CN106911269B - 电动机的控制 - Google Patents

电动机的控制 Download PDF

Info

Publication number
CN106911269B
CN106911269B CN201611035878.4A CN201611035878A CN106911269B CN 106911269 B CN106911269 B CN 106911269B CN 201611035878 A CN201611035878 A CN 201611035878A CN 106911269 B CN106911269 B CN 106911269B
Authority
CN
China
Prior art keywords
shaft
electric machine
speed
controlling
torque
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201611035878.4A
Other languages
English (en)
Other versions
CN106911269A (zh
Inventor
R·阿维德松
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volvo Car Corp
Original Assignee
Volvo Car Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=55022376&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=CN106911269(B) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Volvo Car Corp filed Critical Volvo Car Corp
Publication of CN106911269A publication Critical patent/CN106911269A/zh
Application granted granted Critical
Publication of CN106911269B publication Critical patent/CN106911269B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
    • 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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
    • H02P5/69—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors mechanically coupled by gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04—Smoothing ratio shift
    • F16H61/0403—Synchronisation before shifting
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • B60W10/113—Stepped gearings with two input flow paths, e.g. double clutch transmission selection of one of the torque flow paths by the corresponding input clutch
    • 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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • 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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
    • H02P5/747—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors mechanically coupled by gearing
    • 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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • B60K2006/4825—Electric machine connected or connectable to gearbox input shaft
    • 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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • 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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • 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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/54—Transmission for changing ratio
    • B60K6/547—Transmission for changing ratio the transmission being a stepped gearing
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/081—Speed
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1015—Input shaft speed, e.g. turbine speed
    • 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
    • B60W2710/081—Speed
    • 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
    • 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
    • B60W2710/10—Change speed gearings
    • B60W2710/1005—Transmission ratio engaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/92—Hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/19—Improvement of gear change, e.g. synchronisation or smoothing gear shift
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04—Smoothing ratio shift
    • F16H61/0403—Synchronisation before shifting
    • F16H2061/0422—Synchronisation before shifting by an electric machine, e.g. by accelerating or braking the input shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/006—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion power being selectively transmitted by either one of the parallel flow paths
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/02—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion
    • F16H3/08—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts
    • F16H3/087—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts characterised by the disposition of the gears
    • F16H3/091—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts characterised by the disposition of the gears including a single countershaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/68—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings
    • F16H61/684—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings without interruption of drive
    • F16H61/688—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings without interruption of drive with two inputs, e.g. selection of one of two torque-flow paths by clutches
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/93—Conjoint control of different elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Control Of Transmission Device (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

用于在第一和第二轴的同步过程期间控制电机(EM)的方法，藉此所述第一轴与所述电机(EM)的输出轴传动连接并且所述第一和第二轴能连接于同步机构上，所述方法包括如下步骤：‑通过连续地使用速度控制将输出轴的速度(na)控制为接近所述第二轴的目标速度(nt)，‑控制所述电机(EM)的电转矩以使所述电机(EM)的输出转矩(Tout)基本上变得等于零，控制所述同步机构从而令第一和第二轴的所述速度同步。

