DE102013209175A1 - Method for braking a vehicle and control device for a recuperative braking system of a vehicle - Google Patents
Method for braking a vehicle and control device for a recuperative braking system of a vehicle Download PDFInfo
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- DE102013209175A1 DE102013209175A1 DE102013209175.3A DE102013209175A DE102013209175A1 DE 102013209175 A1 DE102013209175 A1 DE 102013209175A1 DE 102013209175 A DE102013209175 A DE 102013209175A DE 102013209175 A1 DE102013209175 A1 DE 102013209175A1
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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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
- B60L15/2009—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 for braking
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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
- 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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- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/12—Dynamic electric regenerative braking for vehicles propelled by dc motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/58—Combined or convertible systems
- B60T13/585—Combined or convertible systems comprising friction brakes and retarders
- B60T13/586—Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
- B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D61/00—Brakes with means for making the energy absorbed available for use
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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
- B60L2220/42—Electrical machine applications with use of more than one motor
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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
- 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
- B60L2240/421—Speed
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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
- 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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/604—Merging friction therewith; Adjusting their repartition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
- B60T8/266—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
- B60T8/266—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means
- B60T8/267—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means for hybrid systems with different kind of brakes on different axles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/322—Systems specially adapted for vehicles driven by more than one axle, e.g. Four Wheel-Drive vehicles
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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
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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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
- Y02T10/72—Electric energy management in electromobility
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Abstract
Die Erfindung betrifft ein Verfahren zum Abbremsen eines Fahrzeugs mit den Schritten Abbremsen mindestens einer ersten Achse des Fahrzeugs mittels mindestens eines durch mindestens einen ersten Elektromotor (50) bewirkten ersten Generator-Bremsmoments (Mgen1), und Zumindest zeitweises Ansteuern des mindestens einen ersten Elektromotors (50) zum Ausüben des ersten Generator-Bremsmoments (Mgen1) auf die erste Achse und des mindestens einen ersten Elektromotors (50) und/oder mindestens eines zweiten Elektromotors (52) zum Ausüben eines zweiten Generator-Bremsmoments (Mgen2) auf eine zweite Achse des Fahrzeugs derart, dass ein Verhältnis aus einem auf die erste Achse ausgeübten ersten Gesamt-Bremsmoment umfassend zumindest das erste Generator-Bremsmoment (Mgen1) und einem gleichzeitig auf die zweite Achse ausgeübten zweiten Gesamt-Bremsmoment umfassend zumindest das zweite Generator-Bremsmoment (Mgen2) einer vorgegebenen Soll-Bremskraftverteilung entspricht. Ebenso betrifft die Erfindung eine Steuervorrichtung für ein rekuperatives Bremssystem eines Fahrzeugs und ein rekuperatives Bremssystem für ein Fahrzeug.The invention relates to a method for braking a vehicle, comprising the steps of braking at least one first axle of the vehicle by means of at least one first generator braking torque (Mgen1) brought about by at least one first electric motor (50), and at least temporarily actuating the at least one first electric motor (50 ) for exerting the first generator braking torque (Mgen1) on the first axle and the at least one first electric motor (50) and / or at least one second electric motor (52) for exerting a second generator braking torque (Mgen2) on a second axle of the vehicle such that a ratio of a first total braking torque exerted on the first axis comprising at least the first generator braking torque (Mgen1) and a second total braking torque exerted on the second axis comprising at least the second generator braking torque (Mgen2) of a predetermined one Target braking force distribution corresponds. The invention also relates to a control device for a recuperative braking system of a vehicle and a recuperative braking system for a vehicle.
Description
Die Erfindung betrifft ein Verfahren zum Abbremsen eines Fahrzeugs. Ebenso betrifft die Erfindung eine Steuervorrichtung für ein rekuperatives Bremssystem eines Fahrzeugs. Des Weiteren betrifft die Erfindung ein rekuperatives Bremssystem eines Fahrzeugs.The invention relates to a method for braking a vehicle. Likewise, the invention relates to a control device for a recuperative braking system of a vehicle. Furthermore, the invention relates to a recuperative braking system of a vehicle.
