KR100901557B1 - A reduction speed control method during regenerative braking for an electric vehicle - Google Patents

A reduction speed control method during regenerative braking for an electric vehicle Download PDF

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KR100901557B1
KR100901557B1 KR1020070079100A KR20070079100A KR100901557B1 KR 100901557 B1 KR100901557 B1 KR 100901557B1 KR 1020070079100 A KR1020070079100 A KR 1020070079100A KR 20070079100 A KR20070079100 A KR 20070079100A KR 100901557 B1 KR100901557 B1 KR 100901557B1
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braking
regenerative braking
torque
electric vehicle
vehicle
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KR1020070079100A
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KR20090014826A (en
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양병철
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현대자동차주식회사
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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
    • 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
    • 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
    • B60L7/18—Controlling the braking effect
    • 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
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
    • B60W20/14—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion in conjunction with braking regeneration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/92—Hybrid vehicles

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

본 발명은 내연기관의 엔진과 배터리로 구동되는 모터를 동력원으로 사용하는 하이브리드 전기자동차(HEV; Hybrid Electric Vehicle)와 오직 모터로만 구동되는 연료전지 자동차를 포함한 전기자동차에 있어서 제동시에 구동축을 발전기에 연결하여 배터리를 충전하는 회생제동 도중에 안정적인 감속도를 확보할 수 있도록 하는 전기자동차의 회생제동중 감속도 제어방법에 관한 것으로,The present invention connects a drive shaft to a generator during braking in an electric vehicle including a hybrid electric vehicle (HEV) using an engine of an internal combustion engine and a battery powered motor as a power source and a fuel cell vehicle driven only by a motor. To control the deceleration during regenerative braking of an electric vehicle to ensure stable deceleration during regenerative braking to charge the battery.

종래에는 엑셀 페달 미작동 시의 구동토크 제어 방식의 경우 회생제동중 제동력이 부족해지는 현상이 발생하게 되어 운전자의 불만을 초래할 수 있게 되는 문제가 있었던 바,Conventionally, in the case of the drive torque control method when the accelerator pedal is inoperative, a phenomenon in which the braking force is insufficient during the regenerative braking occurs, which causes the driver's dissatisfaction.

엔진과 배터리로 구동되는 모터를 동력원으로 사용하는 하이브리드 전기자동차(HEV; Hybrid Electric Vehicle)와 오직 모터로만 구동되는 연료전지 자동차를 포함한 전기자동차에 있어서, 엑셀 페달 포지션이 미작동 위치에 있으면 미리 정해진 값에 따라 구동축에서의 엔진브레이크효과에 상당하는 제동토크를 발생시키고, 미리 정해진 차속 이하로 차량이 감속하였을 경우 미리 정해진 값에 따라 엔진브레이크 효과를 감소시키고 차속이 더 감속함에 따라 미리 정해진 크립 토크를 발생시키며, 상기 크립 토크가 발생하였을 경우 마찰제동토크 보상량을 연산하여 그 보상량만큼 마찰제동토크를 증가시키는 것을 특징으로 하는 본 발명에 의하면 구동축에서 크립 토크가 발생할 때에도 회생제동중 감속도의 변동을 최소화하여 운전자에게 안정적인 제동감을 제공할 수 있게 된다.In electric vehicles including a hybrid electric vehicle (HEV) using an engine and a battery powered motor as a power source, and a fuel cell vehicle driven only by a motor, a predetermined value when the accelerator pedal position is in the inoperative position To generate the braking torque corresponding to the engine brake effect on the drive shaft, and reduce the engine brake effect according to a predetermined value when the vehicle decelerates below a predetermined vehicle speed, and generate a predetermined creep torque as the vehicle speed further decreases. According to the present invention, when the creep torque is generated, the friction braking torque is increased by calculating the friction braking torque compensation amount, so that the variation of the deceleration during regenerative braking even when the creep torque is generated in the drive shaft. Stable braking for the driver by minimizing Thereby it can offer.

전기자동차, 회생제동, 크립 토크, 엔진브레이크, 감속도 Electric vehicle, regenerative braking, creep torque, engine brake, deceleration

Description

전기자동차의 회생제동중 감속도 제어방법 {a reduction speed control method during regenerative braking for an electric vehicle}Deceleration control method during regenerative braking of electric vehicle {a reduction speed control method during regenerative braking for an electric vehicle}

본 발명은 내연기관의 엔진과 배터리로 구동되는 모터를 동력원으로 사용하는 하이브리드 전기자동차(HEV; Hybrid Electric Vehicle)와 오직 모터로만 구동되는 연료전지 자동차를 포함한 전기자동차에 관한 것으로, 더 자세하게는 전기자동차에 있어서 제동시에 구동축을 발전기에 연결하여 배터리를 충전하는 회생제동 도중에 안정적인 감속도를 확보할 수 있도록 하는 전기자동차의 회생제동중 감속도 제어방법에 관한 것이다.The present invention relates to an electric vehicle including a hybrid electric vehicle (HEV) using an engine of an internal combustion engine and a battery-powered motor as a power source, and a fuel cell vehicle driven only by a motor, and more specifically, an electric vehicle. The present invention relates to a method for controlling deceleration during regenerative braking of an electric vehicle to secure a stable deceleration during regenerative braking for charging a battery by connecting a drive shaft to a generator during braking.

