CN104114431A - 用于驱动马达的转速调节的调节系统 - Google Patents

用于驱动马达的转速调节的调节系统 Download PDF

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CN104114431A
CN104114431A CN201280069861.4A CN201280069861A CN104114431A CN 104114431 A CN104114431 A CN 104114431A CN 201280069861 A CN201280069861 A CN 201280069861A CN 104114431 A CN104114431 A CN 104114431A
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speed
drive motor
motor
adjusting parameter
control system
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CN104114431B (zh
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H·布伦纳
A·戈贝尔
J·基尔斯坦
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Audi AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P23/0027—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
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Abstract

本发明涉及一种用于机动车的至少一个驱动马达(M)的转速调节的电子调节系统，其中，驱动马达(M)的、预先设定的额定转速(nsoll)和实际转速(nist)之间的转速差(ndiff)作为用于确定影响转速调节的调节参数的系统值被考虑。为了确定调节参数，在数值和方向方面考虑转速差梯度(gradndiff)作为附加的系统值。

Description

用于驱动马达的转速调节的调节系统
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、用于机动车的至少一个驱动马达的转速调节的电子调节系统。
背景技术
根据现有技术，在考虑所期望的额定转速和测得的实际转速之间转速差的情况下在机动车中对马达转速进行调节。转速调节功能通常集成在马达控制装置中，其中，为了确定调节参数，评估转速差以及实际转速的梯度。通过梯度评估可以比在纯转速差评估时更快地对漂移的实际转速作出反应，因为调节可以考虑实际转速值的变化速度。但是，这种调节系统的前提是:额定转速至少保持几乎恒定并且至少没有转速跳跃。
在带有作为驱动马达的内燃机和电机的电动车辆和混合动力车辆中，额定转速在许多数情况下不再是几乎恒定的，而是可以根据机动车的运行模式具有大的转速跳跃。在不同的运行状态下，例如在混合动力行驶、混合动力静止、电动行驶、电动静止、额外启动第二驱动马达的情况下，获得了分别不同的并且动态的额定转速，其在短时间内可被改变。额定的转速也可能从恒定的实际转速偏离，这在纯粹考虑实际转速的转速梯度时不会获得相比纯转速差评估更快的反应可能性。在这种传统的调节系统中，以梯度评估为基础，在特殊的情况下甚至可能出现对转速调节的错误影响。
由DE10 2006 005 468A1公开了一种用于运行机动车的并行-混合驱动系的运行方法，在该方法中为了变速器控制而执行对内燃机和电机的转速监控。然而，这种已知的方法没有涉及在考虑本身强烈变化或者跳跃式变化的额定转速的情况下对机动车驱动马达进行转速调节。
发明内容
本发明的目的是提供一种用于机动车的至少一个驱动马达的转速调节的电子调节系统，其中，即便在额定转速变化时也能实现快速且可靠的转速调节。
该目的通过权利要求1所述的特征得以实现。在从属权利要求中公开了本发明优选的改进方案。
根据权利要求1设计一种电子调节系统，在该调节系统中，为了确定调节参数考虑预先规定的额定转速和实际转速之间的转速差以及附加地在数值和方向方面考虑转速差梯度。转速差和转速差梯度可以被称作系统值，电子调节系统为了执行转速调节持续地监测这些系统值。通过考虑转速差梯度可以例如由处理器获悉转速差的变化速度，该处理器然后可以结合相应的转速差迅速并且针对性地调节或设定调节扭矩，该扭矩作用于转速调节。
也存在该种可能性，即，为了确定调节参数，作为另外的系统值，由调节系统考虑额定转速和/或实际转速的变化速度，因此，在额外考虑额定转速和/或实际转速时，也可以得出这两个系统值的相对的变化速度。通过考虑附加的系统值可以实现调节特性的进一步的精细化。
一种尤其有利的改进方案规定，用于调节系统的、对应于可能的系统值的调节参数被存储在存储器中，使得调节系统可以直接访问这些数值。尽管调节参数原则上也可以通过合适的数值方法确定，然而可以借助存储于参数-特性曲线存储器中的参数实现高的调节速度以及与不同的驱动系统的简单适配/匹配。
在参数-特性曲线存储器中存储的参数可以与系统值和系统值对或者多个系统值的结合相对应地存储在相应的特性曲线中。在此，特性曲线也可以是多维的特性曲线，因此可以存储对应于多个系统值结合的参数。
通过按本发明的调节系统，例如也可以如其在混合动力车辆中所设计的那样控制例如两个驱动马达的转速。在此，可以为单独或者公共使用的驱动马达中的每个，根据转速差和转速差梯度以及必要时也根据其它系统值迅速并且以正确的方式影响所需要的调节扭矩。通过考虑转速差梯度在任何情况下都可以立即确定，被监测的转速是彼此相向地运动还是相互远离。
即便在非电气化的驱动系统中，调节系统也提供调节参数的简单应用，因为所述调节参数可以作为特定于马达的/与马达相对应的调节参数存储在相应的特性曲线中。
附图说明
下面将根据在唯一的图1中所示的实施例对本发明进行详细阐述。
具体实施方式
图1示出了按本发明的电子调节系统的框图，该调节系统包括控制驱动马达M的马达控制装置CPU。马达控制装置CPU将驱动马达M的实际转速nist和额定转速nsoll提供给减法器1和装置2，所述装置由额定转速nsoll和实际转速nist之间的差值构成转速差梯度gradndiff，然后将该转速差梯度传输给处理器P。减法器1将转速差ndiff传输给处理器P。
被输送给处理器P的转速差ndiff和被输送给处理器的转速差梯度gradndiff可以被统称为系统值，处理器P采用所述系统值来确定调节参数。在所示的实施例中，处理器P与参数-特性曲线存储器PKF连接，在该参数-特性曲线存储器中以一个或多个特性曲线的形式存储有与所有可能的系统值组合相对应的调节参数。
在所示的实施例中，额定转速nsoll和实际转速nist作为另外的系统值被传输给处理器P，使得也可以在考虑这些附加的系统值的情况下进行参数映射。在此，原则上也存在这样的可能性，即考虑其它的系统值来确定调节参数。
由处理器P确定的调节参数被传输给马达控制装置CPU，使得所述马达控制装置可以借助控制程序在考虑该参数的情况下实施对马达M的转速控制。
在图1中所示的实施例仅仅是一种可能的实施变型。用于调节转速的调节参数也可以部分地或者全部地通过数学计算方法确定，然而这需要高的计算能力。此外，必须针对每个马达型号进行数学方法的适配，这是较为耗费的。为了能够以尽可能简单的方式与不同的马达型号和不同的应用领域进行适配，优选将特定于系统的调节参数存储在特性曲线存储器PKF中。与不同马达型号或者应用领域的适配可以通过简单地更换特性曲线存储器中的调节参数来实现。