Stand der TechnikState of the art
In der
Bei dem in
Offenbarung der ErfindungDisclosure of the invention
Die Erfindung schafft ein Verfahren zum Abbremsen eines Fahrzeugs mit den Merkmalen des Anspruchs 1, eine Steuervorrichtung für ein rekuperatives Bremssystem eines Fahrzeugs mit den Merkmalen des Anspruchs 7 und ein rekuperatives Bremssystem für ein Fahrzeug mit den Merkmalen des Anspruchs 13.The invention provides a method for braking a vehicle having the features of claim 1, a control device for a recuperative braking system of a vehicle with the features of claim 7 and a recuperative braking system for a vehicle having the features of claim 13.
Vorteile der ErfindungAdvantages of the invention
Die vorliegende Erfindung gewährleistet die Nutzung aller Achsen eines Fahrzeugs zur Rekuperation während einer Bremsung. Auf diese Weise kann ein besonders hoher Anteil von kinetischer Energie während einer Bremsung in elektrische Energie umgewandelt werden. Aufgrund der vergleichsweise hohen Umwandlungsrate von kinetischer Energie in elektrische Energie kann eine Fahrzeugbatterie schneller aufgeladen werden. Die vorliegende Erfindung erleichtert somit das Bereitstellen von elektrischer Energie zum elektrischen Antreiben aller Achsen des Fahrzeugs. Auf diese Weise ist der Betrieb eines Elektrofahrzeugs mit mehr als einer elektrisch angetriebenen Achse signifikant erleichtert.The present invention ensures the use of all axles of a vehicle for recuperation during braking. In this way, a particularly high proportion of kinetic energy can be converted during braking into electrical energy. Due to the comparatively high conversion rate of kinetic energy into electrical energy, a vehicle battery can be charged faster. The present invention thus facilitates the provision of electrical energy for electrically driving all the axles of the vehicle. In this way, the operation of an electric vehicle with more than one electrically driven axle is significantly facilitated.
Es wird darauf hingewiesen, dass die vorliegende Erfindung eine Nutzung des Rekuperationspotentials aller Achsen des Fahrzeugs ermöglicht. Insbesondere kann somit an allen Achsen des Fahrzeugs nicht nur hydraulisch mittels mindestens eines Radbremszylinders, sondern auch rekuperativ (bzw. generatorisch) gebremst werden.It should be noted that the present invention enables utilization of the recuperation potential of all the axles of the vehicle. In particular, it is therefore possible to brake on all axles of the vehicle not only hydraulically by means of at least one wheel brake cylinder but also by recuperation (or by way of generator).
Ein weiterer signifikanter Vorteil der vorliegenden Erfindung besteht in der zumindest zeitweise gewährleisteten Einhaltung einer vorgegebenen Soll-Bremskraftverteilung/Soll-Bremskraftverteilung. Somit ist selbst bei einem generatorischen Abbremsen aller Achsen des Fahrzeugs gewährleistet, dass eine bevorzugte Bremskraftverteilung zumindest zeitweise eingehalten wird.Another significant advantage of the present invention is the at least temporarily ensured adherence to a predetermined desired braking force distribution / desired braking force distribution. Thus, even with a regenerative braking of all axes of the vehicle ensures that a preferred brake force distribution is maintained at least temporarily.