일반적으로 모터로 주행하거나 모터가 엔진의 동력을 보조하고 운전석의 변속위치(SHIFT POSITION)에 의해 모터와 엔진의 동력이 합해진 구동축 토크 또는 트랜스미션 입력 토크 상태가 제어되는 하이브리드 전기자동차를 포함한 전기자동차의 경우 제동시 모터에서의 회생제동을 통하여 발전을 함과 동시에 회생제동량만큼 브레이크장치에서 마찰제동토크 제어가 실시되는 회생제동용 브레이크를 장착하는 예가 많다.In general, an electric vehicle including a hybrid electric vehicle that is driven by a motor, or in which a motor assists the engine power and the driving shaft torque or the transmission input torque state in which the motor and engine power are combined by the shift position of the driver's seat is controlled. In the case of braking, there are many examples in which a regenerative braking brake is provided in which the brake braking control is performed by the brake device as much as the regenerative braking amount is generated by regenerative braking in the motor.

하이브리드 전기자동차 및 연료전지 자동차를 포함하는 전기자동차에 있어서는 일반가솔린 차량과 동일한 느낌의 엔진브레이크 효과 및 저속 크립 토크(Creep Torque)를 구현할 수 있도록 엑셀 페달(Accel pedal) 미작동 상태일 경우 구동축의 토크가 도 1과 같이 엔진브레이크에서 크립 토크로 변동되도록 제어된다.(T1~T2사이; 차속기준으로 V1 ~ V2 사이)In electric vehicles including hybrid electric vehicles and fuel cell vehicles, the torque of the drive shaft when the accelerator pedal is not operated so that the engine brake effect and the low speed creep torque can be realized as in the case of a normal gasoline vehicle. 1 is controlled to vary from the engine brake to the creep torque (between T1 and T2; between V1 and V2 based on the vehicle speed).

그리고 제동시에 구동축을 발전기에 연결하여 배터리를 충전하는 회생제동 도중에는 회생제동토크와 상기 변동토크(엔진브레이크-크립 토크)로 구동축을 제어하게 되고, 제동이 해제되어 회생제동이 소멸되면 엑셀 페달 미작동 상태의 제어상태로 복귀하게 된다.And during the regenerative braking that connects the drive shaft to the generator during braking to charge the battery, the drive shaft is controlled by regenerative braking torque and the variable torque (engine brake-creep torque), and when the braking is released and the regenerative braking is extinguished, the accelerator pedal is inoperative. The state returns to the control state.

그런데 이러한 엑셀 페달 미작동 시의 구동토크 제어 방식의 경우 회생제동중 제동력이 부족해지는 현상이 발생하게 되어 운전자의 불만을 초래할 수 있게 된다.However, in the case of the driving torque control method when the accelerator pedal is not operated, the braking force may be insufficient during the regenerative braking, which may cause dissatisfaction of the driver.

본 발명은 상기와 같은 종래의 문제점을 감안하여 안출한 것이며, 그 목적이 엑셀 페달 미작동 상태의 회생제동 도중에 구동축의 크립 토크와 상응하여 마찰브레이크를 제어함으로써 차량감속도의 변동을 최소화할 수 있도록 하는 전기자동차의 회생제동중 감속도 제어방법을 제공하는 데에 있는 것이다.The present invention has been made in view of the above-described conventional problems, and its object is to control the friction brake corresponding to the creep torque of the drive shaft during regenerative braking of the accelerator pedal in an inoperative state so that the variation of the vehicle deceleration can be minimized. It is to provide a control method of deceleration during regenerative braking of an electric vehicle.

