DE102006036217A1 - Method for improving the driving characteristics of a hybrid drive - Google Patents
Method for improving the driving characteristics of a hybrid drive Download PDFInfo
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- DE102006036217A1 DE102006036217A1 DE102006036217A DE102006036217A DE102006036217A1 DE 102006036217 A1 DE102006036217 A1 DE 102006036217A1 DE 102006036217 A DE102006036217 A DE 102006036217A DE 102006036217 A DE102006036217 A DE 102006036217A DE 102006036217 A1 DE102006036217 A1 DE 102006036217A1
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000002485 combustion reaction Methods 0.000 claims abstract description 62
- 230000007659 motor function Effects 0.000 claims abstract description 40
- 230000006870 function Effects 0.000 claims abstract description 16
- 238000001228 spectrum Methods 0.000 claims abstract description 10
- 238000013016 damping Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 description 12
- 238000004146 energy storage Methods 0.000 description 8
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000002828 fuel tank Substances 0.000 description 2
- 230000010363 phase shift Effects 0.000 description 2
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- 230000006978 adaptation Effects 0.000 description 1
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- 230000003292 diminished effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000010396 two-hybrid screening Methods 0.000 description 1
Classifications
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- 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
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- 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
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- 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
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- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
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- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
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- 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
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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- 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
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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- 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
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/11—Controlling the power contribution of each of the prime movers to meet required power demand using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L2260/00—Operating Modes
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- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
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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
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- 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
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- Y02T10/00—Road transport of goods or passengers
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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
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- Engineering & Computer Science (AREA)
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- Chemical & Material Sciences (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
Es wird ein Verfahren zur Steuerung eines Hybridantriebs (110) vorgeschlagen. Der Hybridantrieb (110) umfasst mindestens einen Verbrennungsmotor (112) und mindestens eine Elektromaschine (118) mit mindestens einer Elektromotorfunktion (120) und mindestens einer Generatorfunktion (122). Das Verfahren ist derart ausgestaltet, dass mindestens ein Modulations-Betriebszustand des Hybridantriebs (110) vorgesehen ist, in welchem mindestens eine Betriebsgröße der mindestens einen Elektromotorfunktion (120), insbesondere ein Elektromotor-Drehmoment und/oder eine Elektromotor-Drehzahl und/oder eine Elektromotor-Leistung, mit einem vorgegebenen Frequenzspektrum moduliert wird. Diese Modulation kann insbesondere dadurch bewerkstelligt werden, dass ein Elektromotorstrom mit mindestens einer Modulationsamplitude mit mindestens einer Modulationsfrequenz und mindestens einer Modulationsphase erfolgt.It A method for controlling a hybrid drive (110) is proposed. The hybrid drive (110) comprises at least one internal combustion engine (112) and at least one electric machine (118) having at least one Electric motor function (120) and at least one generator function (122). The method is designed such that at least one Modulation operating state of the hybrid drive (110) is provided is, in which at least one operating variable of the at least one electric motor function (120), in particular an electric motor torque and / or an electric motor speed and / or an electric motor power, with a predetermined frequency spectrum is modulated. This modulation can be accomplished in particular be that an electric motor current with at least one modulation amplitude with at least one modulation frequency and at least one modulation phase he follows.
Description
Die Erfindung betrifft ein Verfahren zur Steuerung eines Hybridantriebs sowie einen Hybridantrieb, welcher eingerichtet ist, um das erfindungsgemäße Verfahren durchzuführen und ein Computerprogramm zur Durchführung des Verfahrens. Derartige Verfahren, Hybridantriebe und Computerprogramme werden insbesondere im Bereich der Kraftfahrzeugtechnik eingesetzt.The The invention relates to a method for controlling a hybrid drive and a hybrid drive which is set up to the inventive method perform and a computer program for performing the method. such Procedures, hybrid drives and computer programs are particular used in the field of automotive engineering.
