DE102016200463A1 - Motor vehicle and method for determining a related to the slope force of a motor vehicle size - Google Patents
Motor vehicle and method for determining a related to the slope force of a motor vehicle size Download PDFInfo
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- DE102016200463A1 DE102016200463A1 DE102016200463.8A DE102016200463A DE102016200463A1 DE 102016200463 A1 DE102016200463 A1 DE 102016200463A1 DE 102016200463 A DE102016200463 A DE 102016200463A DE 102016200463 A1 DE102016200463 A1 DE 102016200463A1
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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
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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
- 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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
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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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18118—Hill holding
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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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
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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
- B60W50/038—Limiting the input power, torque or 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
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/30—Wheel torque
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope
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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
- Y02T10/72—Electric energy management 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
Die Erfindung betriff ein Kraftfahrzeug mit einem Elektromotor, wenigstens einem Elektromotor-Sensor zur Ermittlung wenigstens einer Betriebsgröße des Elektromotors und einer Steuerungseinrichtung, dadurch gekennzeichnet, dass die Steuerungseinrichtung dazu ausgebildet ist, eine auf die Hangabtriebskraft des Kraftfahrzeugs bezogene Größe in Abhängigkeit wenigstens eines Signals des wenigstens einen Elektromotor-Sensors zu ermitteln. Daneben betrifft die Erfindung ein Verfahren zur Ermittlung einer auf die Hangabtriebskraft eines Kraftfahrzeugs bezogene Größe.The invention relates to a motor vehicle having an electric motor, at least one electric motor sensor for determining at least one operating variable of the electric motor and a control device, characterized in that the control device is adapted to a related to the slope force of the motor vehicle size depending on at least one signal of at least to determine an electric motor sensor. In addition, the invention relates to a method for determining a related to the slope force of a motor vehicle size.
Description
Die Erfindung betrifft ein Kraftfahrzeug mit einem Elektromotor, mit wenigstens einem Sensor zur Ermittlung wenigstens einer Betriebsgröße des Elektromotors, einem Neigungssensor und einer Steuerungseinrichtung. The invention relates to a motor vehicle with an electric motor, with at least one sensor for determining at least one operating variable of the electric motor, an inclination sensor and a control device.
Es ist bekannt, für das Anfahren an Steigungen in Kraftfahrzeugen sogenannte Berganfahrhilfen vorzusehen. Diese sind so ausgestaltet, dass der Fahrer zum Anfahren die Feststellbremse nicht zu bedienen braucht. Dadurch kann ein Abwürgen des Motors verhindert werden und ein komfortables Anfahren realisiert werden. It is known to provide so-called mountain moving aids for starting on slopes in motor vehicles. These are designed so that the driver does not need to operate the parking brake for starting. As a result, a stalling of the engine can be prevented and a comfortable start can be realized.
Damit das Anfahren auf angenehme Art und Weise erfolgt, muss die Steuerungseinrichtungen Informationen über das vom Antriebsstrang aufzubringende Moment bzw. die aufzubringende Kraft besitzen. Hierzu ist es notwendig, die Hangabtriebskraft des Kraftfahrzeugs zu kennen, gegen die eine entsprechende Kraft bereitgestellt werden muss. Hierbei ist es üblich, einen Neigungssensor zu verwenden. In order for the start-up to take place in a pleasant manner, the control devices must have information about the torque to be applied by the drive train or the force to be applied. For this purpose, it is necessary to know the downhill power of the motor vehicle, against which a corresponding force must be provided. Here it is customary to use a tilt sensor.
Dabei besteht das Problem, dass die Berechnung der Hangabtriebskraft, die aus der Masse des Fahrzeugs und der Steigung ermittelt wird, fehlerbehaftet ist. Dies rührt daher, dass die Masse des Kraftfahrzeugs nicht genau bestimmbar ist, da bestenfalls ein Leergewicht bekannt ist. There is the problem that the calculation of the slope force, which is determined from the mass of the vehicle and the slope, is faulty. This is due to the fact that the mass of the motor vehicle can not be determined exactly, since at best a curb weight is known.
Ausgehend hiervon ist es Aufgabe der vorliegenden Anmeldung, ein Kraftfahrzeug mit einer verbesserten Berganfahrhilfe anzugeben. Proceeding from this, it is an object of the present application to provide a motor vehicle with an improved hill start assist.