본 발명은 상기의 목적을 달성하기 위하여 엔진과 배터리로 구동되는 모터를 동력원으로 사용하는 하이브리드 전기자동차(HEV; Hybrid Electric Vehicle)와 오직 모터로만 구동되는 연료전지 자동차를 포함한 전기자동차에 있어서, 엑셀 페달 포지션이 미작동 위치에 있으면 미리 정해진 값에 따라 구동축에서의 엔진브레이크효과에 상당하는 제동토크를 발생시키고, 미리 정해진 차속 이하로 차량이 감속하였을 경우 미리 정해진 값에 따라 엔진브레이크 효과를 감소시키고 차속이 더 감속함에 따라 미리 정해진 크립 토크를 발생시키며, 상기 크립 토크가 발생하였을 경우 마찰제동토크 보상량을 연산하여 그 보상량만큼 마찰제동토크를 증가시키는 것을 특징으로 한다.The present invention provides an electric vehicle including a hybrid electric vehicle (HEV) using an engine and a battery driven motor as a power source and a fuel cell vehicle driven only by a motor. If the position is in the non-operating position, it generates a braking torque corresponding to the engine brake effect on the drive shaft according to the predetermined value.If the vehicle is decelerated below the predetermined vehicle speed, the engine brake effect is reduced according to the predetermined value and the vehicle speed is Further deceleration generates a predetermined creep torque, and when the creep torque is generated, the friction braking torque compensation amount is calculated to increase the friction braking torque by the compensation amount.

이와 같은 본 발명에 있어서는 모터 회생제동토크가 발생되는 회생제동중에 크립 토크를 발생시키고 마찰브레이크 보상 제어를 실시함으로써 구동축에서 크립 토크가 발생할 때에도 회생제동중 감속도의 변동을 최소화하여 운전자에게 안정적인 제동감을 제공할 수 있게 된다.In the present invention as described above, by generating creep torque during regenerative braking where motor regenerative braking torque is generated and performing friction brake compensation control, it is possible to minimize the fluctuation of deceleration during regenerative braking even when creep torque is generated in the drive shaft, thereby providing a stable braking feeling to the driver. It can be provided.

이하 본 발명의 구체적인 기술내용을 첨부도면에 의거하여 더욱 자세히 설명하면 다음과 같다.Hereinafter, the specific technical details of the present invention will be described in more detail with reference to the accompanying drawings.

본 발명은 엔진과 배터리로 구동되는 모터를 동력원으로 사용하는 하이브리드 전기자동차(HEV; Hybrid Electric Vehicle)와 오직 모터로만 구동되는 연료전지 자동차를 포함한 전기자동차에 있어서, 엑셀 페달 포지션이 미작동 위치에 있으면 미리 정해진 값에 따라 구동축에서의 엔진브레이크효과에 상당하는 제동토크를 발생시키고, 미리 정해진 차속 이하로 차량이 감속하였을 경우 미리 정해진 값에 따라 엔진브레이크 효과를 감소시키고 차속이 더 감속함에 따라 미리 정해진 크립 토크를 발생시키며, 상기 크립 토크가 발생하였을 경우 마찰제동토크 보상량을 연산하여 그 보상량만큼 마찰제동토크를 증가시키는 것이다.The present invention provides an electric vehicle including a hybrid electric vehicle (HEV) using an engine and a battery powered motor as a power source, and a fuel cell vehicle driven only by a motor, provided that the accelerator pedal position is in the inoperative position. Generates a braking torque corresponding to the engine brake effect on the drive shaft according to the predetermined value, and reduces the engine brake effect according to the predetermined value when the vehicle decelerates below the predetermined vehicle speed, and the predetermined creep as the vehicle speed decreases further. Torque is generated, and when the creep torque is generated, the friction braking torque compensation amount is calculated to increase the friction braking torque by the compensation amount.

도 2에는 본 발명의 한 실시예의 제어 흐름도가 도시되어 있는 바, 도시된 실시예는 엑셀 페달의 답력이 해제되고 시프트레버 포지션이 주행위치에 있는 지를 판단하는 단계; 운전자가 브레이크를 작동한 경우 회생제동 가능상태를 판단하는 단계; 크립 토크 제어 시작조건을 판단하는 단계; 크립 토크 제어 시작조건이면 엔진브레이크 효과를 감소시키고 크립 토크를 발생하는 단계; 마찰브레이크 보상량을 연산하고 마찰브레이크 보상 제어를 실시하는 단계로 이루어진 것이다.2 shows a control flow diagram of an embodiment of the present invention, which includes determining whether the pedal of the excel pedal is released and the shift lever position is in the travel position; Determining the regenerative braking possible state when the driver operates the brake; Determining a creep torque control start condition; Reducing the engine brake effect and generating creep torque if the creep torque control start condition; The friction brake compensation amount is calculated and friction brake compensation control is performed.

상기에서 엑셀 페달이 해제되고 시프트레버 포지션이 주행위치에 있을 때에는 엔진브레이크 효과로 감속도가 제어되며, 운전자가 브레이크를 작동한 경우 회생제동 가능상태를 판단하는 단계에서 회생제동 가능상태이면 회생제동을 실시하여 모터 회생제동토크를 발생시키게 된다.When the accelerator pedal is released and the shift lever position is in the driving position, the deceleration is controlled by the engine brake effect.If the driver operates the brake, the regenerative braking is performed when the regenerative braking is possible. To generate the motor regenerative braking torque.

즉, 본 발명에 있어서 운전자가 주행중 엑셀 페달의 답력을 해제하고 브레이크 페달을 밟게 되면 제동 중 차량 상태에 따라서 회생제동과 마찰제동을 동시에 실시하거나 마찰브레이크만으로 제동하게 되며, 각각의 경우에 따라서 제동이 이루어지고 이와는 별개로 엔진브레이크가 발생하거나 또는 모터의 추가적인 회생제동을 통해 엔진브레이크 효과가 구현된다.That is, in the present invention, if the driver releases the pedal force of the accelerator pedal and presses the brake pedal while driving, the regenerative braking and the friction braking are simultaneously performed or the brakes are braked only depending on the vehicle condition during braking. Engine brake effect is achieved by separate engine brake or additional regenerative braking of the motor.

이러한 엔진브레이크 효과에 해당하는 제동토크는 차속이 감소함에 따라 제동토크가 아닌 차량을 나아가게 하는 방향으로의 구동토크인 크립 토크(Creep Torque)로 바뀌게 되고, 이는 곧 감속도의 감소를 초래하기 때문에 크립 토크가 줄어드는 시점부터 마찰제동토크의 보상이 이루어져 감속도의 감소를 방지하게 된다.As the vehicle speed decreases, the braking torque corresponding to the engine brake effect is changed to creep torque, which is a driving torque in a direction to move the vehicle instead of the braking torque, which causes a reduction in deceleration. When the torque decreases, the friction braking torque is compensated to prevent the reduction of the deceleration.

도 1은 종래의 제동토크 및 감속도 변화 그래프1 is a conventional braking torque and deceleration change graph

도 2는 본 발명의 한 실시예의 제어 흐름도2 is a control flow diagram of one embodiment of the present invention.

도 3은 본 발명에 의한 제동토크 및 감속도 변화 그래프3 is a graph of braking torque and deceleration change according to the present invention

Claims (3)

엔진과 배터리로 구동되는 모터를 동력원으로 사용하는 하이브리드 전기자동차(HEV; Hybrid Electric Vehicle)와 오직 모터로만 구동되는 연료전지 자동차에 적용되며, 엑셀 페달 포지션이 미작동 위치에 있으면 미리 정해진 값에 따라 구동축에서의 엔진브레이크효과에 상당하는 제동토크를 발생시키고, 미리 정해진 차속 이하로 차량이 감속하였을 경우 미리 정해진 값에 따라 엔진브레이크 효과를 감소시키고 차속이 더 감속함에 따라 미리 정해진 크립 토크를 발생시킴으로써 가솔린차량과 동일한 제동감속도를 갖도록 하는 전기자동차의 회생제동중 감속도 제어방법을 구성함에 있어서, Applicable to hybrid electric vehicles (HEV) using engines and battery powered motors as power sources, and fuel cell vehicles powered only by motors. Gasoline vehicles generate braking torque equivalent to the engine brake effect at, and reduce the engine brake effect according to a predetermined value when the vehicle decelerates below a predetermined vehicle speed, and generate a predetermined creep torque as the vehicle speed is further reduced. In constructing a deceleration control method during regenerative braking of an electric vehicle to have a braking deceleration equal to 엑셀 페달의 답력이 해제되고 시프트레버 포지션이 주행위치에 있는 지를 판단하는 단계; 운전자가 브레이크를 작동한 경우 회생제동 가능상태를 판단하는 단계; 크립 토크 제어 시작조건을 판단하는 단계; 크립 토크 제어 시작조건이면 엔진브레이크 효과를 감소시키고 크립 토크를 발생하는 단계; 마찰브레이크 보상량을 연산하고 마찰브레이크 보상 제어를 실시하는 단계를 통해 크립 토크가 발생하였을 경우 마찰제동토크 보상량을 연산하여 그 보상량만큼 마찰제동토크를 증가시키며, 상기 운전자가 브레이크를 작동한 경우 회생제동 가능상태를 판단하는 단계에서 회생제동 가능상태이면 회생제동을 실시하여 모터 회생제동토크를 발생시키게 되는 것을 특징으로 하는 전기자동차의 회생제동중 감속도 제어방법.Determining whether the pedal force of the accelerator pedal is released and the shift lever position is in the driving position; Determining the regenerative braking possible state when the driver operates the brake; Determining a creep torque control start condition; Reducing the engine brake effect and generating creep torque if the creep torque control start condition; When the creep torque is generated by calculating the friction brake compensation amount and performing the friction brake compensation control, the friction braking torque compensation amount is calculated to increase the friction braking torque by the compensation amount, and the driver operates the brake. The regenerative braking control method of the regenerative braking of the electric vehicle, characterized in that the regenerative braking is performed in the step of determining the regenerative braking possible state to generate a regenerative braking torque. 삭제delete 삭제delete
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