CN103502069B - 用于具有电动的车辆驱动装置的车辆的防抱死系统 - Google Patents
用于具有电动的车辆驱动装置的车辆的防抱死系统 Download PDFInfo
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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
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- B60L2260/28—Four wheel or all wheel drive
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- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
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- B60T2270/602—ABS features related thereto
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
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- B60T2270/604—Merging friction therewith; Adjusting their repartition
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- Y10S903/00—Hybrid electric vehicles, HEVS
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Abstract
本发明涉及一种防抱死系统,用于具有电动的车辆驱动装置的车辆,所述电动的车辆驱动装置包括一个或多个驱动电机(M1至M4),其中,在制动过程期间这样限制作为发电机运行的驱动电机(M1至M4)的制动作用,使得至少一个驱动车轮(AR1至AR4)上的制动滑转率限制到预给定的阈值。每个驱动电机(M1至M4)的转速由对应配置给该驱动电机的可控制的转换器(U1至U4)调节,其中,ABS‑控制器(ABS)为了限制制动滑转率向每个转换器(U1至U4)持续地传送对应配置给该转换器的驱动电机(M1至M4)的不应被低于的最低制动转速(nmin)。
Description
技术领域
本发明涉及一种根据权利要求1前序部分的用于具有电动的车辆驱动装置的车辆的防抱死系统。
背景技术
作为驱动电机使用不仅可以以电机工况而且可以以发电机工况运行的电机的电动的车辆驱动装置具有通过洛伦兹力产生的转矩,所述转矩为了加速而取正值,为了制动而取负值。洛伦兹力与由定子中的电流和不仅穿过定子而且穿过转子的磁通量形成的叉乘积成比例。由此得出,电机中的转矩不仅可通过改变电流和磁通量来改变,而且可通过两个矢量参量彼此间所具有的角度来改变。因此,在调节电机时,电机的端子上的电压这样变化,使得由叉乘积得到的转矩取所要求的值。以何种方式来匹配或者说可匹配三个参量,与对应的电机类型紧密相关。在旋转场电机的情况下,为了产生转矩,电流矢量以与定子中的磁场(旋转场)相同的速度回转。在同步电机的情况下,转子场的方向通过其结构来固定地预给定。因此,为了产生恒定的力,转子必须以与定子中的电流回转相同的速度转动。如果电流在场之前,则得到正的转矩(加速),如果电流在场之后,则得到负的转矩(制动)。
对于机动车,多年以来已经公知了防抱死系统,简称为ABS,所述防抱死系统在期望的最大制动减速度的情况下防止被制动的车辆车轮抱死。由此,对于车辆获得高的制动作用和可由驾驶员控制的行驶稳定性。尤其是车辆即使在最大制动功率的情况下通过防抱死系统仍保持可转向。
在具有亦如在混合动力车辆中设置的电动的车辆驱动装置的车辆中,驱动电机在制动过程中作为发电机运行,其中,驱动电机的再生制动力矩作用在驱动车轮上。由DE102008017480A1公知了这种再生制动设备,在所述再生制动设备中,电机在制动过程期间作为发电机运行。为了避免在后桥上过度制动,在那里提出,这样限制再生力矩,使得在至少一个车辆车轮上滑转率不超过或仅不明显地超过预给定的滑转率阈值。