Zur Lösung dieses Problems wird vorgeschlagen, bei einem Kraftfahrzeug der eingangs genannten Art die Steuerungseinrichtung so auszubilden, dass eine auf die Hangabtriebskraft des Kraftfahrzeugs bezogene Größe in Abhängigkeit wenigstens eines Signals wenigstens eines Elektro-Sensors ermittelt wird. To solve this problem, it is proposed that in a motor vehicle of the type mentioned the control device be designed such that a quantity related to the downgrade force of the motor vehicle is determined as a function of at least one signal of at least one electrical sensor.
Als Kern der Erfindung wird angesehen, dass bei der Ermittlung der bereitzustellenden Kraft wenigstens ein Signal bezogen auf eine Betriebsgröße des Elektromotors berücksichtigt wird. Dabei muss weder explizit die Hangabtriebskraft noch die Masse des Kraftfahrzeugs ermittelt werden. Es ist ausreichend, wenn das wenigstens eine Signal des wenigstens einen Elektro-Motor-Sensors dazu verwendet wird, eine andere Betriebsgröße des Kraftfahrzeugs einzustellen, die zur Regelung der Berganfahrhilfe verwendet wird. Ob dabei die Masse des Kraftfahrzeugs oder die Hangabtriebskraft explizit ermittelt werden ist dabei nebensächlich. As a core of the invention is considered that at least one signal is taken into account in relation to an operating variable of the electric motor in determining the force to be provided. In this case, neither the downhill force nor the mass of the motor vehicle must be determined explicitly. It is sufficient if the at least one signal of the at least one electric motor sensor is used to set a different operating variable of the motor vehicle which is used to control the hill start assist. Whether the mass of the motor vehicle or the downhill power is determined explicitly is irrelevant.
Vorteilhafterweise kann die Steuerungseinrichtung dazu ausgebildet sein, anhand wenigstens eines Signals des Elektro-Motor-Sensors die Haltekraft wenigstens eines Antriebsrades zu ermitteln. Die Haltekraft eines Antriebsrades gibt Auskunft darüber, mit welcher Kraft das Kraftfahrzeug gegen die Haltekraft des Elektromotors arbeitet. Daraus kann beispielsweise die Masse und auch die Hangabtriebskraft des Kraftfahrzeugs abgeleitet werden. Advantageously, the control device may be designed to determine the holding force of at least one drive wheel based on at least one signal of the electric motor sensor. The holding force of a drive wheel provides information about the force with which the motor vehicle works against the holding force of the electric motor. From this, for example, the mass and also the slope-down force of the motor vehicle can be derived.
Vorteilhafterweise kann der Elektromotor einen Rotorlagersensor aufweisen und die Steuerungseinrichtung dazu ausgebildet sein, den Lastwinkel zwischen Stator, Strom und Polrad einzustellen. Dadurch können die Verluste durch den Haltestrom in der Synchronmaschine mit dazugehörendem Umrichter minimiert werden, in dem der Lastwinkel zwischen dem Statorstrom und dem Polrad gegen 90° elektrisch optimiert wird. Advantageously, the electric motor may have a rotor bearing sensor and the control device may be configured to adjust the load angle between stator, current and pole wheel. As a result, the losses can be minimized by the holding current in the synchronous machine with associated converter, in which the load angle between the stator and the rotor is 90 ° electrically optimized.
Vorteilhafterweise kann der Elektromotor-Sensor als Statorstromsensor ausgebildet sein. Dann ist die Betriebsgröße des Elektromotors, die ermittelt wird, vorteilhafterweise der Statorstrom. Der Statorstrom ist einerseits leicht zu messen und gibt andererseits Auskunft über die vom Elektromotor aufgewendete Kraft. Diese korreliert, bei am Berg gehaltenem Kraftfahrzeug, der Hangabtriebskraft. Somit kann zwischen der Hangabtriebskraft und dem Statorstrom ein Zusammenhang hergestellt werden. Advantageously, the electric motor sensor can be designed as a stator current sensor. Then, the operation amount of the electric motor that is detected is advantageously the stator current. On the one hand, the stator current is easy to measure and, on the other hand, provides information about the force exerted by the electric motor. This correlates, when held on the mountain motor vehicle, the slope force. Thus, a connection can be established between the downhill force and the stator current.