Description

电动机的控制
技术领域
本发明涉及在第一轴和第二轴的同步过程期间控制电机的方法，藉此电机连接于第一轴。
背景技术
当将第一轴同步地连接于具有第二轴的电机时，由于电动机(electric motor)的惯性，在同步机构上具有极高的负载。当在换挡步骤期间电机连接于第一轴时，这尤其是个问题，其增加了从电机至第一轴的转矩，即也增加了惯性对第一轴的影响。
发明内容
本发明的目的是针对如何实现第一轴与第二轴的同步提出解决方案，其中第一轴连接于电机而无同步机构上任何损坏的风险。
通过本发明的方法在第一轴和第二轴的同步过程期间控制电机来实现该目的。第一轴与电机的输出轴传动连接并且第一和第二轴能连接于同步机构上。为了控制电机，执行以下步骤：
通过使用速度控制并连续地将电机的输出轴控制为基本对应于第二轴目标速度的速度；
-控制电机的电转矩(electrical torque)，使得来自电机的输出转矩变得基本上等于零；
-控制同步机构以使第一和第二轴的速度同步。
使用电机的速度控制通过首先将电机的输出轴速度控制为基本上对应于第二轴的目标速度，从而获得第一轴的接近第二轴的同步速度的速度。因为速度控制基于调整误差，因此由于使用速度控制，因此不能获得第一轴与第二轴之间完全同步的速度。
然而，速度控制紧跟着是电机的转矩控制。通过在同步机构的同步过程期间将电机的输出转矩连续地控制为零，在第一轴和第二轴的同步期间将基本上没有来自电机的惯性的转矩负载。无关地，如果电机的输出轴上具有负或正转矩，则控制机构将控制电机以使来自电机的转矩贡献为零。
平衡转矩能被描述为T＝I*w_dot*Rt^2，其中T是平衡转矩，I是电机的惯性，w_dot是在与第二轴的同步期间由同步机构导致的第一轴的速度变化，并且Rt^2是电机与第一输入轴之间的传动比。
通过应用上述方法，在同步机构上来自电机的负载贡献可被减少为基本上为零，藉此将减少同步机构的磨损从而增加其使用寿命。
在所述方法的一个方面中，其进一步包括：
-连续地测量第一轴的实际速度，藉此根据所述第一轴的所述实际速度的任何变化执行对所述电机的输出转矩的控制。
通过连续地测量第一轴的实际速度，第一轴的任何速度变化的信号能被送至电机控制器，藉此能利用第一轴的实际速度变化的反馈控制来控制电机的电转矩，从而由于速度变化导致的电机转子的惯性被抵消，因此实现了电机的输出转矩变得基本为零。
在所述方法的另一方面中，其进一步包括：
-连续地测量所述同步机构的位置、第一轴的实际速度和第二轴的实际速度，以及
当同步机构到达预定位置时首先执行对电机输出转矩的控制，藉此电机的输出转矩取决于第一轴实际速度与第二轴实际速度之间的差异。
在所述方法的该方面，转矩控制能被无任何延迟地执行。连续地测量同步机构位置确保了与第一轴和第二轴开始同步同时地开始转矩控制。预定位置优选是其中第一转矩能在第一轴与第二轴之间传递的同步机构位置。能根据同步机构的任何移动部件测量位置，并且优选根据控制叉测量。
通过第一轴与第二轴之间的速度差能确定电机惯性产生的转矩。平衡转矩(counteracting torque)能被描述为T(w)＝I_EM*(w1-w2)/dt*Rt^2，其中T(n)是平衡转矩，I_EM是电机转子的惯性，w1是在同步之前第一轴的角速度并且w2是在同步之后第一轴的目标角速度，dt是同步时间并且Rt^2是电机与第一输入轴之间的传动比。
如果第一轴与电动机之间具有任何传动比，或者电动机直接作用在第一轴上或以1：1的传动比作用在第一轴上，则所述方法和上述算法能被独立地使用，仅仅将转矩乘以传动比即可。