发明内容
本发明的目的在于,给出一种用于具有电动的车辆驱动装置的车辆的防抱死系统,通过所述防抱死系统在行驶稳定性尽可能最大的同时获得最佳制动减速度。
所述目的通过权利要求1中给出的特征来实现。本发明的优选扩展构型在从属权利要求中公开。
根据本发明,每个驱动电机由对应配置给该驱动电机的可控制的转换器馈电,所述转换器本身由简称为ABS-控制器的防抱死系统控制器持续地通知对应配置的驱动电机的不应被低于的最低制动转速,其中,这样确定所述最低制动转速,使得预给定的最大的制动滑转率不被超过。即对于转换器在制动过程期间允许全部大于最低制动转速的制动转速,因为由此保证车轮上的制动滑转率并非不允许地大。如果通过制动踏板由驾驶员要求最大制动功率,则转换器这样控制对应配置给该转换器的驱动电机,使得所述驱动电机获得最佳的最低制动转速。因为每个驱动电机都对应配置有转换器,所以对于驱动车轮任意之一都可确定最佳的制动功率。在此,同时保证驱动车轮任意之一在最大制动过程中都不低于预给定的制动滑转率极限,由此也在极端的制动状况中保证高的行驶稳定性和转向能力。
特别有利的是,对于每个驱动车轮根据当前的行驶速度以及可能的另外的行驶条件预给定单独的最低制动转速。在每个驱动车轮或者说每个驱动电机的最低制动转速的计算中不仅可考虑行驶速度,而且例如可考虑当前的车辆重量、环境温度、车辆的充电状态,可能也考虑车辆的分别选择的运行模式。在此,最低制动转速可持续地、即在正常行驶工况期间也传送给转换器,由此,所述转换器可在制动状况中通过转速极限值监控来进行最低制动转速的相应遵循。
在构造成异步电机的驱动电机中,转换器负责这样调节在对应配置给该转换器的驱动电机中产生的旋转场,使得预给定的最低制动转速在预给定的最大制动作用下也不被低于。如果驱动电机构造成同步电机,则由转换器产生的旋转场的转速在最大预给定的制动作用下调节到最低制动转速。在两种情况中,ABS-控制器主动地控制驱动车轮的滑转率,这就是说ABS-控制器向转换器给出属于最佳制动滑转率的最低制动转速。以此方式可以单独对于每个驱动车轮以简单方式实现滑转率调节。
为了获得高的减速度值以及即使在强制动的情况下仍可足够地保证车辆的行驶稳定性,每个驱动车轮的制动滑转率分别限制在车辆的当前行驶速度的10%至20%的范围内。在此,何值是精确符合目的的,可对于对应的车辆以及对于不同的行驶工况状态存储在控制器的值存储器中。但最大制动滑转率的当前分别有利的值也可借助于当前的车辆参数如车辆重量、行驶速度、环境温度来计算。在此也可通过车辆的液压摩擦制动器来支持再生制动力矩。例如可通过摩擦制动器提供基本制动功率,而此外所需的制动力矩通过驱动电机的转换器上的相应转速调节来提供。
源于摩擦制动器的制动作用以及驱动电机的再生制动作用的分配可在行驶动力学控制器或车辆的其它控制器中来进行。
附图说明
下面借助于根据图1的附图中所示的框图详细描述本发明。
具体实施方式
图1中所示的实施例示出了具有电动的车辆驱动装置的车辆的驱动和制动系统,其中,四个驱动车轮AR1至AR4任意之一分别由对应配置的驱动电机M1至M4驱动。驱动电机M1至M4在制动过程期间作为发电机运行并且由此在驱动车轮AR1至AR4上产生再生的制动力矩。
驱动电机M1至M4分别由对应配置的转换器U1至U4馈送三相交流电。在输入侧,转换器U1至U4连接在供给电压Uv上。在控制输入端S1至S4上,转换器U1至U4与ABS-控制器ABS和另外的控制器SG连接,所述另外的控制器在此是具有集成的行驶动力学控制器的电机控制器。此外,ABS-控制器ABS和控制器SG通过控制导线与传感器单元SE1至SE4连接,所述传感器单元将依驱动而定的信息传递给控制器ABS和SG。尤其是由传感器单元SE1至SE4检测驱动车轮AR1至AR4的车轮转速,通过所述车轮转速可在控制器ABS和/或SG中单独计算驱动车轮AR1至AR4的圆周速度。通过分别与车辆的当前行驶速度相比较可由驱动车轮AR1至AR4的圆周速度推断驱动车轮AR1至AR4任意之一的对应的滑转率。对于防抱死系统尤其是在制动过程期间求得对应的驱动车轮AR1至AR4的制动滑转率。