Stand der TechnikState of the art
Aus dem Stand der Technik sind verschiedene Arten von Kraftfahrzeugen mit Hybridantrieben bekannt. Hybridantriebe weisen üblicherweise mindestens einen Verbrennungsmotor und mindestens eine Elektromaschine auf. Üblicherweise kann dabei die mindestens eine Elektromaschine und/oder der mindestens eine Verbrennungsmotor während des Betriebes individuell zu- und abgeschaltet werden. Weiterhin ist zumeist ein zusätzlicher Energiespeicher vorgesehen, bei welchem es sich üblicherweise um eine oder mehrere Batterien und/oder Akkumulatoren handelt. Aus dem Energiespeicher wird die Elektromaschine mit elektrischer Energie versorgt. Umgekehrt kann aus der Elektromaschine elektrische Energie rückgewonnen werden und, beispielsweise bei einer so genannten Bremsenergie-Rekuperation, wieder dem Energiespeicher zugeführt werden.Out The prior art includes various types of motor vehicles known with hybrid drives. Hybrid drives usually have at least one internal combustion engine and at least one electric machine on. Usually can be the at least one electric machine and / or at least an internal combustion engine during individually switched on and off. Farther is usually an additional Energy storage provided, which is usually one or more Batteries and / or accumulators is. From the energy store the electric machine is supplied with electrical energy. Vice versa can recover electrical energy from the electric machine and, for example in a so-called braking energy recuperation, fed back to the energy storage become.
Aus dem Stand der Technik und dem bereits heute erfolgenden kommerziellen Einsatz sind verschiedene Konzepte von Hybridantrieben bekannt. So werden in der Praxis häufig so genannte Parallel-Hybride, serielle Hybride und verzweigte Hybride unterschieden. Diese verschiedenen Arten von Hybriden können, je nach Bedarf (zum Beispiel Fahrzeuggeschwindigkeit, Gaspedalsignal etc.) in unterschiedlichen Betriebszuständen betrieben werden, so dass üblicherweise eine optimale Verteilung der Last zwischen Elektromaschine und Verbrennungsmotor gewährleistet ist. Dabei wird in der Regel auch stets der Ladezustand der Batterie berücksichtigt.Out the state of the art and already taking place today commercial Use are known various concepts of hybrid drives. So become common in practice so-called parallel hybrids, serial hybrids and branched hybrids distinguished. These different types of hybrids can, as needed (for example Vehicle speed, accelerator signal, etc.) in different Operating conditions operated so usually an optimum distribution of the load between the electric machine and the internal combustion engine guaranteed is. As a rule, the state of charge of the battery is always the same considered.
So existieren beispielsweise Betriebszustände, in welchen der Verbrennungsmotor vollständig abgeschaltet ist. Je nach Hybridkonzept kann in diesem abgeschalteten Zustand der Verbrennungsmotor beispielsweise über eine Trennkupplung vom Antriebsstrang getrennt werden. Der Antrieb erfolgt in diesem Betriebszuständen dann rein elektromotorisch. Vorzugsweise erfolgt dieser elektromotorische Antrieb, wenn durch den Fahrer und/oder Umgebungsbedingungen lediglich eine geringe Antriebsleistung gefordert wird. Dieser Betriebszustand erweist sich aufgrund des vergleichsweise guten Wirkungsgrades des Elektromotors in der Praxis als besonders energie- und abgaseffizient.So For example, there are operating conditions in which the internal combustion engine completely shut off is. Depending on the hybrid concept may be in this off state the internal combustion engine, for example via a separating clutch from Drive train to be disconnected. The drive is then in this operating conditions purely electric motor. Preferably, this electromotive drive, if by the driver and / or environmental conditions only one low drive power is required. This operating condition proves to be due to the comparatively good efficiency of the Electric motor in practice as a particularly energy and exhaust gas efficient.
