DE102011015369A1 - Traction control system for vehicles with independent wheel drive - Google Patents
Traction control system for vehicles with independent wheel drive Download PDFInfo
- Publication number
- DE102011015369A1 DE102011015369A1 DE102011015369A DE102011015369A DE102011015369A1 DE 102011015369 A1 DE102011015369 A1 DE 102011015369A1 DE 102011015369 A DE102011015369 A DE 102011015369A DE 102011015369 A DE102011015369 A DE 102011015369A DE 102011015369 A1 DE102011015369 A1 DE 102011015369A1
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- Prior art keywords
- drive
- force difference
- difference
- permissible
- wheel
- 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.)
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Classifications
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/102—Indicating wheel slip ; Correction of wheel slip of individual wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Verfahren zur Antriebsschlupfregelung für zweispurige Fahrzeuge mit Einzelradantrieb, bei denen wenigstens ein linksseitiges Antriebsrad (AL1) und wenigstens ein rechtsseitiges Antriebsrad (AR1) von jeweils einem Elektromotor (EM) angetrieben wird und Einrichtungen zur Erfassung und Regelung des Schlupfes der jeweiligen Antriebsräder (AR1, AL1; AR2, AL2) vorhanden sind, wobei die Kräftedifferenz ΔFV = FR1 – FL1 der rechtsseitigen und linksseitigen Antriebskräfte (FR1, FL1) ab einem zulässigen Differenz-Grenzwert (DG1, DG2) auf eine vorgegebene zeitabhängige Erhöhung der Kräftedifferenz (ΔFV) begrenzt wird.Method for traction control for two-lane vehicles with single-wheel drive, in which at least one left-hand drive wheel (AL1) and at least one right-hand drive wheel (AR1) are each driven by an electric motor (EM) and devices for detecting and regulating the slip of the respective drive wheels (AR1, AL1 ; AR2, AL2) are present, whereby the force difference ΔFV = FR1 - FL1 of the right-hand and left-hand drive forces (FR1, FL1) from a permissible difference limit value (DG1, DG2) is limited to a specified time-dependent increase in the force difference (ΔFV).
Description
Die Erfindung betrifft ein Verfahren zur Antriebsschlupfregelung für zweispurige Fahrzeuge mit Einzelradantrieb nach dem Oberbegriff des Patentanspruchs 1.The invention relates to a method for traction control for two-lane vehicles with independent wheel drive according to the preamble of
Die Antriebsschlupfregelung (ASR) dient dazu, dass der Schlupf an den Antriebsrädern eines Kraftfahrzeugs nicht unzulässig groß wird. Beim Anfahren mit großem Antriebsdrehmoment und/oder bei sehr rutschigem Untergrund, wie bei Eis, Schnee, Rollsplitt, wird mit der Antriebsschlupfregelung insbesondere auch ein Durchdrehen der Antriebsräder vermieden. Bei zweispurigen Fahrzeugen, die linksseitig und rechtsseitig Antriebsräder besitzen, bedeutet ein einseitig auftretender Schlupf an einem Antriebsrad, dass an dem Fahrzeug andererseits eine einseitige Beschleunigungskraft wirksam ist, die ein auf das Fahrzeug wirkendes Giermoment zur Folge hat. Ein solches Giermoment beeinträchtigt die Stabilität des Geradeauslaufs eines Fahrzeugs, weshalb der Fahrer bei größeren Giermomenten entsprechend gegenlenken muss.The traction control (ASR) serves to ensure that the slip on the drive wheels of a motor vehicle is not unduly large. When starting with large drive torque and / or very slippery ground, such as ice, snow, crushed stone, with the traction control in particular also a spinning of the drive wheels is avoided. In the case of two-lane vehicles having drive wheels on the left side and on the right side, slipping on a drive wheel on one side means that a one-sided acceleration force acting on the vehicle results in a yaw moment acting on the vehicle. Such a yaw moment affects the stability of the straight-line stability of a vehicle, which is why the driver has to counter-steer accordingly for larger yawing moments.
Bei Fahrzeugen mit einem Antriebsmotor, der über ein Differenzialgetriebe auf linksseitige und rechtsseitige Antriebsräder wirkt, kann eine Antriebsschlupfregelung durch eine entsprechende Betätigung der Bremsen durchgeführt werden. Tritt ein unzulässig hoher Schlupf an einem Antriebsrad auf, so kann dieses Antriebsrad mehr oder weniger stark durch eine entsprechende Betätigung der Bremse am Durchdrehen gehindert werden. In Kombination damit kann auch über einen Eingriff in die Motorsteuerung das Drehmoment der Antriebsachse bei einem festgestellten unzulässig hohen Schlupf verringert werden.In vehicles with a drive motor which acts on a left and right drive wheels via a differential gear, a traction control can be performed by a corresponding operation of the brakes. If an inadmissibly high slip occurs on a drive wheel, this drive wheel can be more or less prevented from spinning by a corresponding actuation of the brake. In combination with this, the torque of the drive axle can be reduced in the event of an inadmissibly high slip detected via an intervention in the engine control.