通过对第一轴和第二轴的实际速度以及同步器的位置施加连续的测量，能够以前馈控制来控制电机，藉此能无任何延迟地获得来自电机的真零点转矩贡献。
所述方法能应用于连接于将与第二轴同步的第一轴的任何电机。有利地，该方法被应用在设置有电机的变速装置中，所述电机的输出轴连接于变速装置的输入轴。至少一个齿轮分配给所述输入轴并且该齿轮能与同步机构同步。
特别有利地是当所述方法应用于一种双离合多速变速装置时，该双离合多速变速装置设置有连接于其输入轴之一的电机。
本发明还涉及一种载有计算机程序的计算机可读介质，其包括当在计算机上运行所述程序产品时执行所述方法的一个或所有方面的程序代码工具。
此外，用于控制设置有变速装置和如上所述电机的混合动力车辆的电机的控制单元优选被构造为执行所述方法的所述方面。
附图说明
附图中的所有绘图是示意性的。
图1公开了一种车辆。
图2公开了设置有电机的双离合变速装置。
图3a和3b公开了本发明的两个实施例。
图4a-b公开了示出换挡过程(shifting procedure)中分叉位置、电机速度和轴转矩的示图。
图4c公开了电机的输出轴上的转矩。
图5公开了本发明方法的流程图。
具体实施方式
图1公开了车辆V，其中可设有图2公开的变速装置100并且变速装置100可受益于用于控制电机EM的所述方法。
现在图3a公开了具有连接于第一轴11的输出轴10的电机EM。第一轴能经由同步机构13连接于第二轴12。第一速度传感器14连续地测量第一轴11的速度。第二速度传感器16连续地测量第二轴12的速度。位置传感器15测量同步机构13的位置。同步机构13的位置优选作为控制叉(control fork)的位置(未公开)被测量，但是，指示同步机构13接合状态的可移动部件的任何位置能够被测量。
来自传感器14、15、16的信号被发送至电子控制单元(electronic control unit，简称ECU)ECU，其能基于来自传感器14、15、16的输入控制电机EM。在所述方法的一个实施例中，仅使用来自第一速度传感器14的信号，藉此ECU以反馈控制控制电机，使得第一轴11的速度的变化(以及由此电机的输出轴10的速度的变化)符合电机EM的转矩控制从而平衡来自速度变化导致的电机EM的转子的惯性的转矩。
在所述方法的另一实施例中，ECU使用来自所有三个传感器14、15、16的信号控制电机EM。当使用来自所有三个传感器14、15、16的信号时，可实现电机EM的输出转矩的前馈控制。通过ECU能计算第一轴11的速度与第二轴12的速度之间的差异。此外，由于速度差连同同步机构13位置的连续监控，当第一轴与第二轴12的速度同步时ECU能预测第一轴11的速度变化，藉此电机EM的输出转矩能被基本无延迟地控制为0。当同步机构13经过预定位置(例如同步机构13开始传递转矩的位置)时，ECU能开始控制电机，使得能平衡在输出轴10速度变化时转子惯性导致的转矩。来自电机EM的输出转矩因此能在整个同步过程期间继续为0。
在图3b中，公开了电机EM如何连接于第一轴11的可选设计。输出轴10在换挡步骤(gear step)17、18期间连接于第一轴11，藉此能获得不同于1:1的传动比。当传动比使得电机EM的输出转矩在换挡步骤期间增加时，所述方法的好处甚至更大，因为同步机构13上转矩负载减少的更多。但是所述方法被相应地应用，变化仅是考虑换挡步骤17、18期间输出轴10与第一轴11之间的传动比，输出轴10的速度必须由第一轴11的速度导出。在电动机与同步机构13之间可设置进一步的换挡步骤或其它传动比变换装置(例如链条，CVT) 而不影响本发明的范围。