Der Wechsel zwischen verschiedenen Betriebszuständen, beispielsweise Betriebszuständen mit laufendem Verbrennungsmotor und Betriebszuständen mit reinem elektrischen Fahren, ist in der Regel auch für den Fahrer eines Kraftfahrzeugs akustisch und/oder haptisch wahrnehmbar. Dies ist dadurch bedingt, dass der Verbrennungsmotor prinzipbedingt eine Drehungleichförmigkeit aufweist. Das abgegebene Drehmoment ist mit einer Drehzahl-proportionalen Frequenz (in der Regel sogar einem ganzen Frequenzspektrum) moduliert, welche durch die Arbeitstakte des Verbrennungsmotors vorgegeben ist. Diese Schwingungen werden über Motorlager und Antriebsstrang in gedämpfter Form auch auf die Karosserie übertragen und teilen sich dem Fahrer sowohl akustisch als auch durch gespürte Vibrationen (Haptik) mit.Of the Change between different operating states, such as operating states with running internal combustion engine and operating conditions with pure electrical Driving is usually also for the driver of a motor vehicle acoustically and / or haptic perceptible. This is due to the fact that the internal combustion engine is inherent a rotational nonuniformity having. The output torque is proportional to a speed Modulated frequency (usually even a whole frequency spectrum), which is predetermined by the working cycles of the internal combustion engine. These vibrations are over Engine mounts and powertrain in damped form also transferred to the body and share the driver both acoustically and by felt vibrations (haptics) With.
Ein Elektromotor verfügt demgegenüber üblicherweise über eine nahezu gleichmäßige Drehmomentabgabe. Dies ist prinzipiell gegenüber dem Verbrennungsmotor ein Komfort-Vorteil. Dieser Vorteil kann aber in einem Hybrid-Fahrzeug zum Nachteil werden, nämlich dann, wenn beim Umschalten von einem Betriebszustand in einen zweiten Betriebszustand, beispielsweise von reinem elektrischen Fahren auf Fahren mit Verbrennungsmotor, sich ohne für den Fahrer nachvollziehbaren Grund (d. h. in der Regel ohne dass der Fahrer dieses Umschalten selbst initiiert hat) schlagartig die akustische und gefühlte Wahrnehmung, d. h. die Fahreigenschaften und/oder das Fahrverhalten des Kraftfahrzeugs, ändern. Erst im direkten Vergleich zwischen dem "leisen" elektrischen Betrieb und dem Betrieb des Verbrennungsmotors wird deutlich, wie "laut" der Verbrennungsantrieb ist.One Electric motor features in contrast, usually via a almost uniform torque output. This is in principle opposite the combustion engine a comfort advantage. But this advantage can be in a hybrid vehicle to the detriment, namely, when switching from an operating state to a second operating state, for example from pure electric driving to driving with an internal combustion engine, without for the Driver understandable reason (that is usually without the Driver has initiated this switching himself) abruptly the acoustic and perceived perception, d. H. the driving characteristics and / or the driving behavior of the motor vehicle, change. Only in the direct comparison between the "quiet" electrical operation and the operation of the internal combustion engine becomes clear how "loud" the combustion drive is.
Offenbarung der ErfindungDisclosure of the invention
Vorteile der ErfindungAdvantages of the invention
Es wird daher ein Verfahren zur Steuerung eines Hybridantriebs, insbesondere für den Einsatz im Kraftfahrzeugbereich, vorgeschlagen, welches die beschriebenen Nachteile der bekannten Verfahren zumindest weitgehend vermeidet und die Fahreigenschaften von Kraftfahrzeugen mit Hybridantrieben verbessert. Insbesondere wird dabei der für den Fahrer hör- und spürbare Unterschied zwischen einem Fahren mit unterschiedlichen Nutzungen eines Verbrennungsmotors reduziert. Weiterhin wird ein Hybridantrieb vorgeschlagen, welcher eingerichtet ist, um das erfindungsgemäße Verfahren gemäß einer der im Folgenden beschriebenen Ausgestaltungen durchzuführen, sowie ein Computerprogramm zur Durchführung des Verfahrens.It Therefore, a method for controlling a hybrid drive, in particular for the Use in the automotive sector, proposed which described the Disadvantages of the known methods at least largely avoids and improved the driving characteristics of motor vehicles with hybrid drives. In particular, it is the for hear the driver and noticeable Difference between driving with different uses reduced an internal combustion engine. Furthermore, a hybrid drive proposed, which is set up to the inventive method according to one of perform in the following described embodiments, as well as a computer program to carry out of the procedure.