为了支持再生制动作用,每个驱动车轮AR1至AR4装配有摩擦制动器RB1至RB4,所述摩擦制动器由ABS-控制器ABS操作。ABS-控制器ABS可在制动过程中这样操作摩擦制动器RB1至RB4,使得由所述摩擦制动器将基本制动力矩传递给驱动车轮AR1至AR4。在所述基本制动力矩上现在可叠加源自驱动电机M1至M4的再生制动作用。为此目的,驱动电机M1至M4作为发电机运行并且在此监控:预给定的最低制动转速未被低于。对于每个驱动车轮AR1至AR4可单独预给定的所述最低制动转速相应于作为极限值不应被超过的预给定的制动滑转率。最低制动转速由此限制驱动车轮AR1至AR4上的制动滑转率。
如果例如由ABS-控制器ABS对于当前制动状况预给定最佳并且由此也最大的15%制动滑转率,则由此可如下求得对应的驱动车轮的最低制动转速nmin:nmin=vmin/2πr,其中,vmin是驱动车轮的以预给定的最大制动滑转率降低了的圆周速度,r是对应的驱动车轮的动态的轮胎直径的一半(轮胎半径)。
在当前行驶速度为25m/s时,对于最大允许的15%制动滑转率在当前例子中得到速度vmin=21.25m/s(米每秒)。最低制动转速nmin的以此方式求得的值借助于当前行驶状况对于驱动车轮AR1至AR4任意之一单独求得并且由ABS-控制器ABS分别传送给所属的转换器U1至U4。以此方式进行转换器U1至U4的直接控制以便以这样的方式控制驱动车轮AR1至AR4的车轮转速,使得预给定的最低制动转速nmin分别不被低于。在制动过程期间,所述最低制动转速由ABS-控制器持续更新并且通知给转换器U1至U4。
此外,所属的驱动车轮AR1至AR4的最低制动转速以及车轮转速的当前实际值可通过控制输入端S1至S4传送给转换器U1至U4,由此,为了调节目的,在转换器U1至U4中可执行持续的实际值-给定值比较。转换器U1至U4由此也可共同被称为电机控制装置。
Claims (8)
1.一种具有电动的车辆驱动装置的车辆,所述电动的车辆驱动装置包括一个或多个驱动电机(M1至M4),所述车辆包括ABS-控制器(ABS)以及另外的控制器(SG),所述另外的控制器(SG)使相应的驱动电机(M1至M4)在制动过程期间作为发电机运行,在防抱死系统中,在制动过程期间这样限制作为发电机运行的驱动电机(M1至M4)的制动作用,使得至少一个驱动车轮(AR1至AR4)上的制动滑转率限制到预给定的阈值,其特征在于:每个驱动电机(M1至M4)的转速由对应配置给该驱动电机的可控制的转换器(U1至U4)调节;ABS-控制器(ABS)为了限制制动滑转率以直接控制的方式向每个转换器(U1至U4)持续地传送对应配置给该转换器的驱动电机(M1至M4)的不应被低于的最低制动转速(nmin)。
2.根据权利要求1的车辆,其特征在于:对于最大制动作用求得每个驱动车轮(AR1至AR4)的与行驶工况相关的最佳制动滑转率并且由此预给定每个驱动车轮(AR1至AR4)的与当前行驶速度和/或另外的车辆参数相关的最低制动转速(nmin)。
3.根据权利要求2的车辆,其特征在于:这样调节由所述转换器(U1至U4)在对应配置给所述转换器的驱动电机(M1至M4)中产生的旋转场的转速,使得所述预给定的最低制动转速(nmin)不被低于。
4.根据权利要求1-3中任一项的车辆,其特征在于:在使用同步电机作为驱动电机(M1至M4)时由所述转换器(U1至U4)产生的旋转场的转速不低于所属的驱动车轮(AR1至AR4)的最低制动转速(nmin)。
5.根据权利要求1-3中任一项的车辆,其特征在于:对于最大制动作用,每个驱动车轮的最大制动滑转率被限制到车辆的行驶速度的10%至20%之间的值。
6.根据权利要求1-3中任一项的车辆,其特征在于:在制动过程中,源自以发电机工况运行的驱动电机(M1至M4)的制动作用通过摩擦制动器(RB1至RB4)支持。
7.根据权利要求6的车辆,其特征在于:行驶动力学控制器将待由摩擦制动器(RB1至RB4)产生的基本制动力矩传送给所述ABS-控制器(ABS);所述ABS-控制器(ABS)相应操作所述摩擦制动器(RB1至RB4)并且通过以发电机工况工作的驱动电机(M1至M4)的转速调节来设定出最佳制动作用所需的剩余制动力矩。
8.根据权利要求6的车辆,其特征在于:所述另外的控制器(SG)将待由摩擦制动器(RB1至RB4)产生的基本制动力矩传送给所述ABS-控制器(ABS);所述ABS-控制器(ABS)相应操作所述摩擦制动器(RB1至RB4)并且通过以发电机工况工作的驱动电机(M1至M4)的转速调节来设定出最佳制动作用所需的剩余制动力矩。