Für zweispurige Fahrzeuge mit Einzelradantrieb, bei denen jedem Antriebsrad ein Elektromotor zugeordnet ist, kann dessen Drehmoment zur Begrenzung des Antriebsschlupfes durch eine Steuerung seiner Motorleistung auf einen vorgegebenen Maximalwert begrenzt werden. Aus der
Aus der
Die Aufgabe der vorliegenden Erfindung besteht darin, ein Verfahren zur Antriebsschlupfregelung für zweispurige Fahrzeuge mit elektrischem Einzelradantrieb anzugeben, welches einerseits das Traktionspotential nicht zu stark einschränkt und andererseits eine ausreichend hohe Fahrstabilität ermöglicht.The object of the present invention is to provide a method for traction control for two-lane vehicles with electric single-wheel drive, which on the one hand does not restrict the traction potential too strong and on the other hand allows a sufficiently high driving stability.
Die Lösung dieser Aufgabe erhält man mit den Merkmalen des Patentanspruchs 1. Beim Auftreten eines Schlupfes an einem der Antriebsräder führt dies zu einer Differenz der Antriebskräfte zwischen linker und rechter Seite des Fahrzeugs, wodurch auf das Fahrzeug ein Giermoment wirk. Ist die Differenz der Antriebskräfte unterhalb eines zulässigen Differenz-Grenzwerts, muss die Antriebsschlupfregelung nicht eingreifen. Bei Erreichen oder Überschreiten des Differenz-Grenzwerts wird die Antriebsschlupfregelung in der Weise wirksam, dass eine zeitabhängige Erhöhung der Kräftedifferenz zwischen rechtsseitigem und linksseitigem Antrieb, vorzugsweise entsprechend einer vorgegebenen Kennlinie, zugelassen wird. Damit erhält man eine optimale Nutzung des Traktionspotentials, ohne dass besondere Anforderungen an das fahrerische Können des jeweiligen Fahrers gestellt werden müssen.The solution of this problem is obtained with the features of
Die maximal zulässige zeitabhängige Erhöhung der Kräftedifferenz kann sehr vorteilhaft in einer oder mehreren wählbaren Regelungskennlinien vorgegeben sein, um gegebenenfalls durch Aktivierung unterschiedlicher Kennlinien den Fahrmodus variieren zu können. So kann beispielsweise im Sportmodus eine andere Kennlinie wirksam sein als im Komfortmodus. Eine Umstellung der Kennlinien kann auch bei unterschiedlichen Straßenverhältnissen zweckmäßig sein.The maximum permissible time-dependent increase in the force difference can be predefined very advantageously in one or more selectable control characteristic curves in order, if appropriate, to be able to vary the driving mode by activating different characteristic curves. For example, in sport mode, a different characteristic can be effective than in comfort mode. A conversion of the curves can be useful even with different road conditions.
Die jeweils wirksamen Grenzwerte für den Differenz-Grenzwert und den zeitabhängigen Verlauf der Kräftedifferenz zwischen rechtsseitigem und linksseitigem Antrieb kann von unterschiedlichen Fahrbetriebsparametern abhängig sein. Insbesondere kann eine Veränderung der Grenzwerte für unterschiedliche Fahrgeschwindigkeiten vorgesehen sein, um beispielsweise die Fahrstabilität bei hohen Geschwindigkeiten zu erhöhen.The respective effective limit values for the difference limit value and the time-dependent progression of the force difference between the right-side and the left-side drive can be dependent on different drive operating parameters. In particular, it is possible to provide a change in the limit values for different driving speeds in order, for example, to increase the driving stability at high speeds.
Erfindungsgemäß kann weiterhin vorgesehen sein, dass bei einem Fahrzeug mit mehr als einer Antriebsachse für jede Antriebsachse separate Grenzwerte und Kräftedifferenzverläufe vorgegeben sind. Außerdem kann in die Überwachung der Kräftedifferenzen die linksseitige Antriebskraft und die rechtsseitige Antriebskraft sämtlicher Antriebsachsen in Betracht gezogen werden, um eine geeignete Regelung der Antriebskräfte an den einzelnen Antriebsrädern vorzunehmen.According to the invention, it can further be provided that in a vehicle having more than one drive axle, separate limit values and force difference profiles are predetermined for each drive axle. In addition, in the monitoring of the force differences, the left-side driving force and the right-side driving force of all driving axles can be taken into consideration to make appropriate control of the driving forces on the individual drive wheels.
