DE102015006466A1 - vehicle - Google Patents

Abstract

The invention relates to a method for operating a vehicle (1), in particular a pedelec, e-bike o. The like., With a frame (2), with the frame (2) arranged wheels (3, 4), and with two drive motors (5, 6) for driving at least one wheel (3, 4). In the method, the operating state of the vehicle (1) is detected. The drive torque for the respective drive motor (5, 6) is set as a function of the detected operating state. Furthermore, the invention relates to a suitable vehicle for carrying out this method (1), in which a sensor (8) for detecting operating conditions of the vehicle (1) is provided. Furthermore, a control device (7) for the drive motors (5, 6) which is in communication with the sensor (8) is provided, wherein the control device (7) sets the drive torque for the respective drive motor (5, 6) as a function of the detected operating state.

Description

The invention relates to a method for operating a vehicle according to the preamble of patent claim 1 and a vehicle according to the preamble of patent claim 4.

These vehicles are those which are provided with an electric drive. In particular, these are motor-assisted vehicles that are additionally operated by muscle power, such as pedelecs, e-bikes or the like.

Such a vehicle has a frame. On the frame wheels are arranged. Furthermore, the vehicle has two drive motors for driving at least one wheel. Optionally, the vehicle may be additionally provided with a muscle-powered pedal crank drive for the wheel. For operation of the vehicle, the drive motors are driven accordingly. It has been found that this can cause instabilities in the operation of the vehicle.

The invention has for its object to provide a method for controlling the drive motors, in which instabilities during operation of the vehicle are largely avoided. Furthermore, a vehicle operated according to such a method is to be provided.

This object is achieved in a generic method by the characterizing features of claim 1 and in a generic vehicle by the characterizing features of claim 4.

In the method according to the invention, the operating state of the vehicle is detected. The drive motors are then controlled so that the drive torque for the respective drive motor is set depending on the detected operating state. Further embodiments of the invention are the subject of the dependent claims.

For the purpose of further improving the operation of the vehicle, one drive motor may each act on one wheel at a time. In a preferred manner, in each case a drive motor can act on the front wheel as well as on the rear wheel. It can then be offered that the drive motors are controlled such that the sum of the drive torques for the two wheels is corresponding to the size of the preselected engine assistance. In particular, the sum of the drive torques for the two wheels can be constant. Furthermore, a distribution of the drive torques associated with the respective operating state can be set between the two drive motors.

For safety reasons, it may be appropriate for the drive motors to be operated only in defined and / or appropriate operating states. In undefined and / or improper operating conditions, the drive motors can be switched off. Such undefined and / or improper operating conditions can be present, for example, during maintenance of the vehicle and / or when the vehicle is tilted and / or in the event of an accident of the vehicle.

In a vehicle operable by the method according to the invention, a sensor may be provided for detecting the operating state of the vehicle. Furthermore, an associated with the sensor control unit is provided for the drive motors. The control unit in turn sets the drive torque for the respective drive motor as a function of the detected operating state.

To determine the operating state of the vehicle, a sensor can be used in an advantageous manner, with the aid of which the position and / or the change in position of the vehicle, in particular as part of the operating state, is detected. In a functionally reliable and cost-effective manner, the sensor may be a gyroscope for detecting changes in direction, in particular a 3-axis gyroscope, and / or an acceleration sensor for detecting changes in speed, in particular a 3-axis acceleration sensor , and / or an inclination sensor for detecting inclination direction changes, in particular a 3-axis inclination sensor. In particular, the inclination angle α of the vehicle can be detected and / or determined with the aid of such a sensor, wherein the inclination angle α is again used to characterize the operating state.

Advantageously, a speed sensor for detecting the speed of the wheel can be provided. For detecting the torque exerted by the pedal crank drive, it is expedient to provide a torque sensor. In particular, the speed of the wheel and / or the torque exerted by the pedal crank drive can be a component of the operating state of the vehicle.

In a simple and responsive manner, it may be appropriate for the control unit, with the aid of a mathematical algorithm, to calculate the drive torque distribution between the drive motors assigned to the respective operating state and then to adjust it in accordance with this calculation. Alternatively, a table can be stored in the control unit, in which the respective operating state according to the detection by the sensor associated drive torque distribution between the drive motors is stored. The setting of the drive torque distribution by the control unit is in this case based on this table.