Claims (5)

1.一种用于机动车的至少一个驱动马达(M)的转速调节的电子调节系统，其中，考虑所述驱动马达(M)的在预先设定的额定转速(nsoll)和实际转速(nist)之间的转速差(ndiff)作为系统值，用于确定影响转速调节的调节参数，
其特征在于，在数值和方向方面考虑转速差梯度(gradndiff)作为附加的系统值，用于确定所述调节参数。
2.根据权利要求1所述的调节系统，其特征在于，为了确定所述调节参数，额外考虑所述额定转速(nsoll)的变化速度和/或实际转速(nist)的变化速度作为另外的系统值。
3.根据权利要求1或2所述的调节系统，其特征在于，对应于可能的系统值和/或系统值组合的调节参数被存储在存储器中。
4.根据前述权利要求中任一项所述的调节系统，其特征在于，所述系统值被传输给处理器(P)，该处理器从参数-特性曲线存储器(PKF)中读取与系统值和/或系统值组合对应的调节参数以及将所述调节参数传输至驱动马达(M)的马达控制装置(CPU)。
5.根据前述权利要求中任一项所述的调节系统，其特征在于，为了调节作为驱动马达(M)设置在混合动力机动车中的内燃机和电机的转速，为两个驱动马达(M)中的每一个分别使用所属的特定于马达的调节参数。
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