Der Hybridantrieb weist mindestens einen Verbrennungsmotor und mindestens eine Elektromaschine mit mindestens einer Elektromotorfunktion und mindestens einer Generatorfunktion auf. Beispielsweise kann ein aus dem Stand der Technik bekannter Hybridantrieb in einer der oben beschriebenen Konfigurationen eingesetzt werden.The hybrid drive has at least one internal combustion engine and at least one electric machine with at least one electric motor function and at least one generator function. For example, a hybrid drive known in the art can be used in any of the configurations described above.
Ein Grundgedanke der Erfindung besteht darin, dass der Hybridantrieb derart betrieben wird, dass mindestens ein Modulations-Betriebszustand vorgesehen ist. In diesem mindestens einen Modulations-Betriebszustand wird mindestens eine Betriebsgröße der mindestens einen Elektromotorfunktion, insbesondere ein Elektromotor-Drehmoment und/oder eine Elektromotor-Drehzahl und/oder eine Elektromotor-Leistung, mit einem vorgegebenen Frequenzspektrum moduliert. Vorzugsweise kann diese Modulation durch Modulation eines Elektromotorstroms mit mindestens einer Modulationsamplitude und mindestens einer Modulationsfrequenz (wobei es sich um eine einzelne Modulationsfrequenz oder auch um ein Modulationsfrequenzspektrum handeln kann) erfolgen.One The basic idea of the invention is that the hybrid drive is operated such that provided at least one modulation operating state is. In this at least one modulation operating state is at least one company size of at least an electric motor function, in particular an electric motor torque and / or an electric motor speed and / or an electric motor power, modulated with a given frequency spectrum. Preferably This modulation can be done by modulating an electric motor current with at least one modulation amplitude and at least one modulation frequency (which is a single modulation frequency or even a modulation frequency spectrum can act) take place.
Auf diese Weise lässt sich eine veränderte Akustik und/oder veränderte Haptik bei Veränderungen des Betriebs des mindestens einen Verbrennungsmotors ausgleichen. Dies kann beispielsweise dann eingesetzt werden, wenn der mindestens eine Modulations-Betriebszustand mindestens einen elektrischen Betriebszustand umfasst, in welchem der mindestens eine Verbrennungsmotor nicht oder nur vermindert betrieben wird. Dabei kann dann beispielsweise eine (oder auch mehrere) "virtuelle Drehzahl" für den mindestens einen Verbrennungsmotor ermittelt werden. Das Frequenzspektrum der Modulation der mindestens einen Betriebsgröße der mindestens einen Elektromotorfunktion kann dann vorzugsweise entsprechend dieser virtuellen Drehzahl gewählt werden. Beispielsweise kann diese virtuelle Drehzahl der Drehzahl entsprechen, mit welcher der mindestens eine Verbrennungsmotor betrieben werden müsste, um bei unveränderten augenblicklichen Antriebseigenschaften des Hybridantriebs den Hybridantrieb ausschließlich mittels des mindestens einen Verbrennungsmotors zu betreiben. Alternativ oder zusätzlich kann die virtuelle Drehzahl auch der Drehzahl entsprechen, mit welcher der mindestens eine Verbrennungsmotor betrieben werden müsste, wenn dieser in der augenblicklichen Fahrsituation eingeschaltet würde. Die aktuelle Fahrsituation ist dabei im Wesentlichen definiert durch den vorliegenden Gesamt-Drehmomentwunsch (das Gesamt-Drehmoment muss aufgebracht werden durch den mindestens einen Verbrennungsmotor in Zusammenwirkung mit der mindestens einen Elektromotorfunktion) und die aktuelle Fahrzeuggeschwindigkeit, bzw., beim Parallel-Hybrid, eine Getriebeeingangsdrehzahl, welche wiederum vom gerade eingestellten Getriebe-Übersetzungsverhältnis abhängt.On that way a changed acoustics and / or changed Haptic for changes compensate for the operation of the at least one internal combustion engine. This can be used, for example, if the at least a modulation operating state at least one electrical operating state includes, in which the at least one internal combustion engine not or operated only reduced. It can then, for example one (or more) "virtual Speed "for the least an internal combustion engine can be determined. The frequency spectrum of Modulation of the at least one operating variable of the at least one electric motor function can then preferably be selected according to this virtual speed. For example, this virtual speed may correspond to the speed with which the at least one internal combustion engine are operated would have at unchanged instantaneous propulsion characteristics of the hybrid drive the hybrid drive exclusively to operate by means of at least one internal combustion engine. Alternatively or additionally the virtual speed can also correspond to the speed with which the at least one internal combustion engine would have to be operated, if this would be turned on in the current driving situation. The the current driving situation is essentially defined by the present total torque request (the total torque must be applied by the at least one internal combustion engine in cooperation with the at least one electric motor function) and the current vehicle speed, or, in the parallel hybrid, a transmission input speed, which in turn depends on the currently set transmission ratio.