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PCT/EP2012/000853 WO2012152348A1 (de) | 2011-05-06 | 2012-02-28 | Antiblockiersystem für ein fahrzeug mit elektromotorischem fahrzeugantrieb |
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DE102013204191A1 (de) * | 2013-03-12 | 2014-09-18 | Robert Bosch Gmbh | Vorrichtung und Verfahren zum Betreiben eines Kraftfahrzeugs |
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DE102013207389A1 (de) | 2013-04-24 | 2014-10-30 | Robert Bosch Gmbh | Lasermodul und Verfahren zur Herstellung eines Lasermoduls |
CN108263204B (zh) * | 2016-12-30 | 2020-08-25 | 比亚迪股份有限公司 | 动力传动系统及具有其的车辆 |
DE102017204000A1 (de) | 2017-03-10 | 2018-09-13 | Zf Friedrichshafen Ag | Verfahren zur Antiblockierregelung eines Fahrzeugs und Fahrzeug |
JP6546967B2 (ja) * | 2017-07-10 | 2019-07-17 | 本田技研工業株式会社 | 動力装置 |
DE102017216020A1 (de) | 2017-09-12 | 2019-03-14 | Audi Ag | Verfahren und Vorrichtung zur Bestimmung einer Radschlupfinformation eines elektrisch angetriebenen Rades eines Kraftfahrzeugs |
CN109747435A (zh) * | 2019-02-25 | 2019-05-14 | 吉利汽车研究院(宁波)有限公司 | 车辆稳定控制系统、方法及电动汽车 |
CN111301384B (zh) * | 2020-02-19 | 2021-07-20 | 江苏大学 | 一种电液复合制动防抱死系统及其控制方法 |
DE102020110741A1 (de) | 2020-04-21 | 2021-10-21 | Bayerische Motoren Werke Aktiengesellschaft | Vorrichtung und Verfahren zum Bewirken einer Verzögerung eines Fahrzeugs |
WO2021260633A1 (en) * | 2020-06-24 | 2021-12-30 | Ree Automotive Ltd. | Brake systems integrated into vehicle corner modules, and methods of use thereof |
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EP2704932B1 (de) | 2019-04-10 |
CN103502069A (zh) | 2014-01-08 |
WO2012152348A1 (de) | 2012-11-15 |
DE102011100811A1 (de) | 2012-11-08 |
DE102011100811B4 (de) | 2021-09-16 |
US9352732B2 (en) | 2016-05-31 |
EP2704932A1 (de) | 2014-03-12 |
US20140343772A1 (en) | 2014-11-20 |
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