In einer vorteilhaften Ausführungsform des Verfahrens wird beim Ansteuern des mindestens einen ersten Elektromotors und/oder des mindestens einen zweiten Elektromotors eine von einem Fahrer oder einer Geschwindigkeits-Steuerautomatik des Fahrzeugs vorgegebene Soll-Fahrzeugverzögerung derart berücksichtigt, dass eine Summe des ersten Gesamt-Bremsmoments und des zweiten Gesamt-Bremsmoments der vorgegebenen Soll-Fahrzeugverzögerung entspricht. Somit ist zusätzlich zu einem zumindest zeitweise realisierten Einhalten der vorgegebenen Soll-Bremskraftverteilung/Soll-Bremskraftverteilung auch gewährleistet, dass die vorgegebene Soll-Fahrzeugverzögerung verlässlich eingehalten wird. Der Fahrerbremswunsch oder die von der Geschwindigkeits-Steuerautomatik vorgegebene autonome Bremsung wird somit trotz des Einsatzes des mindestens einen Elektromotors zum Abbremsen mehrerer Achsen genau ausgeführt.In an advantageous embodiment of the method is when driving the at least one the first electric motor and / or the at least one second electric motor, a predetermined vehicle deceleration predetermined by a driver or automatic cruise control of the vehicle is taken into account such that a sum of the first total braking torque and the second total braking torque corresponds to the predetermined target vehicle deceleration. Thus, in addition to an at least partially realized adherence to the predetermined desired braking force distribution / desired braking force distribution, it is also ensured that the predetermined target vehicle deceleration is reliably maintained. The driver's brake request or the autonomous braking predetermined by the automatic speed control is thus carried out precisely despite the use of the at least one electric motor for braking several axles.
In einer weiteren vorteilhaften Ausführungsform werden beim Ansteuern des mindestens einen ersten Elektromotors und/oder des mindestens einen zweiten Elektromotors mindestens ein auf die erste Achse mittels mindestens eines ersten Radbremszylinders eventuell ausgeübtes erstes Reib-Bremsmoment und/oder mindestens ein auf die zweite Achse mittels mindestens eines zweiten Radbremszylinders eventuell ausgeübtes zweites Reib-Bremsmoment derart berücksichtigt, dass das Verhältnis aus dem ersten Gesamt-Bremsmoment umfassend zumindest das erste Generator-Bremsmoment und das erste Reib-Bremsmoment und dem zweiten Gesamt-Bremsmoment umfassend zumindest das zweite Generator-Bremsmoment und das zweite Reib-Bremsmoment der vorgegebenen Soll-Bremskraftverteilung entspricht. Somit ist ein zumindest zeitweises Einhalten der Soll-Bremskraftverteilung sowohl während einer reingeneratorischen Bremsung als auch in einem Mischbetrieb gewährleistet.In a further advantageous embodiment, when the at least one first electric motor and / or the at least one second electric motor are actuated, at least one first frictional braking torque possibly exerted on the first axle by means of at least one first wheel brake cylinder and / or at least one on the second axle by means of at least one the second wheel brake cylinder possibly applied second friction braking torque considered such that the ratio of the first total braking torque comprising at least the first generator braking torque and the first friction braking torque and the second total braking torque comprising at least the second generator braking torque and the second friction -Bremsmoment the predetermined target braking force distribution corresponds. Thus, an at least temporary compliance with the desired braking force distribution is ensured both during a purely regenerative braking and in a mixed operation.
Vorzugsweise werden, sofern mindestens ein erstes Rekuperationspotential des mindestens einen ersten Elektromotors und mindestens ein zweites Rekuperationspotential des mindestens einen zweiten Elektromotors unlimitiert vorliegen, das erste Generator-Bremsmoment auf die erste Achse und das zweite Generator-Bremsmoment auf die zweite Achse derart ausgeübt, dass das Verhältnis aus dem auf die erste Achse ausgeübten ersten Gesamt-Bremsmoment und dem gleichzeitig auf die zweite Achse ausgeübten zweiten Gesamt-Bremsmoment der vorgegebenen Soll-Bremskraftverteilung entspricht. Somit kann die uneingeschränkte Einsetzbarkeit der Elektromotoren vorteilhaft zum Einhalten der gewünschten Bremsmomentverteilung/Bremskraftverteilung genutzt werden.Preferably, provided at least one first recuperation potential of the at least one first electric motor and at least one second recuperation potential of the at least one second electric motor are unlimited, the first generator braking torque is exerted on the first axis and the second generator braking torque on the second axis such that the Ratio of the force exerted on the first axis first total braking torque and the same time applied to the second axis second total braking torque of the predetermined desired braking force distribution corresponds. Thus, the unrestricted applicability of the electric motors can be advantageously used to comply with the desired brake torque distribution / brake force distribution.