Allerdings lässt sich aus der derart berechneten virtuellen Drehzahl des mindestens einen Verbrennungsmotors in der Regel noch nicht unmittelbar eine Modulationsfrequenz bzw. ein Modulationsspektrum der mindestens einen Elektromotorfunktion ableiten, da zusätzlich noch konstruktive Eigenschaften des mindestens einen Verbrennungsmotors berücksichtigt werden müssen. So sollte insbesondere noch beispielsweise die Zahl der Zylinder und/oder die Taktzahl des mindestens einen Verbrennungsmotors berücksichtigt werden. So berechnet sich beispielsweise die Kreisfrequenz der aufzuprägenden Modulation aus der zur virtuellen Drehzahl gehörenden Winkelgeschwindigkeit, multipliziert mit der halben Zahl der Zylinder des Verbrennungsmotors. Der Faktor ½ ist dabei dadurch bedingt, dass der Verbrennungsmotor zwei Umdrehungen benötigt, bis alle Zylinder einen Arbeitstakt absolviert haben.Indeed let yourself from the thus calculated virtual speed of the at least one Internal combustion engine usually not yet directly a modulation frequency or a modulation spectrum of the at least one electric motor function derive, in addition still constructive properties of at least one internal combustion engine considered Need to become. So should in particular still, for example, the number of cylinders and / or takes into account the number of cycles of the at least one internal combustion engine become. For example, the angular frequency of the modulation to be recorded is calculated from the angular speed belonging to the virtual speed, multiplied by half the number of cylinders of the internal combustion engine. The factor ½ is This is due to the fact that the internal combustion engine two revolutions needed until all cylinders have completed a stroke.
Die so berechnete Modulationsfrequenz wird der mindestens einen Elektromotorfunktion aufgeprägt. Da beim Elektromotor das Drehmoment üblicherweise proportional zum eingespeisten Strom ist, wird durch diese aufgeprägte Modulation eine Welligkeit der Momentenabgabe bewirkt, so dass bei geeigneter Modulationsamplitude und/oder Modulationsfrequenz das Verhalten der mindestens einen Elektromotorfunktion dem Verhalten des mindestens einen Verbrennungsmotors ähnelt. Somit wird auch im rein elektrischen Betrieb eine akustisch und/oder haptisch wahrnehmbare Schwingung auf die Karosserie übertragen. Der Fahrer nimmt dadurch den Unterschied zwischen elektrischem Betrieb und Betrieb mit Verbrennungsmotor nicht mehr oder nur noch verringert wahr.The thus calculated modulation frequency is the at least one electric motor function impressed. Since the electric motor torque is usually proportional to injected current is through this impressed modulation causes a ripple of the torque output, so that when appropriate Modulation amplitude and / or modulation frequency the behavior the at least one electric motor function the behavior of at least resembles an internal combustion engine. Thus, even in purely electrical operation, an acoustic and / or haptic transmitted perceptible vibration to the body. The driver takes thus the difference between electrical operation and operation with Internal combustion engine no longer or only diminished true.
