滑动调节，并在后轮处实施滑动控制。
在前轮2a、2b处实施滑动调节时，以传统的方式估算摩擦系数μ。从中可以计算出用于电动机4的驱动力矩，该驱动力矩可最大地形成到路面上。该电动机4现在如此控制，使得电动机产生最大可形成的驱动力矩的一部分。该可形成的驱动力矩的份额例如可在80%和90%之间，或者更少。由此，可防止或减小驱动滑动的出现。电动机4控制的优点是，能够避免调节以及与之相关的问题。
如果后轮2c、2d不再滑动，则可从所述车轮的转速中获取车辆-参考速度，其需要用于前轮2a、2b处的滑动调节。
在前轮处的滑动调节和在后轮处的驱动力矩控制由一个或多个控制设备来控制，所述控制设备配备了相应的软件。

Claims (6)

1. 一种用于减小车辆车轮（2a-2d）的驱动滑动的方法，所述车辆车轮由不同的马达（3、4）来驱动，其特征在于，在由第一马达（3）驱动的第一组车轮（2a、2b）处实施滑动调节，在由第二马达（4）驱动的第二组车轮（2c、2d）处控制所述第二马达（4）的驱动力矩。
2. 按权利要求1所述的方法，其特征在于，估算路面的摩擦系数，并且根据估算的摩擦系数来调节所述第二马达（4）的驱动力矩。
3. 按权利要求1或2所述的方法，其特征在于，在所述第二马达（4）处调节最大可形成的驱动力矩的一部分。
4. 按上述权利要求中任一项所述的方法，其特征在于，所述第一马达（3）是内燃机，且所述第二马达（4）是电动机。
5. 按上述权利要求中任一项所述的方法，其特征在于，从由所述第二马达（4）驱动的车轮（2c、2d）的转速中获取车辆-参考速度。
6. 一种控制设备，其包括用于实施上述要求的方法的器件。
CN2011800365433A 2010-07-28 2011-05-31 用于在具有多个马达的车辆中减小驱动滑动的方法 Pending CN103003111A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102010038563A DE102010038563A1 (de) 2010-07-28 2010-07-28 Verfahren zum Reduzieren des Antriebsschlupfes bei Fahrzeugen mit mehreren Motoren
DE102010038563.8 2010-07-28
PCT/EP2011/058896 WO2012013396A1 (de) 2010-07-28 2011-05-31 Verfahren zum reduzieren des antriebsschlupfes bei fahrzeugen mit mehreren motoren

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EP (1) EP2598386A1 (zh)
CN (1) CN103003111A (zh)
BR (1) BR112013001840A2 (zh)
DE (1) DE102010038563A1 (zh)
WO (1) WO2012013396A1 (zh)

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* Cited by examiner, † Cited by third party
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DE102022211896A1 (de) 2022-11-10 2024-05-16 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zur Unterstützung eines Antiblockiersystems

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4430108A1 (de) * 1994-08-25 1996-02-29 Bosch Gmbh Robert Antriebsschlupfregelsystem
US20020032512A1 (en) * 2000-08-30 2002-03-14 Toyota Jidosha Kabushiki Kaisha Vehicle drive force control system and method
EP1535786A1 (en) * 2003-11-18 2005-06-01 Nissan Motor Co., Ltd. Acceleration slip control in four-wheel drive hybrid vehicle
EP1580058A2 (en) * 2004-03-24 2005-09-28 Hitachi, Ltd. Control device for hybrid four-wheel-drive vehicle and hybrid four-wheel-drive vehicle
CN101088819A (zh) * 2006-06-14 2007-12-19 比亚迪股份有限公司 混合动力汽车防滑控制系统及方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4430108A1 (de) * 1994-08-25 1996-02-29 Bosch Gmbh Robert Antriebsschlupfregelsystem
US20020032512A1 (en) * 2000-08-30 2002-03-14 Toyota Jidosha Kabushiki Kaisha Vehicle drive force control system and method
EP1535786A1 (en) * 2003-11-18 2005-06-01 Nissan Motor Co., Ltd. Acceleration slip control in four-wheel drive hybrid vehicle
EP1580058A2 (en) * 2004-03-24 2005-09-28 Hitachi, Ltd. Control device for hybrid four-wheel-drive vehicle and hybrid four-wheel-drive vehicle
CN101088819A (zh) * 2006-06-14 2007-12-19 比亚迪股份有限公司 混合动力汽车防滑控制系统及方法

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EP2598386A1 (de) 2013-06-05
WO2012013396A1 (de) 2012-02-02
BR112013001840A2 (pt) 2016-05-31

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Application publication date: 20130327