Außerdem kann, sofern das mindestens eine erste Rekuperationspotential aufgrund von Stabilitätsproblemen limitiert ist und das mindestens eine zweite Rekuperationspotential unlimitiert vorliegt, das mittels des mindestens einen ersten Elektromotors ausgeübte erste Generator-Bremsmoment reduziert und das mittels des mindestens einen zweiten Elektromotors ausgeübte zweite Generator-Bremsmoment entsprechend gesteigert werden. Somit kann, sobald das generatorische Moment einer Achse aufgrund von Stabilitätsereignissen limitiert ist, dieses an die andere Achse verschoben werden. Dies ändert zwar die Verteilung der Bremsmomente, bzw. das Verhältnis aus den Gesamt-Bremsmomenten, bewirkt jedoch ein Gleichbleiben des generatorischen Anteils an der Gesamtverzögerung.In addition, if the at least one first recuperation potential is limited due to stability problems and the at least one second recuperation potential is unlimited, the first generator braking torque exerted by the at least one first electric motor is reduced and the second generator braking torque exerted by the at least one second electric motor correspondingly be increased. Thus, as soon as the generator moment of an axis is limited due to stability events, it can be shifted to the other axis. Although this changes the distribution of the braking torque, or the ratio of the total braking torque, but causes a constant proportion of the regenerative component of the total delay.
In einer vorteilhaften Weiterbildung können auch, sofern das mindestens eine erste Rekuperationspotential und das mindestens eine zweite Rekuperationspotential aufgrund von Stabilitätsproblemen limitiert sind, das mittels des mindestens einen ersten Elektromotors ausgeübte erste Generator-Bremsmoment und/oder das mittels des mindestens einen zweiten Elektromotors ausgeübte zweite Generator-Bremsmoment reduziert und das erste Reib-Bremsmoment und/oder das zweite Reib-Bremsmoment entsprechend gesteigert werden. Eine entfallende Einsetzbarkeit der Elektromotoren kann somit durch die Reib-Bremsmomente derart kompensiert werden, dass die vorgegebene Soll-Fahrzeugverzögerung weiterhin verlässlich eingehalten wird. Ein Fahrerbremswunsch oder eine von der Geschwindigkeits-Steuerautomatik vorgegebene autonome Bremsung sind somit weiterhin trotz der entfallenden Einsetzbarkeit der Elektromotoren zum generatorischen Bremsen fehlerfrei ausführbar.In an advantageous development, provided that the at least one first recuperation potential and the at least one second recuperation potential are limited due to stability problems, the first generator braking torque exerted by the at least one first electric motor and / or the second generator exerted by the at least one second electric motor -Bremsmoment reduced and the first friction braking torque and / or the second friction braking torque can be increased accordingly. An attributable applicability of the electric motors can thus be compensated by the friction braking torques such that the predetermined target vehicle deceleration is still reliably maintained. A driver's braking request or an autonomous braking predetermined by the automatic speed control system are therefore still able to run without errors despite the fact that the electric motors can not be used for regenerative braking.
Die in den vorausgehenden Absätzen beschriebenen Vorteile sind auch mittels einer entsprechenden Steuervorrichtung realisierbar.The advantages described in the preceding paragraphs can also be realized by means of a corresponding control device.
Die beschriebenen Vorteile können auch gewährleistet werden mittels eines derartigen rekuperativen Bremssystems.The described advantages can also be ensured by means of such a recuperative braking system.