• – Wenn der Neigungswinkel α des Fahrzeugs in etwa 0° beträgt: Antriebsansteuerung derart, dass eine lineare Motorunterstützung resultiert.
• – Wenn der Neigungswinkel α des Fahrzeugs wesentlich verschieden von 0° ist: Antriebsansteuerung derart, dass die Motorunterstützung entsprechend der Umkehrfunktion einer hyperbolischen Funktion verläuft. Insbesondere ist zu diesem Zwecke der Areasinus Hyperbolicus (arsinh) als geeignet gefunden.

Furthermore, it has been found that the following control of the drives to support the manual performance of the user depending on the speed of the vehicle is advantageous:

• - When the inclination angle α of the vehicle is approximately 0 °: Drive control such that a linear motor assist results.
• - If the inclination angle α of the vehicle is substantially different from 0 °: drive control such that the motor assist according to the inverse function of a hyperbolic function. In particular, the Areasinus hyperbolicus (arsinh) is found to be suitable for this purpose.

For safety reasons, in a further refinement, the control unit can switch off the drive motors in the case of undefined and / or improper operating states. Such undefined and / or improper operating conditions occur in particular in the case of maintenance and / or tipping and / or an accident for the vehicle.

Finally, the drive motor may advantageously be an electric motor powered by a battery.

For a particularly preferred embodiment of the invention is to be determined below.

In a pedelec with two drive motors, so in each case a drive motor for the front and for the rear wheel, it is unfavorable to choose a fixed drive torque distribution, as when cornering too high a drive torque on the front wheel can lead to instability. With the help of a 3-axis gyroscope and / or a 3-axis acceleration sensor, the position or the change in position of the bicycle is detected and calculated using a mathematical algorithm from a modified drive torque distribution. Created by means of the invention thus an automatic drive torque distribution in a two-wheel drive for a bicycle, a pedelec or an e-bike. Furthermore, a suitable sensor unit can also be used to detect certain operating conditions, such as maintenance or accident, to then disable the engines.

• – Es können höhere Antriebsmomente am Vorderradantrieb erzeugt werden, ohne dass in Kurven eine Instabilität für das Fahrzeug entsteht.
• – Ein unsachgemäßer Betrieb, wie Umkippen oder eine umgedrehte Lage bei Wartung des Fahrzeugs, kann erkannt werden und daraufhin der Antrieb deaktiviert werden.
• – In Verbindung mit einer Authentifizierungseinheit kann in einfacher Weise ein Diebstahlschutz bei Erkennen einer unauthorisierten Bewegung des Fahrzeugs realisiert werden.

The advantages achieved by the invention are in particular in the following:

• - It is possible to generate higher drive torques on the front wheel drive without creating instability in curves for the vehicle.
• - Improper operation, such as overturning or an inversion during maintenance of the vehicle, can be detected and then the drive can be deactivated.
• In conjunction with an authentication unit, theft protection can be easily realized upon detection of an unauthorized movement of the vehicle.

An embodiment of the invention with various developments and refinements is shown in the drawings and will be described in more detail below. Show it

1 a vehicle in schematic view,

2 a block diagram of the overall system for controlling the operation for the vehicle and

3 an example of the functional dependence of the power and the drive torque on the operating condition of the vehicle.

In 1 is a vehicle 1 to see with an electric drive, which is in particular a bicycle, a pedelec, an e-bike o. The like. The vehicle 1 owns a frame 2 and on the frame 2 arranged wheels 3 . 4 , And that has the designed as a two-wheeled vehicle 1 a front wheel 3 and a rear wheel 4 , Furthermore, the vehicle points 1 two drive motors 5 . 6 for driving at least one wheel 3 . 4 on. In the present case, the one drive motor is used 5 to drive the rear wheel 4 as well as the other drive motor 6 to drive the front wheel 3 so that it is an all-wheel drive vehicle. In the drive motor 5 . 6 it is an electric motor powered by a rechargeable battery in the manner of a wheel hub motor. The on the frame 2 arranged battery for powering the electric drive 5 . 6 is not shown further. Next is for the vehicle 1 a pedal drive 26 for the muscle-powered drive of the rear wheel 4 provided by the user, so that the vehicle 1 muscle-powered and motor-assisted.