Die Modulationsamplitude und/oder die Modulationsfrequenz ist dabei vorzugsweise kein fest vorgegebener Wert, sondern hängt vor allem auch von der Drehzahl und dem mittleren abgegebenen Drehmoment bzw. der Motorlast ab. Tendenziell ist die Modulationsamplitude bei hoher Last größer als bei niedriger Last und bei geringer Drehzahl höher als bei hoher Drehzahl. Beispielsweise können entsprechende Modulationsfrequenzen und/oder Modulationsamplituden für vorgegebenen Betriebszustände des Hybridantriebs in einer Tabelle (beispielsweise einer elektronischen Tabelle, zum Beispiel einer Look-up-Table) abgelegt und bei Bedarf abgerufen werden. Auch eine Online-Berechnung mit vorgegebenen Algorithmen ist denkbar. Somit kann, beispielsweise abhängig vom geforderten Drehmoment und der virtuellen Drehzahl des Verbrennungsmotors, Modulationsamplitude und/oder Modulationsfrequenz entsprechend gewählt bzw. berechnet werden, um damit mittels der mindestens einen Elektromotorfunktion das akustische Verhalten und/oder Schwingungsverhalten des mindestens einen Verbrennungsmotors möglichst gut nachzubilden.The Modulation amplitude and / or the modulation frequency is included preferably no fixed value, but depends everything from the speed and the average torque output or the engine load. The tendency is the modulation amplitude greater than at high load low load and at low speed higher than at high speed. For example, you can corresponding modulation frequencies and / or modulation amplitudes for predetermined operating conditions the hybrid drive in a table (for example, an electronic Table, for example, a look-up table) and if necessary be retrieved. Also an online calculation with given algorithms is conceivable. Thus, for example, depending on the required torque and the virtual speed of the internal combustion engine, modulation amplitude and / or modulation frequency are selected or calculated accordingly, so that by means of at least one electric motor function, the acoustic Behavior and / or vibration behavior of the at least one internal combustion engine preferably good copy.
Die erfindungsgemäße Idee kann auf verschiedene Weisen vorteilhaft weitergebildet werden. So kann beispielsweise die Modulation derart gewählt werden, dass der Hybridantrieb in allen Betriebszuständen eine zumindest im Wesentlichen konstante Drehmoment-Welligkeit und damit ein im Wesentlichen gleiches Fahrverhalten aufweist.The idea according to the invention can be applied to ver different ways are advantageously developed. Thus, for example, the modulation can be chosen such that the hybrid drive has an at least substantially constant torque ripple and thus a substantially identical driving behavior in all operating states.
In Betriebszuständen, in denen der mindestens eine Verbrennungsmotor und die mindestens eine Elektromotorfunktion gleichzeitig betrieben werden ("hybridisches Fahren") findet bei gegebener Fahrsituation eine Entlastung des mindestens einen Verbrennungsmotors statt. Im Vergleich zum Fahren ausschließlich mit Verbrennungsmotor erzeugt aufgrund der Lastabhängigkeit der Drehungleichförmigkeit der mindestens eine Verbrennungsmotor eine geringere Drehmoment-Welligkeit. Um in der gleichen Fahrsituation unabhängig von der Verteilung des Gesamtmoments immer die gleiche Drehmoment-Welligkeit zu erzeugen, kann auch bei hybridischem Fahren die mindestens eine Elektromotorfunktion durch Aufprägen einer Strom- und damit Drehmomentmodulation moduliert werden. Die Amplitude der Modulation ist dabei umso größer, je geringer der Anteil des Verbrennungsmotors am Gesamtdrehmoment ist.In Operating conditions, in which the at least one internal combustion engine and the at least one Electric motor function can be operated simultaneously ("hybrid driving") takes place in a given driving situation a discharge of at least one internal combustion engine. in the Comparison to driving exclusively with combustion engine generated due to the load dependency the rotational irregularity the at least one internal combustion engine has a lower torque ripple. In the same driving situation regardless of the distribution of the Total torque always to produce the same torque ripple, can also in hybrid driving the at least one electric motor function by imprinting a current and thus torque modulation are modulated. The The amplitude of the modulation is greater, the lower the proportion of the internal combustion engine is the total torque.