Kurze Beschreibung der ZeichnungenBrief description of the drawings
Weitere Merkmale und Vorteile der vorliegenden Erfindung werden nachfolgend anhand der Figuren erläutert. Es zeigen:Further features and advantages of the present invention will be explained below with reference to the figures. Show it:
Ausführungsformen der ErfindungEmbodiments of the invention
Das im Weiteren beschriebene Verfahren kann mit einer Vielzahl von verschiedenen Bremssystemen ausgeführt werden. Die in
Das Verfahren umfasst ein Abbremsen mindestens einer ersten Achse des Fahrzeugs mittels mindestens eines durch mindestens einen ersten Elektromotor
Das hier beschriebene Verfahren bietet somit durch das zumindest zeitweilige Einhalten der vorgegebenen Soll-Bremskraftverteilung eine vorteilhafte Fahrzeugstabilität. Selbst das Einsetzen des mindestens einen Elektromotors
Bevorzugt wird beim Ansteuern des mindestens einen ersten Elektromotors
Ebenso können beim Ansteuern des mindestens einen ersten Elektromotors
Bevorzugter Weise werden das erste Generator-Bremsmoment Mgen1 auf die erste Achse und das zweite Generator-Bremsmoment Mgen2 auf die zweite Achse gerade dann so ausgeübt, dass das Verhältnis aus dem auf die erste Achse ausgeübten ersten Gesamt-Bremsmoment und dem gleichzeitig auf die zweite Achse ausgeübten zweiten Gesamt-Bremsmoment der vorgegebenen Soll-Bremskraftverteilung entspricht, wenn das mindestens eine erste Rekuperationspotential des mindestens einen ersten Elektromotors
Sofern das mindestens eine erste Rekuperationspotential aufgrund von Stabilitätsproblemen limitiert ist und das mindestens eine zweite Rekuperationspotential unlimitiert vorliegt, können das mittels des mindestens einen ersten Elektromotors
Auch nach einem Reduzieren des ersten Generator-Bremsmoments Mgen1 und einem entsprechenden Steigern des zweiten Generator-Bremsmoments Mgen2 kann die Summe der Gesamt-Bremsmomente noch der vorgegebenen Soll-Fahrzeugverzögerung entsprechen. Somit wird selbst bei einem Einhalten der vorgegebenen Soll-Fahrzeugverzögerung die gewünschte generatorische Leistung noch erbracht. Even after reducing the first generator braking torque Mgen1 and a corresponding increase in the second generator braking torque Mgen2, the sum of the total braking torques can still correspond to the predetermined target vehicle deceleration. Thus, even if the predetermined target vehicle deceleration is maintained, the desired regenerative power is still provided.
Als Alternative zu der in den vorausgehenden Absätzen beschriebenen Vorgehensweise kann jedoch auch, sofern das mindestens eine erste Rekuperationspotential aufgrund von Stabilitätsproblemen limitiert ist und das mindestens eine zweite Rekuperationspotential unlimitiert vorliegt, die Reduzierung des ersten Generator-Bremsmoments Mgen1 mittels einer Steigerung mindestens eines Reib-Bremsmoments Mr1 oder Mr2 zumindest teilweise kompensiert werden. Auch auf diese Weise ist gewährleistbar, dass die vorgegebene Soll-Fahrzeugverzögerung weiterhin verlässlich eingehalten wird.However, as an alternative to the procedure described in the preceding paragraphs, if the at least one first recuperation potential is limited due to stability problems and the at least one second recuperation potential is unlimited, the reduction of the first generator braking torque Mgen1 can be achieved by increasing at least one frictional braking torque Mr1 or Mr2 be at least partially compensated. In this way it is also possible to ensure that the specified target vehicle deceleration is reliably maintained.
Sofern das mindestens eine erste Rekuperationspotential und das mindestens eine zweite Rekuperationspotential aufgrund von Stabilitätsproblemen limitiert sind, ist es vorteilhaft, dass mittels des mindestens einen ersten Elektromotors
In der hier beschriebenen Ausführungsform wird das Verfahren mittels eines Bremssystems mit einem Hauptbremszylinder
Die dem entkoppelbaren ersten Bremskreis
Die in
Die Ansteuereinrichtung
In einer vorteilhaften Weiterbildung ist die Ansteuereinrichtung
In einer bevorzugten Ausführungsform der Steuervorrichtung
Außerdem ist die Ansteuereinrichtung
Als Alternative zu der in dem vorausgehenden Absatz beschriebenen Auslegung kann die Ansteuereinrichtung
Vorteilhafterweise ist die Ansteuereinrichtung
Bereits mittels einer kostengünstigen Elektronik als Ansteuereinrichtung
Das in
Das Bremssystem weist einen von seinem Hauptbremszylinder
Auch das in
Es wird darauf hingewiesen, dass die Steuervorrichtung
Mittels des Koordinatensystems der
Ab der Zeit t0 betätigt der Fahrer das Bremsbetätigungselement
Vorzugsweise wird diese Soll-Verzögerungskraft Fa zu einem möglichst hohen Anteil generatorisch/rekuperativ aufgebracht. Die Steuervorrichtung
Bis zu einer Zeit t3 kann die Steuervorrichtung
Bei der hier beschriebenen Ausführungsform werden die Ventile des Bremssystems so angesteuert, dass der Fahrer ab der Zeit t1 in den zweiten Bremskreis
Die zwischen den Zeiten t1 und t3 ausgeübten Generator-Bremsmomente Mgen1 und Mgen2 korrespondieren zu den anliegenden hydraulischen Verzögerungen ahyd1 und ahyd2 derart, dass eine auf die erste Achse ausgeübte erste Gesamt-Bremskraft Fges1 und eine auf die zweite Achse ausgeübte zweite Gesamt-Bremskraft Fges2 die Gleichung (Gl2) erfüllen mit: wobei c1 der Reibungskoeffizient der ersten Achse, c2 der Reibungskoeffizient der zweiten Achse, r1 der Radradius der Räder der ersten Achse und r2 der Radradius der Räder der zweiten Achse sind.The generator braking torques Mgen1 and Mgen2 exerted between times t1 and t3 correspond to the applied hydraulic decelerations ahyd1 and ahyd2 such that a first total braking force Fges1 exerted on the first axis and a second total braking force Fges2 exerted on the second axis satisfy the equation (Gl2) with: where c 1 is the friction coefficient of the first axis, c 2 is the friction coefficient of the second axis, r 1 is the wheel radius of the wheels of the first axle, and r 2 is the wheel radius of the wheels of the second axle.
Während eines Zeitintervalls zwischen den Zeiten t0 und t3 kann somit ein maximaler Anteil der Soll-Verzögerungskraft Fa rekuperativ ausgeführt werden, wobei gleichzeitig eine gute Fahrzeugstabilität gewährleistet ist.During a time interval between the times t0 and t3, a maximum proportion of the desired deceleration force Fa can thus be carried out in a recuperative manner, at the same time ensuring good vehicle stability.
Ab der Zeit t3 nimmt das aktuell maximal ausführbare Kann-Generator-Bremsmoment Mkann signifikant ab. Die Generator-Bremsmomente Mgen1 und Mgen2 werden deshalb zwischen den Zeiten t3 und t4 auf Null reduziert. Um dennoch ein vorteilhaftes Einhalten der von dem Fahrer angeforderten Soll-Verzögerungskraft Fa zu gewährleisten, wird ab der Zeit t3 der in den Radbremszylindern
Die Arbeiten, die zu dieser Erfindung geführt haben, wurden gemäß der Finanzhilfevereinbarung Nr. 285526 im Zuge des Siebten Rahmenprogramms der Europäischen Union (RP7/2007-2013) gefördert.The work leading to this invention has been funded under the Grant Agreement No. 285526 under the Seventh Framework Program of the European Union (FP7 / 2007-2013).
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
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