Die Erfindung wird nachfolgend anhand eines in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert.The invention will be explained in more detail with reference to an embodiment shown in the drawing.
Es zeigen:Show it:
Das in
Die Elektromotoren EM sind elektrische Maschinen, die vorzugsweise sowohl als Motor als auch als Generator betrieben werden können.The electric motors EM are electrical machines, which can be operated preferably both as a motor and as a generator.
Die Antriebsräder AR1, AL1; AR2, AL2 und die ihnen zugeordneten Elektromotoren EM werden mittels zugeordneten Sensoren SR1, SL1; SR1, SL2 überwacht, die ihre Signale an ein zentrales Steuergerät SG und eine Einrichtung zur Antriebsschlupfregelung ASR über einen Datenbus
Die beiden in
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102004041123 A1 [0004] DE 102004041123 A1 [0004]
- DE 19739276 A1 [0005] DE 19739276 A1 [0005]
Claims (5)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011015369A DE102011015369A1 (en) | 2011-03-29 | 2011-03-29 | Traction control system for vehicles with independent wheel drive |
PCT/EP2012/000648 WO2012130356A1 (en) | 2011-03-29 | 2012-02-15 | Method for traction control for vehicles having individual-wheel drive |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011015369A DE102011015369A1 (en) | 2011-03-29 | 2011-03-29 | Traction control system for vehicles with independent wheel drive |
Publications (1)
Publication Number | Publication Date |
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DE102011015369A1 true DE102011015369A1 (en) | 2012-10-04 |
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ID=45688421
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE102011015369A Withdrawn DE102011015369A1 (en) | 2011-03-29 | 2011-03-29 | Traction control system for vehicles with independent wheel drive |
Country Status (2)
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DE (1) | DE102011015369A1 (en) |
WO (1) | WO2012130356A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014003992A1 (en) | 2014-03-14 | 2015-09-17 | Flanders' Drive | System and method for driving and braking torque control in electric vehicles with independent wheel drive |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19739276A1 (en) | 1996-09-10 | 1998-03-12 | Toyota Motor Co Ltd | Drive control device for electric vehicle with drive-motor for each wheel |
DE102004041123A1 (en) | 2004-08-24 | 2006-04-20 | Ludwig, Dieter, Prof. Dr. | Wheel adhesion control for e.g. military vehicle, has combined drive and brake system accessable per wheel over central control and energy management so that optimal braking or driving takes place with simultaneous trace stop for vehicle |
JP2007055358A (en) * | 2005-08-23 | 2007-03-08 | Nissan Motor Co Ltd | Right and left torque distribution controller for vehicle |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4134831C2 (en) * | 1991-10-22 | 1995-05-18 | Mannesmann Ag | Arrangement for determining a coefficient of friction information |
DE4133060C2 (en) * | 1991-10-04 | 1995-08-31 | Mannesmann Ag | Drive arrangement for a motor vehicle |
DE19540067C2 (en) * | 1995-10-27 | 1998-04-09 | Daimler Benz Ag | Method for controlling the separate drive of two vehicle wheels |
-
2011
- 2011-03-29 DE DE102011015369A patent/DE102011015369A1/en not_active Withdrawn
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2012
- 2012-02-15 WO PCT/EP2012/000648 patent/WO2012130356A1/en active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19739276A1 (en) | 1996-09-10 | 1998-03-12 | Toyota Motor Co Ltd | Drive control device for electric vehicle with drive-motor for each wheel |
DE102004041123A1 (en) | 2004-08-24 | 2006-04-20 | Ludwig, Dieter, Prof. Dr. | Wheel adhesion control for e.g. military vehicle, has combined drive and brake system accessable per wheel over central control and energy management so that optimal braking or driving takes place with simultaneous trace stop for vehicle |
JP2007055358A (en) * | 2005-08-23 | 2007-03-08 | Nissan Motor Co Ltd | Right and left torque distribution controller for vehicle |
Non-Patent Citations (2)
Title |
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JP 2007 055 358 A Rohübersetzung |
JP 2007055358 A Rohübersetzung * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014003992A1 (en) | 2014-03-14 | 2015-09-17 | Flanders' Drive | System and method for driving and braking torque control in electric vehicles with independent wheel drive |
DE102014003992B4 (en) * | 2014-03-14 | 2016-01-07 | Flanders' Drive | System and method for driving and braking torque control in electric vehicles with independent wheel drive |
Also Published As
Publication number | Publication date |
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WO2012130356A1 (en) | 2012-10-04 |
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R012 | Request for examination validly filed | ||
R016 | Response to examination communication | ||
R120 | Application withdrawn or ip right abandoned | ||
R120 | Application withdrawn or ip right abandoned |
Effective date: 20130920 |