Alternativ oder zusätzlich kann das beschriebene Konzept der Modulation der mindestens einen Betriebsgröße der mindestens einen Elektromotorfunktion auch zur Schwingungsdämpfung genutzt werden. So kann der mindestens eine Modulations-Betriebszustand beispielsweise mindestens einen Dämpfungs-Betriebszustand umfassen, in welchem durch die Modulation der mindestens einen Betriebsgröße der mindestens einen Elektromotorfunktion eine aktive Schwingungsdämpfung von Schwingungen des mindestens einen Verbrennungsmotors herbeigeführt wird. Diese Weiterbildung kann insbesondere dann genutzt werden, wenn der mindestens eine Dämpfungs-Betriebszustand mindestens einen Lade-Betriebszustand umfasst, in welchem durch die mindestens eine Generatorfunktion mindestens ein Energiespeicher, insbesondere eine Batterie, aufgeladen wird.alternative or additionally the described concept of the modulation of the at least one operating variable of the at least an electric motor function can also be used for vibration damping. So can the at least one modulation operating state For example, include at least one damping mode, in which by the modulation of the at least one operating variable of at least an electric motor function an active vibration damping of Vibrations of at least one internal combustion engine is brought about. This development can be used in particular if the at least one damping operating state at least a charging operating state, in which by the at least a generator function at least one energy storage, in particular a battery is being charged.
Beim Hybridantrieb existieren Betriebszustände, in welchen der mindestens eine Verbrennungsmotor mehr Drehmoment erzeugt, als in der aktuellen Fahrsituation erforderlich ist. Der Überschuss wird dabei zum Laden des mindestens einen Energiespeichers (zum Beispiel einer Batterie und/oder Kondensatoren) verwendet, indem die mindestens eine Elektromaschine mit der mindestens einen Generatorfunktion generatorisch betrieben wird. Aufgrund der dabei erhöhten Last erzeugt der mindestens eine Verbrennungsmotor eine größere Drehmoment-Welligkeit im Vergleich zu einem Betrieb ohne Laden des mindestens einen Energiespeichers. Diese erhöhte Drehmoment-Welligkeit im Generatorbetrieb, welche sich wiederum akustisch und/oder haptisch für den Fahrer bemerkbar macht, kann gemäß der beschriebenen Weiterbildung der Erfindung im Dämpfungs-Betriebszustand beispielsweise dadurch ausgeglichen werden, dass die Modulation der mindestens einen Betriebsgröße der mindestens einen Elektromotorfunktion entsprechend angepasst wird. Beispielsweise kann eine Phasenverschiebung einer Strommodulation der mindestens einen Elektromotorfunktion erfolgen, vorzugsweise um 180 Grad. Bei entsprechender Wahl der Amplitude und Phasenverschiebung erfolgt dann eine destruktive Interferenz zwischen den von der mindestens einen Elektromotorfunktion und den von dem mindestens einen Verbrennungsmotor erzeugten Schwingungen, so dass beispielsweise die durch den Generatorbetrieb erhöhte Welligkeit ganz oder teilweise eliminiert werden kann.At the Hybrid drive exist operating conditions in which the at least an internal combustion engine generates more torque than in the current one Driving situation is required. The surplus becomes the store the at least one energy store (for example a battery and / or Capacitors) used by the at least one electric machine operated with the at least one generator function generator becomes. Because of the increased Load generated by the at least one internal combustion engine, a larger torque ripple in comparison to an operation without charging the at least one energy storage. These increased Torque ripple in generator mode, which in turn acoustically and / or haptically for the Driver can, according to the described Development of the invention in the damping operating state For example, be compensated by the fact that the modulation the at least one operating size of at least an electric motor function is adjusted accordingly. For example may be a phase shift of a current modulation of at least an electric motor function, preferably by 180 degrees. at corresponding choice of the amplitude and phase shift takes place then a destructive interference between those of the at least an electric motor function and that of the at least one internal combustion engine generated vibrations, so that, for example, by the generator operation increased Ripple can be completely or partially eliminated.