Vorteilhafterweise kann das Kraftfahrzeug eine Anhängererkennungsvorrichtung aufweisen. Mittels des Elektromotors lässt sich nicht unterscheiden, ob ein Anhänger vorhanden ist oder nicht. Daher ist weiter bevorzugt vorgesehen, dass die Anhängererkennungsvorrichtung eine Eingabevorrichtung zur Eingabe des Vorhandenseins eines Anhängers aufweist. Der Fahrer muss also selbst dafür sorgen, dass die Steuerungseinrichtung an die entsprechende Information gelangt. Advantageously, the motor vehicle may have a trailer detection device. By means of the electric motor can not be distinguished whether a trailer is present or not. Therefore, it is further preferable that the trailer recognition device has an input device for inputting the presence of a trailer. The driver must therefore ensure that the control device reaches the appropriate information.
Dementsprechend ist vorteilhafterweise die Steuerungseinrichtung dazu ausgebildet, das Gewicht des Kraftfahrzeugs unter Berücksichtigung eines Anhängers zu ermitteln. Dabei kann vorgesehen sein, dass die Steuerungseinrichtung das Gewicht des Kraftfahrzeugs nach Zurücklegung einer vorgegebenen Strecke bei einer konstanten oder quasi-konstanten Steigung ermitteln kann. Accordingly, the control device is advantageously designed to determine the weight of the motor vehicle taking into account a trailer. It can be provided that the control device can determine the weight of the motor vehicle after covering a predetermined distance at a constant or quasi-constant slope.
Bevorzugt kann die Steuerungseinrichtung dazu ausgebildet sein, das wenigstens eine Signal des wenigstens einen Elektromotor-Sensors beim Anfahren zu verwenden. Nicht nur beim Halten des Kraftfahrzeugs am Berg sondern auch beim Anfahren am Berg kann dementsprechend der Statorstrom oder eine andere Betriebsgröße des Elektromotors berechnet werden. Preferably, the control device may be designed to use the at least one signal of the at least one electric motor sensor during startup. Not only when holding the motor vehicle on the mountain but also when starting on the mountain can be calculated accordingly, the stator or another operating variable of the electric motor.
Weiterhin bevorzugt kann die Steuerungseinrichtung dazu ausgebildet sein, als eine auf die Hangabtriebskraft des Kraftfahrzeugs bezogene Größe das Gewicht des Kraftfahrzeugs zu ermitteln. Wie beschrieben ist es nicht zwingend notwendig, das Gewicht des Kraftfahrzeugs explizit zu ermitteln. Vielmehr kann auch eine mit dem Gewicht des Kraftfahrzeugs in direktem Zusammenhang stehende Größe verwendet werden. Beispielsweise kann statt der expliziten Ermittlung des Gewichts eine Betriebsgröße des Kraftfahrzeugs festgelegt werden, die einem Gewicht des Kraftfahrzeugs entspricht. Hierbei kann es sich um einen Steuerstrom, einen Regelungsdruck oder auch andere Größen handeln, wenn diese in einem unmittelbaren Zusammenhang mit dem Gewicht des Kraftfahrzeugs stehen. Further preferably, the control device may be designed as one on the Hangabtriebskraft of the motor vehicle related size to determine the weight of the motor vehicle. As described, it is not absolutely necessary to determine the weight of the motor vehicle explicitly. Rather, a size directly related to the weight of the motor vehicle can also be used. For example, instead of the explicit determination of the weight, an operating variable of the motor vehicle can be determined which corresponds to a weight of the motor vehicle. This may be a control current, a control pressure or other variables, if they are directly related to the weight of the motor vehicle.
Vorteilhafterweise kann die Steuerungseinrichtung dazu ausgebildet sein, eine auf die Hangabtriebskraft des Kraftfahrzeugs bezogene Größe in Abhängigkeit wenigstens eines Signals eines Neigungssensors zu ermitteln. Speziell bei der Bestimmung des Gewichts wird ausgehend von einer Hangabtriebskraft oder einer anderen am Kraftfahrzeug ansetzenden Kraft die Masse des Kraftfahrzeugs dadurch bestimmt, dass unter Berücksichtigung der Neigung die Masse oder das Gewicht des Kraftfahrzeugs ermittelt wird. Advantageously, the control device can be designed to determine a quantity related to the downgrade force of the motor vehicle as a function of at least one signal of a tilt sensor. Specifically, when determining the weight, the mass of the motor vehicle is determined on the basis of a downhill force or another force applied to the motor vehicle by determining the mass or the weight of the motor vehicle taking into account the inclination.