在图2中公开的双离合变速装置100中，电机EM的输出轴110连接于双离合变速装置100的第一输入轴111。变速装置100进一步设置有第二输入轴150并且第一和第二输入离合器C1、C2分别分配给第一和第二输入轴111、150。输入离合器C1、C2将变速装置100连接于内燃发动机CE。变速装置100具备连接于差速器153的两个输出轴151、152，其将转矩分配给车辆V的驱动轮154、155。图2中示意性公开的双离合变速装置100具备附图中用罗马字母标记的7个前进速度和1个向后速度I、II、III、IV、V、VI、VII、R。双离合变速装置100的常规功能是已知的并且不再赘述。
电机EM的输出轴110在传递传动(例如图3b公开的换挡步骤17、18)期间连接于第一输入轴111。当第二、第四、第六或反向齿轮II、IV、VI、R中任意一个同步时，电机EM的转子也同步。公开的方法用于在第二、第四、第六或反向齿轮II、IV、VI、R中任意一个的同步过程期间使来自电机EM转子的惯性在同步机构113a、113b上贡献的负载最小化。要理解，电机EM可被设置在双离合变速装置100内的其它地方而不脱离本发明的范围，正如所述方法能被用于其它类型的变速装置或用于同步其它齿轮一样。
现在将结合图4a-c和5描述所述方法。在图4a中，公开了一种披露分叉位置FP(图4a)、电机EM输出轴110的速度n110(图4b)和电机EM输出轴110上的转矩T(图4c)的视图。在图5中公开了所述方法的方法步骤。所述方法例如可应用于图2中公开的变速装置100中，藉此可参照图2中的变速装置100。但是，用于图3a和3b中公开实施例的相应数值的图表可具有相应的数值。
在图4a中，公开了在从二档齿轮II经由中间位置N变换为四档齿轮IV期间的分叉位置(fork position)FP。同步机构113b与二档齿轮II接合直到时间t1，在该点处它脱离。由图4c中的图表可看出，电机EM已在时间t1之前将转矩输送至传动系统。在t1时，输出转矩T110已经降低至0。
现在，变速装置100将接合四档齿轮IV，藉此所述方法从t2开始。电机EM的输出轴110的速度从而降低至速度na，接近目标速度nt，n110→nt。不可能利用电动机EM的速度控制获得更精确的速度。输出轴110的目标速度nt是等于将要触发的齿轮的同步速度的速度。在时间t2-t3期间执行速度控制，藉此电机EM的输出轴110承受由电动机EM引起的负转矩T110以便减速。目标速度nt与实际速度na之间具有速度差nd。该速度差在齿轮的同步化期间在同步机构113a、113b上导致惯性转矩负载。速度差nd仅示意性地公开并且随着时间变化并且也可能低于目标速度。
从示出分叉位置的图4a可看出，在t3时，同步机构113a开始移动以与四档齿轮IV同步。藉此，在t3与t4之间一半时间处，同步机构113a开始传递转矩，藉此电动机EM的输出转矩T110被控制为零，即被控制以平衡输出轴110上的惯性转矩，T110＝0。使用任何所公开的实施例控制电动机EM以获得转矩控制T110＝0，只要执行四档齿轮IV的同步即可。当获得同步速度从而接合或能接合四档齿轮并且输出轴110的速度达到目标速度nt时，所述方法在时间t4处终止并且电动机EM能开始再次将转矩传送至传动系统。
在公开了输出轴110的转矩的图4c中，转矩T被公开为刚好在时间t4之前的时段上既为正也为负。这就同步了通过齿轮同步导致的速度变化所致的转矩和电动机控制导致的抵消转矩，这两个方向相反的转矩彼此抵消，使得输出轴110上得到的转矩是零。