• – Zunächst wird der Betriebszustand des Fahrzeugs 1 mittels des Sensors 8 erfasst.
• – Anschließend wird das Antriebsmoment für den jeweiligen Antriebsmotor 5, 6 vom Steuergerät 7 in Abhängigkeit vom erfassten Betriebszustand eingestellt.

At the vehicle 1 is a control unit 7 for the drive motors 5 . 6 intended. Furthermore, it is on the vehicle 1 at least one sensor 8th for detecting operating conditions of the vehicle 1 intended. The control unit 7 for the drive motors 5 . 6 stands with the sensor 8th in connection. The vehicle 1 is now operated according to the method of the invention as follows:

• - First, the operating condition of the vehicle 1 by means of the sensor 8th detected.
• - Subsequently, the drive torque for the respective drive motor 5 . 6 from the control unit 7 set depending on the detected operating state.

The user of the vehicle 1 can select the desired size of motor support with respect to the muscle power drive. Then the controller operates 7 the drive motors 5 . 6 such that the sum of the drive torques for the two wheels 3 . 4 is given corresponding to the preselected engine assistance. Preferably, the sum of the drive torques for the two wheels 3 . 4 constant. From the control unit 7 is the distribution of the drive torque associated with the respective operating state between the two drive motors 5 . 6 set accordingly. For safety reasons, the controller operates 7 the drive motors 5 . 6 only if defined and / or appropriate operating conditions of the vehicle 1 available. For undefined and / or improper operating conditions, for example during maintenance of the vehicle 1 and / or tilting the vehicle 1 and / or in the event of an accident of the vehicle 1 , the drive motors become 5 . 6 from the control unit 7 on the other hand switched off.

At the sensor 8th it is a gyroscope 8c , preferably around a 3-axis gyroscope (Gy), and / or around an acceleration sensor 8b , preferably around a 3-axis acceleration sensor (AS), and / or an inclination sensor 8d , preferably around a 3-axis tilt sensor (Inc), as in FIG 2 you can see. With the help of the sensor 8th is the location and / or the change in position of the vehicle 1 detected, the position and / or change in position with the operating condition of the vehicle 1 correlates and thus a component of the operating state of the vehicle 1 represents. The sensor 8th or the sensors 8b . 8c . 8d are preferably in the control unit 7 arranged. At the wheels 3 . 4 can continue to speed sensors (S1), (S2) 8e for measuring the wheel speeds and in the bottom bracket for the pedal crank drive 26 of the vehicle 1 a torque sensor (TS) 8a for measuring the driver of the vehicle 1 with the help of the pedal crank drive 26 be applied torque applied. The control unit 7 calculates with the aid of a mathematical algorithm that the respective, by means of the sensor 8th or the sensors 8a . 8b . 8c . 8d . 8e Determined operating condition of the vehicle 1 assigned drive torque distribution between the drive motors 5 . 6 ,

In 2 is an embodiment of the overall system for operating the vehicle 1 to see. As already mentioned, the overall system comprises a control unit 7 with a control unit 25 , the inputs for the torque sensor (TS = Torque Sensor) 8a according to the torque absorption 18 as well as an operating unit (HMI = Human Machine Interface) 9 for the driver. The torque sensor 8a serves to determine the driver by means of the pedal drive 26 applied torque and is in the bottom bracket of the vehicle 1 arranged. With the help of the operating and / or display unit 9 The driver can provide the desired assist level through the drive 5 . 6 in several stages ranging from no support to high support select. Next can be at the control and / or display unit 9 the user can set the operating mode (mode), for example road (tracking), sport (sport), off-road or mountain (off-road). For this purpose, the operating and / or display unit comprises 9 one functional unit each for the support level 19 as well as for the driving mode 20 ,