Daneben betrifft die Erfindung ein Verfahren zur Ermittlung einer auf die Hangabtriebskraft des Kraftfahrzeugs bezogenen Größe. Dieses zeichnet sich dadurch aus, dass wenigstens ein Signal wenigstens eines Elektromotor-Sensors berücksichtigt wird. In addition, the invention relates to a method for determining a related to the slope force of the motor vehicle size. This is characterized in that at least one signal of at least one electric motor sensor is taken into account.
Vorteilhafte Weiterbildungen des Verfahrens ergeben sich aus der Beschreibung des Kraftfahrzeugs. Beispielsweise kann vorzugsweise das Gewicht des Kraftfahrzeugs bestimmt werden. Advantageous developments of the method will become apparent from the description of the motor vehicle. For example, preferably the weight of the motor vehicle can be determined.
Weiterhin kann vorteilhafterweise wenigstens ein Signal eines Neigungssensors berücksichtigt werden. Furthermore, advantageously at least one signal of a tilt sensor can be taken into account.
Vorteilhafterweise kann als Signal des Elektromotor-Sensors ein Statorstrom berücksichtigt werden. Advantageously, a stator current can be taken into account as a signal of the electric motor sensor.
Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus der folgenden Beschreibung von Ausführungsbeispielen und Figuren. Dabei zeigen: Further advantages, features and details of the invention will become apparent from the following description of exemplary embodiments and figures. Showing:
Die Steuerungseinrichtung
Das Kraftfahrzeug
Der Elektromotor-Sensor
Des Weiteren weist das Kraftfahrzeug
Die Verbindungen können dabei so sein, dass die Steuerungseinrichtung
Um den Polradwinkel ϑ oder Lastwinkel θ des Elektromotors zu bestimmen, benötigt man also einen Sensor zur Bestimmung des Rotorlagewinkels φm sowie die Stromzeigerphase φe. In order to determine the rotor angle θ or load angle θ of the electric motor, it is therefore necessary to use a sensor for determining the rotor position angle φ m and the current vector phase φ e .
Ausgehend von diesem Wert kann in Abhängigkeit eines Signals
In Schritt S2 wird genau genommen die aufzuwendende Haltekraft zum Halten des Kraftfahrzeugs
Optional kann in Schritt S4 ohne Ruck aus der Haltesituation angefahren werden, in denen die bekannten Betriebswerte für die Rotorposition und den Statorstrom als Stromwerte für eine Strom- bzw. Momentenregelung vorgegeben werden. Optionally, in step S4, it can be approached without jerk from the holding situation, in which the known operating values for the rotor position and the stator current are specified as current values for a current or torque control.
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 1 1
- Kraftfahrzeug motor vehicle
- 2 2
- Elektromotor electric motor
- 3 3
- Elektromotor-Sensor Electric motor sensor
- 4 4
- Steuerungseinrichtung control device
- 5 5
- Neigungssensor tilt sensor
- 6 6
- Signal signal
- 7 7
- Signal signal
- 8 8th
- Eingabevorrichtung input device
- 9 9
- Signal signal
- ϑ θ
- Polradwinkel angular displacement
- φm φ m
- Rotorlagewinkel Rotor position angle
- φe φ e
- Stromzeigrphase Stromzeigrphase
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Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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DE112011101678T5 (en) * | 2010-05-17 | 2013-07-18 | Honda Motor Co., Ltd. | Control device and control method for an electric vehicle |
US20130320747A1 (en) * | 2011-02-25 | 2013-12-05 | Takayoshi Ozaki | Electric automobile |
DE102014210388A1 (en) * | 2013-06-04 | 2014-12-04 | Ford Global Technologies, Llc | VEHICLE AND METHOD FOR CONTROLLING AN ELECTRIC POWER MACHINE |
-
2016
- 2016-01-15 DE DE102016200463.8A patent/DE102016200463A1/en not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE112011101678T5 (en) * | 2010-05-17 | 2013-07-18 | Honda Motor Co., Ltd. | Control device and control method for an electric vehicle |
US20130320747A1 (en) * | 2011-02-25 | 2013-12-05 | Takayoshi Ozaki | Electric automobile |
DE102014210388A1 (en) * | 2013-06-04 | 2014-12-04 | Ford Global Technologies, Llc | VEHICLE AND METHOD FOR CONTROLLING AN ELECTRIC POWER MACHINE |
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