Claims (9)

1.一种用于在第一和第二轴的同步过程期间控制电机(EM)的方法，藉此所述第一轴与所述电机(EM)的输出轴传动连接并且所述第一和第二轴能连接于同步机构上，其特征在于，所述方法包括如下步骤：
-通过连续地使用速度控制将输出轴的速度(na)控制为接近所述第二轴的目标速度(nt)，
-控制所述电机(EM)的电转矩以使所述电机(EM)的输出转矩(Tout)变得基本上等于零，
控制所述同步机构以令第一和第二轴的速度同步。
2.根据权利要求1所述的方法，其中，所述方法进一步包括如下步骤：
-连续地测量第一轴的实际速度(na)，藉此根据所述第一轴的所述实际速度(na)的任何变化执行控制所述电机(EM)的输出转矩(Tout)的方法步骤。
3.根据权利要求1所述的方法，其中，所述方法进一步包括如下步骤：
-连续地测量所述同步机构的位置、所述第一轴的实际速度(na)和所述第二轴的实际速度，以及
当所述同步机构到达预定位置时首先执行控制所述电机(EM)的输出转矩(Tout)的所述步骤，藉此所述电机(EM)的所述输出转矩(Tout)取决于所述第一轴的所述实际速度(na)与所述第二轴的实际速度之间的差异。
4.根据权利要求3所述的方法，其中，所述输出转矩(Tout)是取决于所述第一和第二轴之间实际速度的所述差异的导数。
5.一种设置有输入轴的变速装置，其中所述输入轴连接于电机(EM)的输出轴且至少一个齿轮分配给所述输入轴并且所述齿轮与同步机构同步，其特征在于：用根据前述权利要求1-4任意一项所述的方法控制所述电机(EM)。
6.根据权利要求5所述的变速装置，其中，所述变速装置是双离合多速变速装置并且所述输入轴是第一和第二输入轴的其中之一并且多个齿轮(II，IV，VI，R；I，III，V，VII)被分配给所述输入轴。
7.设置有根据前述权利要求5和6任意一项所述的变速装置的车辆(V)。
8.一种载有计算机程序的计算机可读介质，其包括当在计算机上运行所述程序产品时执行根据权利要求1-4任意一项所述方法的程序代码工具。
9.一种用于控制设置有根据权利要求5和6任意一项所述的变速装置的混合动力车辆的电机的控制单元，其中，所述控制单元被构造为执行根据权利要求1-4任意一项所述的方法。
CN201611035878.4A 2015-12-23 2016-11-22 电动机的控制 Active CN106911269B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP15202309.9 2015-12-23
EP15202309.9A EP3184862B2 (en) 2015-12-23 2015-12-23 Control of electric motor

Publications (2)

Publication Number Publication Date
CN106911269A CN106911269A (zh) 2017-06-30
CN106911269B true CN106911269B (zh) 2021-03-16

Family

ID=55022376

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611035878.4A Active CN106911269B (zh) 2015-12-23 2016-11-22 电动机的控制

Country Status (3)

Country Link
US (1) US10150482B2 (zh)
EP (1) EP3184862B2 (zh)
CN (1) CN106911269B (zh)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107539110B (zh) * 2016-06-29 2020-07-10 比亚迪股份有限公司 动力驱动系统和车辆
DE102018221769A1 (de) * 2018-12-14 2020-06-18 Robert Bosch Gmbh Verfahren zur Getriebesynchronisation eines Hybridfahrzeuges
SE544989C2 (en) * 2021-03-08 2023-02-21 Scania Cv Ab Control device, computer program, computer readable medium, vehicle comprising the control device and method for controlling synchronization of an electrical machine
CN113404856B (zh) * 2021-06-24 2022-10-14 东风商用车有限公司 一种商用车同步器寿命的实时监测方法及监测装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6006620A (en) * 1997-12-01 1999-12-28 Chrysler Corporation Automated manual transmission controller
US6319168B1 (en) * 2000-04-25 2001-11-20 General Motors Corporation Apparatus and method for active transmission synchronization and shifting
CN101702605A (zh) * 2009-11-24 2010-05-05 沈阳重型机械集团有限责任公司 圆盘剪主传动电机的机械同步装置
US8532858B1 (en) * 2012-05-18 2013-09-10 GM Global Technology Operations LLC Multi-speed hybrid powertrain with series and parallel operating modes