Im übrigen ist das beschriebene Konzept der Modulation der mindestens einen Betriebsgröße der mindestens einen Elektromotorfunktion auch für eine allgemeine Schwingungsdämpfung in sonstigen Betriebszuständen möglich. So können beispielsweise ein oder mehrere Schwingungssensoren vorgesehen sein, beispielsweise an einer Fahrzeugkarosserie und/oder Armaturen bzw. einem Lenkrad des Kraftfahrzeugs. Anhand der von diesem mindestens einen Schwingungssensor ermittelten Schwingungen (beispielsweise Frequenzspektrum und/oder Schwingungsamplituden und/oder Phasen) kann dann die Modulation der mindestens einen Betriebsgröße der mindestens einen Elektromotorfunktion nach den üblichen Berechnungsmethoden der Schwingungsdämpfung erfolgen und die mindestens eine Elektromotorfunktion entsprechend moduliert werden.Otherwise it is the described concept of the modulation of the at least one operating variable of at least an electric motor function also for a general vibration damping in other operating conditions possible. So can for example, one or more vibration sensors may be provided, For example, on a vehicle body and / or fittings or a steering wheel of the motor vehicle. On the basis of at least this a vibration sensor detected vibrations (for example Frequency spectrum and / or vibration amplitudes and / or phases) can then be the modulation of at least one operating size of at least an electric motor function according to the usual calculation methods the vibration damping done and the at least one electric motor function accordingly be modulated.
Kurze Beschreibung der ZeichnungenBrief description of the drawings
Ausführungsbeispiele der Erfindung sind in den Zeichnungen dargestellt und in der nachfolgenden Beschreibung näher erläutert. Es zeigen:embodiments The invention is illustrated in the drawings and in the following Description closer explained. Show it:
In
den
So
zeigt das Ausführungsbeispiel
in
Die
Elektromotorfunktion
Im
elektromotorischen Fahrbetrieb bezieht die Elektromotorfunktion
Alternativ
kann die Elektromaschine
Weiterhin
sind als Bestandteile des Hybridantriebs
Während der
Lastregler
In
Wiederum
sind auch hier in dem Hybridantrieb
Die
beiden Hybridantriebe
In
einem ersten Verfahrensschritt
In
Schritt
Wie
oben beschrieben erfolgt dann, entsprechend den in
Die
auf diese Weise ermittelte optimale Modulation für den jeweiligen Betriebszustand
wird anschließend
in Verfahrensschritt
Claims (11)
Priority Applications (2)
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DE102006036217A DE102006036217A1 (en) | 2006-08-03 | 2006-08-03 | Method for improving the driving characteristics of a hybrid drive |
PCT/EP2007/055525 WO2008015041A1 (en) | 2006-08-03 | 2007-06-05 | Method for the improvement of driving characteristics of a hybrid drive |
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DE102006036217A DE102006036217A1 (en) | 2006-08-03 | 2006-08-03 | Method for improving the driving characteristics of a hybrid drive |
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WO2009036888A2 (en) * | 2007-09-13 | 2009-03-26 | Daimler Ag | Method and device for the operation of a motor vehicle drive train comprising an internal combustion engine and an electric motor |
DE102010022912A1 (en) * | 2010-05-31 | 2011-12-01 | Gertrag Ford Transmissions Gmbh | Method for actuating hybrid drive train of passenger car, involves delivering torque by electrical machine arrangement, and controlling torque such that realized drive characteristics correspond to drive characteristics of drive unit |
DE202013104787U1 (en) | 2012-10-25 | 2013-11-26 | Christian Beidl | Device for torsional vibration damping in a drive train |
WO2013139532A3 (en) * | 2012-03-22 | 2014-02-27 | Robert Bosch Gmbh | Control apparatus for controlling at least one actuator for a motor vehicle and method for controlling at least one actuator for a motor vehicle |
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DE10223426A1 (en) * | 2002-05-25 | 2003-12-04 | Bayerische Motoren Werke Ag | Method for damping torque fluctuations in the drive train of a motor vehicle |
US6842673B2 (en) * | 2002-06-05 | 2005-01-11 | Visteon Global Technologies, Inc. | Engine engagement control for a hybrid electric vehicle |
DE102005015484A1 (en) * | 2005-04-05 | 2006-05-18 | Daimlerchrysler Ag | Drive train controlling method for vehicle, involves avoiding load change impact and jerking oscillation within low frequency range up to twenty hertz by pilot control of electrical engines |
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