In the control unit 7 there is a filter 10 for processing the signal from the torque sensor 8a , Furthermore, there are the acceleration sensor (AS = Acceleration Sensor) 8b and / or the gyrosensor (Gy = gyroscope) 8c and / or Inclination Sensor (Inc = Inclination Angle Sensor) 8d in the control unit 7 , If desired, the angle of inclination can also be determined using the acceleration sensor 8b and the gyrosensor 8c determine collected data. In the control unit 7 is a unit 11 for determining the desired power, which is connected to the torque sensor 8a , the operating and / or display unit 9 , the accelerometer 8b as well as the gyrosensor 8c and / or the tilt sensor 8d , and the speed sensors 8e communicates. Based on the data obtained thereby, the unit determines 11 the target torque 12 for the drive motors 5 . 6 to assist the driver according to the settings preselected by the driver as well as the actual speed and / or inclination of the vehicle 1 , In one unit 14 for determining the actual power (antiskid correction), wherein the unit 14 the motor signals (BEMF signal = Back Electro-Motive Force Signal) as well as the signals of the speed sensors 8e will be fed to the wheels 3 . 4 split actual torque 13 for the two drive motors 5 . 6 so determined that spinning the wheels 3 . 4 is avoided. The split actual torque 13 then becomes the respective drive motor 5 . 6 associated control unit 15 fed.

With the control unit (PCU = Pedelec Control Unit) 7 the engine control unit (MCU = Motor Control Unit) continues 16 in connection that the data from the control units 15 receives. A drive unit controls according to this data 17 in the engine control unit 16 the respective motor driver 5 ' for the drive motor 5 of the rear wheel 4 (RHM = Rear Motor / Rear wheel motor) as well as the motor driver 6 ' for the drive motor 6 of the front wheel 3 (FHM = front engine / front wheel motor), such that the respective actual torque 13 from the drive motor 5 . 6 is exercised. About the control units 17 become the ones of the speed sensors 8e determined values from the engine control unit 16 the control unit 7 fed to the appropriate processing.

• – Das Signal des vom Fahrer ausgeübten Drehmoments (TS) wird kontinuierlich gemessen.
• – Das Drehmomentsignal TS wird im Filter 10 aufbereitet, um Störungen sowie elektromagnetische Einflüsse (EMI = electromagnetic influence) zu entfernen.
• – Die Berechnung mit Hilfe der Leistungsfunktion in der Einheit 11 in Abhängigkeit von der Betriebsart 20 (mode), der Unterstützung 19 (assist level), Geschwindigkeit und/oder Neigung ergibt das gewünschte Soll-Drehmoment 12.
• – In Abhängigkeit von den Werten für die Beschleunigung und/oder Neigung zur Fahrspur wird ausgehend vom Soll-Drehmoment 12 das erforderliche Ist-Drehmoment 13 berechnet und dem Motorsteuergerät 16 zugeführt.
• – Das Motorsteuergerät 16 steuert die Antriebsmotoren 5, 6 an und führt dem Steuergerät 7 die Signale (S1, S2) zur Geschwindigkeitsberechnung 21 jedes Rades 3, 4 sowie die Motorsignale (BEMF) jedes Antriebsmotors 5, 6 als Feedback-Signale zu.
• – Das Steuergerät 7 (PCU) ermittelt die Geschwindigkeitsdifferenz 24 zwischen den beiden Antriebsmotoren 5, 6 und bewertet die Möglichkeit des Durchdrehens (skid) eines der Räder 3, 4. Im Falle, dass eines der Räder 3, 4 durchdreht, wird ein Teil des Drehmomentes auf das andere Rad übertragen, und zwar in einer derartigen Größe, dass ein Nicht-Durchdrehen (antiskid aim) erreicht ist. Beispielsweise kann eine Aufteilung gemäß der Einstellung 22 von 40% für das Vorderrad 3 sowie der Einstellung 23 von 60% für das Hinterrad 4 vorgenommen werden.

The functioning of the overall system for operating the vehicle 1 lets it be summarized as follows:

• The signal of the torque exerted by the driver (TS) is continuously measured.
• - The torque signal TS is in the filter 10 prepared to remove disturbances as well as electromagnetic influences (EMI = electromagnetic influence).
• - The calculation using the power function in the unit 11 depending on the operating mode 20 (mode), the support 19 (Assist level), speed and / or inclination gives the desired setpoint torque 12 ,
• - Depending on the values for the acceleration and / or inclination to the lane is based on the target torque 12 the required actual torque 13 calculated and the engine control unit 16 fed.
• - The engine control unit 16 controls the drive motors 5 . 6 and leads to the controller 7 the signals (S1, S2) for speed calculation 21 every wheel 3 . 4 and the motor signals (BEMF) of each drive motor 5 . 6 as feedback signals too.
• - The control unit 7 (PCU) determines the speed difference 24 between the two drive motors 5 . 6 and evaluates the possibility of skidding one of the wheels 3 . 4 , In the event that one of the wheels 3 . 4 a part of the torque is transmitted to the other wheel, in such a size that a non-antiskid aim is achieved. For example, a division according to the setting 22 40% for the front wheel 3 as well as the setting 23 of 60% for the rear wheel 4 be made.

In 3 is exemplary the power in watts [W], with which the drives 5 . 6 depending on the speed v [km / h] of the vehicle 1 , the so-called power function (motor support curve). The drive 5 . 6 Power applied according to the assistance function complements that of the user on the vehicle 1 by means of the pedal crank drive 26 applied manual power. The support function is functionally dependent on the inclination angle α of the vehicle 1 , The support function is parameterized so that the support by the drives 5 . 6 up to a threshold speed v ₀ and v ₀ increases decreases again when exceeding the limit speed. As a rule, a speed of 20 km / h is selected as the limit speed v ₀ . When reaching a speed of 25 km / h then eliminates the support of the drive 5 . 6 Completely. Furthermore, this is the drive 5 . 6 corresponding torque exerted in accordance with the support function in Newtonmeter [Nm] as torque graph exemplified.

• – Pm [W]: Leistung der Antriebe 5, 6 zur Unterstützung bei einem Neigungswinkel α von 0°.
• – Pmα [W]: Leistung der Antriebe 5, 6 zur Unterstützung bei einem Neigungswinkel α größer als 0°.
• – Mm [Nm]: Drehmoment der Antriebe 5, 6 zur Unterstützung bei einem Neigungswinkel α von 0°.
• – Mmα [Nm]: Drehmoment der Antriebe 5, 6 zur Unterstützung bei einem Neigungswinkel α größer als 0°.

In 3 the following support functions and torque graphs are shown:

• - Pm [W]: power of the drives 5 . 6 to assist at an inclination angle α of 0 °.
• - Pmα [W]: power of the drives 5 . 6 to assist with an inclination angle α greater than 0 °.
• - Mm [Nm]: Torque of the drives 5 . 6 to assist at an inclination angle α of 0 °.
• - Mmα [Nm]: Torque of the drives 5 . 6 to assist with an inclination angle α greater than 0 °.

• – Pmα = K·arsinh(C·α·v) wenn v < v₀
• – Pmα = L·arsinh(D·α·(v – v₀)) wenn v >= v₀

wobei es sich bei C, D um Konstanten für das Fahrzeug 1, bei v um die Geschwindigkeit des Fahrzeugs 1 sowie bei K, L um weitere, die maximale Leistung der Antriebe 5, 6 parametrisierende Konstanten handelt.The support function runs at least up to a speed of v = 20 km / h substantially linear, as long as the inclination angle α = 0 °, as can be seen from the 3 recognizes. If the angle of inclination α> 0 °, you can see in 3 that the support function is no longer linear. It has proved to be advantageous if the support function then proceeds in accordance with a hyperbolic function, in particular the hyperinolic area (arsinh). The mathematical equation for the support function in this case is:

• Pmα = K · arsinh (C · α · v) if v <v ₀
• - Pmα = L · arsinh (D · α · (v - v ₀ )) if v> = v ₀

where C, D are constants for the vehicle 1 , at v around the speed of the vehicle 1 as well as at K, L to further, the maximum power of the drives 5 . 6 parametrizing constants.

The invention is not limited to the described and illustrated embodiment. Rather, it also encompasses all expert developments within the scope of the invention defined by the claims. Thus, the inventive method and the associated device not only in vehicles 1 , such as pedelecs or e-bikes, are used but also in other vehicles, such as motorcycles, use.

LIST OF REFERENCE NUMBERS

1

vehicle

2

frame

3

Wheel / front wheel

4

Wheel / rear

5

Drive motor (for rear wheel) / electric drive

5 '

Motor driver rear wheel motor

6

Drive motor (for front wheel) / electric drive

6 '

Motor driver front wheel motor

7

control unit

8th

sensor

8a

torque sensor

8b

accelerometer

8c

Gyro sensor / Gyroscope

8d

tilt sensor

8e

speed sensor

9

Operating and / or display unit

10

filter

11

Unit for determining the target power

12

Target torque

13

Actual torque

14

Unit for determining the actual power

15

Control unit (for drive motor)

16

Engine control unit

17

control unit

18

torque absorption

19

Level of support / assistance

20

Driving mode / operating mode

21

speed calculation

22

Attitude, z. Eg 40%

23

Attitude, z. Eg 60%

24

Calculation of the speed difference of the two drive motors

25

control unit

26

A pedal drive

Claims (9)

Method for operating a vehicle, in particular a muscle-powered and motor-assisted vehicle, such as a pedelec, an e-bike or the like, with a frame ( 2 ), with wheels arranged on the frame ( 3 . 4 ), and with two drive motors ( 5 . 6 ) for driving at least one wheel ( 3 . 4 ), characterized in that the operating condition of the vehicle ( 1 ) is detected, and that the drive torque for the respective drive motor ( 5 . 6 ) is set depending on the detected operating state. A method according to claim 1, characterized in that in each case a drive motor ( 5 . 6 ) on each wheel ( 3 . 4 ), especially on the front wheel ( 3 ) and the rear wheel ( 4 ), acts that preferably the sum of the drive torques for the two wheels ( 3 . 4 ), preferably corresponding to the preselected motor support, is predetermined, in particular constant, and that further preferably a distribution of the drive torques associated with the respective operating state between the two drive motors ( 5 . 6 ) is set. Method according to claim 1 or 2, characterized in that the drive motors ( 5 . 6 ) are operated only in defined and / or appropriate operating conditions, and that preferably the drive motors ( 5 . 6 ) in the case of undefined and / or improper operating conditions, in particular during maintenance and / or tipping and / or accident of the vehicle ( 1 ), be switched off. Vehicle, in particular musculature-powered and motor-assisted vehicle, such as a pedelec, an e-bike or the like, with a frame ( 2 ), with on the frame ( 2 ) arranged wheels ( 3 . 4 ), and with two drive motors ( 5 . 6 ) for driving at least one wheel ( 3 . 4 ), and possibly with a muscle-powered pedal crank drive ( 26 ) for the wheel ( 3 . 4 ), characterized in that a sensor ( 8th ) for detecting the operating state of the vehicle ( 1 ) is provided that one with the sensor ( 8th ) related control device ( 7 ) for the drive motors ( 5 . 6 ) is provided, and that the control unit ( 7 ) the drive torque for the respective drive motor ( 5 . 6 ) depending on the detected operating state. Vehicle according to claim 4, characterized in that the sensor ( 8th ) around a gyroscope ( 8c ), in particular about a 3-axis gyroscope, and / or about an acceleration sensor ( 8b ), in particular about a 3-axis acceleration sensor, and / or an inclination sensor ( 8d ), in particular a 3-axis tilt sensor, and that preferably with the aid of the sensor ( 8th ) the position and / or the position change of the vehicle ( 1 ), in particular as part of the operating state, is detected. Vehicle according to claim 4 or 5, characterized in that a speed sensor ( 8e ) for detecting the speed of the wheel ( 3 . 4 ), in particular as part of the operating state, is provided, and that preferably a torque sensor ( 8a ) for detecting the pedal drive ( 26 ) applied torque, in particular as part of the operating state, is provided. Vehicle according to claim 4, 5 or 6, characterized in that the control unit ( 7 ) using a mathematical algorithm, the drive torque distribution between the drive motors assigned to the respective operating state ( 5 . 6 ). Vehicle according to one of claims 4 to 7, characterized in that the control unit ( 7 ) the drive motors ( 5 . 6 ) in the case of undefined and / or improper operating conditions, in particular during maintenance and / or tipping and / or accident of the vehicle ( 1 ), turns off. Vehicle according to one of claims 4 to 8, characterized in that it is in the drive motor ( 5 . 6 ) is an electric motor powered by a battery.

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