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1262684A4 (en) * 2000-03-10 2009-11-04 Hitachi Ltd AUTOMATIC TRANSMISSION, DYNAMOELECTRIC MACHINE AND CAR
US7353724B2 (en) * 2005-11-21 2008-04-08 Gm Global Technology Operations, Inc. Multi-speed transmission with Hi-Lo output torque-transmitting mechanisms and gear sets
US7665376B2 (en) * 2006-03-31 2010-02-23 Magna Powertrain Usa, Inc. Dual clutch powershift transmission
CN102574456B (zh) 2009-10-05 2015-01-28 本田技研工业株式会社 车辆用驱动装置
DE102010042895A1 (de) 2010-10-25 2012-04-26 Thilo Frey Stellvorrichtung zur Leistungssteuerung eines Verbrennungsmotors und Verfahren zur Leistungssteuerung des Verbrennungsmotors
JP5753582B2 (ja) 2011-06-23 2015-07-22 本田技研工業株式会社 駆動システム及び駆動システムの制御方法
DE102012014468A1 (de) 2012-07-21 2014-05-15 Volkswagen Aktiengesellschaft Verfahren zum Verändern einer Fahrstrategie für ein Fahrzeug und Fahrzeugsteuergerät für ein Fahrzeug
DE102013005252A1 (de) 2013-03-27 2014-10-02 Getrag Getriebe- Und Zahnradfabrik Hermann Hagenmeyer Gmbh & Cie Kg Hybrid-Antriebsstrang und Verfahren zum Steuern desselben
CN105667491B (zh) 2014-11-18 2019-07-16 上海汽车集团股份有限公司 用于混合动力车辆变速器的控制系统和方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6006620A (en) * 1997-12-01 1999-12-28 Chrysler Corporation Automated manual transmission controller
US6319168B1 (en) * 2000-04-25 2001-11-20 General Motors Corporation Apparatus and method for active transmission synchronization and shifting
CN101702605A (zh) * 2009-11-24 2010-05-05 沈阳重型机械集团有限责任公司 圆盘剪主传动电机的机械同步装置
US8532858B1 (en) * 2012-05-18 2013-09-10 GM Global Technology Operations LLC Multi-speed hybrid powertrain with series and parallel operating modes

Also Published As

Publication number Publication date
EP3184862A1 (en) 2017-06-28
EP3184862B2 (en) 2023-08-16
US10150482B2 (en) 2018-12-11
US20170183014A1 (en) 2017-06-29
CN106911269A (zh) 2017-06-30
EP3184862B1 (en) 2020-02-12

Similar Documents

Publication Publication Date Title
CN106911269B (zh) 电动机的控制
JP4500800B2 (ja) クラッチ特性曲線の補正をするための方法
KR101776889B1 (ko) 하이브리드 드라이브라인을 포함하는 차량에서 기어를 신속하게 변경하는 방법
EP2655914B1 (en) Method and system for calibrating an estimated clutch characteristic curve
KR101694029B1 (ko) 차량의 dct 변속 제어방법
CN108394412B (zh) 一种混合动力汽车的换挡控制系统及方法
EP2653753B1 (en) Control device for dual clutch transmission and control method for dual clutch transmission
US7779714B2 (en) Surrogate engine speed signal for controlling a dual clutch powershift transmission
CN105240515A (zh) 一种湿式双离合器变速器转速同步控制方法
JP2009257408A (ja) 自動変速機の制御方法
CN103089985A (zh) 利用级传动比变速器的受控的车辆启动
US9423024B2 (en) Rapid synchronizer touch point adjustment
US6871131B2 (en) Transmission systems
JP5685160B2 (ja) 機械式自動変速装置の制御システム
CN102466033A (zh) 有级变速车辆换挡控制系统及控制方法
JP5869283B2 (ja) デュアルクラッチ式変速機
CN111315608B (zh) 用于确定具有至少一个离合器的自动变速器的离合器参数的方法
US20170219097A1 (en) Transmission control device and learning method for synchronizer balk position
CN112555402B (zh) 换挡控制的系统、方法及车辆
CN109690148B (zh) 用于同步双离合器变速箱的位置的计算方法
CN110100123B (zh) 动力传递控制装置
CN101592221B (zh) 用于监测带双离合变速器的机动车辆中的换档操作的方法
CN111032470B (zh) 用于学习混合动力车辆的双离合变速箱的致动器的方法
JP2019533782A (ja) ギヤボックスシャフトの遊び歯車を同期させる方法
CA3016988A1 (en) Method for checking the configuration safety of a coupling device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant