DE102012216517A1 - Method for operating an electric motor driven vehicle - Google Patents
Method for operating an electric motor driven vehicle Download PDFInfo
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- DE102012216517A1 DE102012216517A1 DE102012216517.7A DE102012216517A DE102012216517A1 DE 102012216517 A1 DE102012216517 A1 DE 102012216517A1 DE 102012216517 A DE102012216517 A DE 102012216517A DE 102012216517 A1 DE102012216517 A1 DE 102012216517A1
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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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
- 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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- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
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- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
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- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
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- B60L2240/00—Control parameters of input or output; Target parameters
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- B60L2240/22—Yaw angle
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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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- 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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
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- 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
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/14—Yaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
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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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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
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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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- 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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Abstract
Bei einem Verfahren zum Betrieb eines mehrachsigen Fahrzeugs mit elektrischen Antriebsmotoren an jedem Rad einer gemeinsamen Fahrzeugachse wird im Falle einer Abweichung des von einem elektrischen Antriebsmotor erzeugten Antriebsmoments von einem Sollmoment ein kompensierendes Moment von einem einstellbaren Fahrzeugaggregat erzeugt.In a method for operating a multi-axle vehicle with electric drive motors on each wheel of a common vehicle axle, if the drive torque generated by an electric drive motor deviates from a setpoint torque, a compensating torque is generated by an adjustable vehicle unit.
Description
Die Erfindung bezieht sich auf ein Verfahren zum Betrieb eines mehrachsigen Fahrzeugs mit elektrischen Antriebsmotoren am linken bzw. rechten Rad einer gemeinsamen Fahrzeugachse. The invention relates to a method for operating a multi-axle vehicle with electric drive motors on the left or right wheel of a common vehicle axle.
Stand der TechnikState of the art
Bekannt sind elektromotorische Antriebskonzepte in Kraftfahrzeugen mit radindividuell angeordneten elektrischen Antriebsmotoren. Hierbei werden die linken und rechten Fahrzeugräder an einer gemeinsamen Fahrzeugachse von jeweils einem elektrischen Antriebsmotor angetrieben. Es kommt sowohl der Antrieb der Vorderräder als auch der Hinterräder oder sämtlicher Fahrzeugräder in Betracht. Die elektrischen Antriebsmotoren müssen so angesteuert werden, dass das jeweils abgegebene Antriebsmoment einem Sollmoment entspricht, welches von der aktuellen Fahrsituation abhängig ist. Electric motor drive concepts are known in motor vehicles with wheel-individually arranged electric drive motors. Here, the left and right vehicle wheels are driven by a respective electric drive motor on a common vehicle axle. It is both the drive of the front wheels and the rear wheels or all vehicle wheels into consideration. The electric drive motors must be controlled so that the respective output drive torque corresponds to a desired torque, which is dependent on the current driving situation.
Offenbarung der ErfindungDisclosure of the invention
Der Erfindung liegt die Aufgabe zugrunde, bei einem mehrachsigen Fahrzeug mit mindestens zwei radindividuellen elektrischen Antriebsmotoren die Fahrstabilität auch im Falle einer Störung des abgegebenen Antriebsmoments sicherzustellen.The invention is based on the object in a multi-axle vehicle with at least two wheel-individual electric drive motors to ensure the driving stability even in the event of a disturbance of the output drive torque.
Diese Aufgabe wird erfindungsgemäß mit den Merkmalen des Anspruches 1 gelöst. Die Unteransprüche geben zweckmäßige Weiterbildungen an. This object is achieved with the features of claim 1. The dependent claims indicate expedient developments.
Das erfindungsgemäße Verfahren bezieht sich auf ein mehrachsiges Fahrzeug mit mindestens zwei elektrischen, radindividuellen Antriebsmotoren, die sich am linken bzw. rechten Fahrzeugrad einer gemeinsamen Fahrzeugachse des Fahrzeugs befinden. Grundsätzlich kann es sich um ein Fahrzeug mit ausschließlich elektromotorischem Antrieb handeln, wobei gegebenenfalls auch Hybrid-Fahrzeuge mit einer Kombination von elektromotorischem Antrieb mit einer Brennkraftmaschine in Betracht kommt. Die beiden radindividuellen elektrischen Antriebsmotoren befinden sich entweder an der Vorderachse, der Hinterachse oder an beiden bzw. sämtlichen Achsen des Fahrzeugs. Das Fahrzeug weist zumindest zwei Fahrzeugachsen auf, gegebenenfalls kommen auch Fahrzeuge mit mehr als zwei Fahrzeugachsen in Betracht. The method according to the invention relates to a multi-axle vehicle having at least two electric, wheel-specific drive motors which are located on the left or right vehicle wheel of a common vehicle axle of the vehicle. Basically, it may be a vehicle with only electric motor drive, which may also be hybrid vehicles with a combination of electric motor drive with an internal combustion engine into consideration. The two wheel-individual electric drive motors are located either on the front axle, the rear axle or on both or all axles of the vehicle. The vehicle has at least two vehicle axles, possibly also vehicles with more than two vehicle axles into consideration.
Die elektrischen Antriebsmotoren an den beiden Rädern einer Fahrzeugachse sind individuell ansteuerbar, so dass das abgegebene Antriebsmoment auf die jeweilige, aktuelle Situation angepasst werden kann. Um im Falle eines Fehlers bzw. einer Störung im abgegebenen Antriebsmoment eines elektrischen Antriebsmotors ein entstehendes Giermoment um die Fahrzeughochachse aufzuheben, zumindest aber zu reduzieren, wird im Fahrzeug ein kompensierendes Giermoment von einem einstellbaren Fahrzeugaggregat bereitgestellt. Der Fehler bzw. die Störung in der Bereitstellung des Antriebsmomentes im elektrischen Antriebsmotor wird anhand einer Abweichung des vom Antriebsmotor erzeugten, tatsächlichen Ist-Antriebsmomentes von einem vorgegebenen Sollmoment erkannt. Liegt eine derartige Abweichung vor bzw. übersteigt die Abweichung einen vorgegebenen Schwellenwert, wird als ausgleichende Maßnahme das kompensierende Giermoment von dem einstellbaren Fahrzeugaggregat erzeugt. Dadurch ist gewährleistet, dass das durch die Fehlfunktion des elektrischen Antriebsmotors entstehende Giermoment nicht zu einer Fahrinstabilität führt. Das kompensierende Giermoment des einstellbaren Fahrzeugaggregates wirkt dem Störgiermoment entgegen, welches durch die Leistungsstörung des Antriebsmotors entsteht. The electric drive motors on the two wheels of a vehicle axle can be controlled individually, so that the output drive torque can be adapted to the current situation. In order to cancel in the event of a fault or a fault in the output drive torque of an electric drive motor, a resulting yaw moment about the vehicle vertical axis, but at least to reduce, a compensating yaw moment is provided by an adjustable vehicle unit in the vehicle. The fault or the fault in the provision of the drive torque in the electric drive motor is detected by a deviation of the drive motor generated by the actual actual drive torque of a predetermined target torque. If such a deviation is present or if the deviation exceeds a predetermined threshold value, the compensating yaw moment is generated by the adjustable vehicle aggregate as a compensatory measure. This ensures that the yawing moment caused by the malfunction of the electric drive motor does not lead to a driving instability. The compensating yaw moment of the adjustable vehicle assembly counteracts the Störgiermoment caused by the power failure of the drive motor.
Bei der Leistungsstörung handelt es sich in der Regel um eine Leistungsminderung, so dass das tatsächlich abgegebene Antriebsmoment kleiner ist als das Sollmoment. Grundsätzlich kommt als Leistungsstörung aber auch ein höheres Antriebsmoment im Vergleich zum Sollmoment in Betracht. The power disturbance is usually a power reduction, so that the actual output torque is smaller than the target torque. Basically comes as a power failure but also a higher drive torque compared to the target torque into consideration.
Des Weiteren kommen sowohl Leistungsstörungen an nur einem elektrischen Antriebsmotor als auch an mehreren elektrischen Antriebsmotoren in Betracht. Maßgebend ist das resultierende Störmoment um die Hochachse, welches durch die Leistungsstörung der elektrischen Antriebsmotoren entsteht und das über den Eingriff über das Fahrzeugaggregat zumindest teilweise kompensiert wird. Furthermore, both power disturbances on only one electric drive motor and on a plurality of electric drive motors come into consideration. Decisive is the resulting disturbance torque about the vertical axis, which is caused by the power failure of the electric drive motors and which is at least partially compensated via the intervention via the vehicle assembly.
Die Störung kann in einem Regel- bzw. Steuergerät auftreten, über das der elektrische Antriebsmotor angesteuert wird, in einer Leistungsendstufe, im Bereich der Verkabelung oder im elektrischen Antriebsmotor selbst. Die kompensierenden Momente können so aufgebracht werden, dass der Vortrieb des Fahrzeugs beibehalten wird. The fault can occur in a control or control device, via which the electric drive motor is driven, in a power output stage, in the field of wiring or in the electric drive motor itself. The compensating moments can be applied so that the propulsion of the vehicle is maintained.
Bei dem einstellbaren Fahrzeugaggregat, über das das kompensierende Giermoment erzeugt wird, handelt es sich um eine Fahrzeugeinrichtung, die nicht mit dem elektrischen Antriebsmotor identisch ist, welcher die Leistungsstörung aufweist. Bei dem einstellbaren Fahrzeugaggregat kann es sich um einen der sonstigen elektrischen Antriebsmotoren im Fahrzeug handeln. In Betracht kommt grundsätzlich aber jedes Fahrzeugaggregat, über das die Fahrdynamik des Fahrzeugs beeinflussbar ist, beispielsweise die Fahrzeugbremse mit radindividuellem Eingriff zur Erzeugung verschiedener Radbremsmomente, um eine Antriebsschlupfregelung (ASR) zur Einstellung radindividueller Antriebsmomente oder um ein aktives Lenksystem zur Vorgabe eines Radlenkwinkels, der durch den Eingriff eines Überlagerungsgetriebes von der Fahrervorgabe abweichen kann. Der Eingriff zur Erzeugung des kompensierenden Giermomentes kann entweder über eine direkte Ansteuerung des Fahrzeugaggregates erfolgen oder über ein übergeordnetes Fahrerassistenzsystem, beispielsweise ein elektronisches Stabilitätsprogramm (ESP), bei dem verschiedene Fahrzeugkomponenten bzw. -aggregate zu einer übergeordneten Einheit zusammengeschaltet sind.In the adjustable vehicle unit, over which the compensating yaw moment is generated, it is a vehicle device that is not identical to the electric drive motor, which has the power failure. The adjustable vehicle unit may be one of the other electric drive motors in the vehicle. In principle, however, is any vehicle aggregate over which the driving dynamics of the vehicle can be influenced, for example, the vehicle brake with individual wheel engagement for generating different wheel braking, to a traction control (ASR) for setting individual wheel drive torques or an active steering system to specify a Radlenkwinkels that may differ from the driver's specification by the engagement of a superposition gear. The intervention for generating the compensating yawing moment can either take place via a direct activation of the vehicle aggregate or via a superordinated driver assistance system, for example an electronic stability program (ESP), in which various vehicle components or assemblies are connected together to form a higher-order unit.
Wird beispielsweise ein Leistungsabfall an einem elektrischen Antriebsmotor an einem Fahrzeugrad festgestellt, so kann am elektrischen Antriebsmotor des gegenüberliegenden Fahrzeugrades an der gleichen Fahrzeugachse das abgegebene Antriebsmoment entsprechend reduziert werden, insbesondere auf die gleiche Höhe. Hierdurch wird der Entstehung des Störgiermomentes entgegengewirkt. Sofern an zwei Fahrzeugachsen an jedem Rad der Achsen jeweils ein elektrischer Antriebsmotor angeordnet ist, so kann das Antriebsmoment am Rad der anderen Achse auf der gleichen Fahrzeugseite erhöht werden. Hierdurch wird ein kompensierendes Giermoment erzeugt, welches dem Störgiermoment entgegengerichtet ist. Diese Ausführung hat den Vorteil, dass der Vortrieb des Fahrzeugs nicht verringert wird. If, for example, a power loss on an electric drive motor is detected on a vehicle wheel, then the output drive torque can be reduced correspondingly to the electric drive motor of the opposite vehicle wheel on the same vehicle axle, in particular to the same height. As a result, the emergence of Störgiermomentes counteracted. If an electric drive motor is arranged on each wheel of the axles on two vehicle axles, the drive torque on the wheel of the other axle can be increased on the same side of the vehicle. As a result, a compensating yaw moment is generated, which is directed opposite to the Störgiermoment. This embodiment has the advantage that the propulsion of the vehicle is not reduced.
Gemäß einer weiteren vorteilhaften Ausführung hängt das kompensierende Moment von der Zeitdauer der Abweichung des Antriebsmomentes von dem leistungsgestörten Antriebsmotor vom Sollmoment ab. Hierbei kann grundsätzlich zwischen einer kurzzeitigen und einer dauerhaften Leistungsstörung unterschieden werden. Bei einer kurzzeitigen Leistungsstörung genügt gegebenenfalls ein Momentenimpuls als kompensierendes Moment, welcher zum Beispiel über einen zweiten elektrischen Antriebsmotor durch Verringerung oder Erhöhung des Antriebsmomentes erzeugt wird. Bei dauerhaften Leistungsstörungen wird das kompensierende Moment vorteilhafterweise ebenfalls dauerhaft aufgebracht. Zweckmäßigerweise wird die Dauer des kompensierenden Moments an die Dauer der Leistungsstörung angepasst.According to a further advantageous embodiment, the compensating torque depends on the duration of the deviation of the drive torque from the power-driven drive motor from the desired torque. In principle, a distinction can be made here between a short-term and a permanent performance disturbance. In the case of a short-term power failure, a momentary impulse is optionally sufficient as the compensating moment, which is generated for example via a second electric drive motor by reducing or increasing the drive torque. For permanent power disturbances, the compensating moment is advantageously also applied permanently. Conveniently, the duration of the compensating torque is adapted to the duration of the power disturbance.
Gemäß einer weiteren vorteilhaften Ausführung bleibt während der Dauer der Abweichung des Antriebsmoments vom Sollmoment die Funktionalität eines oder mehrerer Fahrerassistenzsysteme aufrechterhalten. Hierdurch soll vermieden werden, dass die Funktionalität eines Fahrdynamikregelungssystems bei einem erkannten Fehler im Fahrzeug bzw. dem elektrischen Antriebsmotor eingeschränkt wird. Sobald ein derartiger Fehler im elektrischen Antriebsmotor bzw. einer Komponente zur Ansteuerung des elektrischen Antriebsmotors erkannt wird, kann es vorteilhaft sein, eine Degradation bzw. Einschränkung der Funktionalität des Fahrdynamikregelungssystems zumindest für die Dauer der Leistungsstörung des elektrischen Antriebsmotors zu verhindern oder nur eine geringfügige Einschränkung zuzulassen, um zu gewährleisten, dass die ungewünschte Störgierbewegung durch das Fahrdynamikregelungssystem ausgeregelt werden kann. Zudem ist durch das Aufrechterhalten der Funktionalität gewährleistet, dass die Maßnahmen, welche zur Erzeugung des kompensierenden Momentes ergriffen werden, nicht ihrerseits zu einem unerwünschten Fahrzustand im Fahrzeug führen. According to a further advantageous embodiment, the functionality of one or more driver assistance systems is maintained during the duration of the deviation of the drive torque from the desired torque. This is to avoid that the functionality of a vehicle dynamics control system is limited in a detected fault in the vehicle or the electric drive motor. Once such a fault is detected in the electric drive motor or a component for controlling the electric drive motor, it may be advantageous to prevent degradation or restriction of the functionality of the vehicle dynamics control system, at least for the duration of the power failure of the electric drive motor or allow only a slight restriction to ensure that the unwanted Störgierbewegung can be compensated by the vehicle dynamics control system. In addition, by maintaining the functionality is ensured that the measures that are taken to generate the compensating moment, not in turn lead to an undesirable driving condition in the vehicle.
Die Aufrechterhaltung der Funktionalität eines oder mehrerer Fahrerassistenzsysteme bzw. Fahrdynamikregelsysteme wird beispielsweise dadurch gewährleistet, dass während der Dauer der Abweichung des Antriebsmoments vom Sollmoment dem fehlerbehafteten elektrischen Antriebsmotor Plausibilitätsprüfungen für ein oder mehrere Fahrzeugräder, insbesondere für das Rad mit dem fehlerhaften elektrischen Antriebsmotor entweder ausgesetzt oder durch Aufweitung von Grenzwerten angepasst werden. Das Aussetzen oder Anpassen der Plausibilitätsprüfung kann gegebenenfalls zusätzlich auf die Geschwindigkeitsbereiche begrenzt werden, in denen das fehlerhafte Antriebsmoment verhältnismäßig hoch ist und einen Schwellen- bzw. Grenzwert überschreitet. Des Weiteren ist es möglich, zusätzliche Sensorsignale, die den Bewegungszustand des Fahrzeugs während des Fahrens wiedergeben, bei der Aufrechterhaltung der Funktionalität des Fahrerassistenzsystems bzw. Fahrdynamikregelungssystems zu berücksichtigen. Es können beispielsweise die Schwellen- bzw. Grenzwerte für die Plausibilitätsprüfung eines Gierratesignals aufgeweitet werden, um während der Dauer des fehlerhaft erzeugten Antriebsmoments eine Funktionalitätseinschränkung zu vermeiden.Maintaining the functionality of one or more driver assistance systems or vehicle dynamics control systems is ensured, for example, by the plausibility checks for one or more vehicle wheels, in particular for the wheel with the faulty electric drive motor, either being suspended or exposed during the period of the deviation of the drive torque from the setpoint torque by the faulty electric drive motor Expansion of limits to be adjusted. The suspension or adaptation of the plausibility check may optionally be additionally limited to the speed ranges in which the faulty drive torque is relatively high and exceeds a threshold or limit value. Furthermore, it is possible to take into account additional sensor signals that reflect the state of motion of the vehicle during driving in the maintenance of the functionality of the driver assistance system or driving dynamics control system. For example, the threshold or limit values for the plausibility check of a yaw rate signal can be widened in order to avoid a functionality restriction during the duration of the drive torque generated incorrectly.
Das erfindungsgemäße Verfahren wird in einem Regel- bzw. Steuergerät im Fahrzeug durchgeführt. The method according to the invention is carried out in a control unit in the vehicle.
Weitere Vorteile und zweckmäßige Ausführungen sind den weiteren Ansprüchen, der Figurenbeschreibung und den Zeichnungen zu entnehmen. Es zeigen:Further advantages and expedient embodiments can be taken from the further claims, the description of the figures and the drawings. Show it:
In den Figuren sind gleiche Bauteile mit gleichen Bezugszeichen versehen.In the figures, the same components are provided with the same reference numerals.
Die
Gemäß
Es handelt sich bei den in den
Für den Fall, dass in einem der elektrischen Antriebsmotoren nicht das gewünschte Sollmoment erzeugt wird, sondern das tatsächlich erzeugte Antriebsmoment vom Sollmoment abweicht, beispielsweise aufgrund eines Fehlers bzw. Schadens im elektrischen Antriebsmotor, im Regel- bzw. Steuergerät oder der Leistungselektronik, werden Gegenmaßnahmen getroffen, um ein kompensierendes Moment zu erzeugen. Dadurch wird sichergestellt, dass aufgrund der Abweichung in dem defekten elektrischen Antriebsmotor kein resultierendes Giermoment um die Fahrzeughochachse erzeugt wird, das ein Störmoment darstellen würde.In the event that the desired torque is not generated in one of the electric drive motors, but the actually generated drive torque deviates from the desired torque, for example due to a fault or damage in the electric drive motor, control or power electronics, countermeasures are taken to generate a compensating moment. This ensures that due to the deviation in the defective electric drive motor no resulting yaw moment is generated about the vehicle vertical axis, which would represent a disturbance torque.
In den
Eine entsprechende Ausführung ist in
In
Die Kompensation bei den vorbeschriebenen Ausführungsbeispielen kann auf verschiedene Arten durchgeführt werden. Möglich ist die Erzeugung eines kompensierenden Momentes über eine Einstellung eines weiteren elektrischen Antriebsmotors, also bei
In
Claims (12)
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DE102012216517.7A DE102012216517A1 (en) | 2012-09-17 | 2012-09-17 | Method for operating an electric motor driven vehicle |
PCT/EP2013/065292 WO2014040781A1 (en) | 2012-09-17 | 2013-07-19 | Method for operating a vehicle driven by an electric motor |
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DE102012216517.7A DE102012216517A1 (en) | 2012-09-17 | 2012-09-17 | Method for operating an electric motor driven vehicle |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016139048A1 (en) * | 2015-03-03 | 2016-09-09 | Robert Bosch Gmbh | Method and device for ascertaining the presence of a fault state in a motor vehicle |
CN113212181A (en) * | 2020-01-21 | 2021-08-06 | 长沙智能驾驶研究院有限公司 | Control method and device for multi-axle distributed electric drive axle in vehicle |
CN114013262A (en) * | 2021-12-13 | 2022-02-08 | 博雷顿科技有限公司 | Four-wheel drive structure and control system of double-motor-driven pure electric loader |
CN114454730A (en) * | 2022-02-28 | 2022-05-10 | 奇瑞汽车股份有限公司 | Vehicle control method and device |
Family Cites Families (1)
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DE102011003693A1 (en) * | 2011-02-07 | 2012-08-09 | Robert Bosch Gmbh | Device for compensating a Störgiermoments in a vehicle with at least two wheel-individual drives |
-
2012
- 2012-09-17 DE DE102012216517.7A patent/DE102012216517A1/en active Pending
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2013
- 2013-07-19 WO PCT/EP2013/065292 patent/WO2014040781A1/en active Application Filing
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016139048A1 (en) * | 2015-03-03 | 2016-09-09 | Robert Bosch Gmbh | Method and device for ascertaining the presence of a fault state in a motor vehicle |
CN107278190A (en) * | 2015-03-03 | 2017-10-20 | 罗伯特·博世有限公司 | For determining method and apparatus in a motor vehicle with the presence or absence of malfunction |
KR20170126990A (en) * | 2015-03-03 | 2017-11-20 | 로베르트 보쉬 게엠베하 | Method and apparatus for determining whether an error condition exists in an automobile |
CN107278190B (en) * | 2015-03-03 | 2020-05-29 | 罗伯特·博世有限公司 | Method and device for determining whether a fault state exists in a motor vehicle |
KR102496881B1 (en) * | 2015-03-03 | 2023-02-07 | 로베르트 보쉬 게엠베하 | Method and Apparatus for Determining Whether an Fault Condition Exists in a Motor Vehicle |
CN113212181A (en) * | 2020-01-21 | 2021-08-06 | 长沙智能驾驶研究院有限公司 | Control method and device for multi-axle distributed electric drive axle in vehicle |
CN113212181B (en) * | 2020-01-21 | 2022-11-29 | 长沙智能驾驶研究院有限公司 | Control method and device for multi-axle distributed electric drive axle in vehicle |
CN114013262A (en) * | 2021-12-13 | 2022-02-08 | 博雷顿科技有限公司 | Four-wheel drive structure and control system of double-motor-driven pure electric loader |
CN114454730A (en) * | 2022-02-28 | 2022-05-10 | 奇瑞汽车股份有限公司 | Vehicle control method and device |
CN114454730B (en) * | 2022-02-28 | 2023-09-26 | 奇瑞汽车股份有限公司 | Vehicle control method and device |
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