KR101484208B1 - 연료전지자동차의 모터속도 보정장치 및 보정방법. - Google Patents

연료전지자동차의 모터속도 보정장치 및 보정방법. Download PDF

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KR101484208B1
KR101484208B1 KR20120146808A KR20120146808A KR101484208B1 KR 101484208 B1 KR101484208 B1 KR 101484208B1 KR 20120146808 A KR20120146808 A KR 20120146808A KR 20120146808 A KR20120146808 A KR 20120146808A KR 101484208 B1 KR101484208 B1 KR 101484208B1
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speed
motor
wheel speed
fuel cell
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KR20140077717A (ko
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김기창
윤길영
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현대자동차 주식회사
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Priority to DE102013222749.3A priority patent/DE102013222749B4/de
Priority to CN201310688077.8A priority patent/CN103863138B/zh
Priority to US14/090,552 priority patent/US9233610B2/en
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    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0038—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to sensors
    • 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
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
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    • B60—VEHICLES IN GENERAL
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    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/10—Indicating wheel slip ; Correction of wheel slip
    • B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
    • B60L3/108—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels whilst braking, i.e. ABS
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    • 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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    • B60L2210/00—Converter types
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    • 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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    • B60L2240/00—Control parameters of input or output; Target parameters
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    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
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    • B60—VEHICLES IN GENERAL
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    • B60L2270/00—Problem solutions or means not otherwise provided for
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Abstract

실시예는 모터를 구동원으로 갖는 연료전지 자동차에 있어서, 모터의 속도를 검출하는 레졸버, 구동축의 휠속도를 검출하는 휠속도검출부, 상기 휠속도의 평균을 연산하여 전송하는 ABS 제어기, 및 상기 레졸버의 고장이 판정되면 상기 휠속도의 정보를 수신하고, 상기 휠속도의 정보에 기초하여 상기 모터의 속도를 연산하여 상기 모터의 구동을 제어하는 연료전지 제어기를 포함하는 연료전지 자동차의 모터속도 보상장치를 제공한다. 따라서, 레졸버의 고장이 발생되어 모터의 속도를 검출할 수 없는 상황에서 비상운전모드로 진입하여 CAN 통신을 이용하여 ABS 제어기로부터 차량의 속도 데이터를 수신하고, 이를 기초로 모터 속도를 연산함으로써 자동차를 정지하지 않고 주행할 수 있다.

Description

연료전지자동차의 모터속도 보정장치 및 보정방법. {The motor velocity compensating device of the fuel cell vehicle and sensor, the motor velocity compensating method thereof}
본 발명은 연료전지 자동차에 대한 것으로, 보다 상세하게는 모터의 속도를 검출하는 레졸버(resolver)에 이상이 발생하더라도 모터 속도를 정확하게 보상하는 연료전지 자동차의 모터 속도 보상장치에 대한 것이다.
차량에 대한 끊임없는 연비 향상의 요구와 각 나라의 배출가스 규제의 강화에 따라 친환경 자동차에 대한 요구가 증가하고 있으며, 이에 대한 현실적인 대안으로 하이브리드 자동차가 제공되고 있다.
연료전지 자동차는 좁은 의미로, 하이브리드 자동차, 전기자동차와 구별될 수 있으며, 연료전지를 이용하여 전기 모터를 구동하는 방식의 자동차를 의미한다.
즉, 연료전지 자동차는 수소와 산소의 화학 반응을 이용하는 연료 전지가 전기 모터를 구동시키는 방식의 미래형 자동차로서, 기존 가솔린 연료를 쓰기 때문에 전기의 힘으로만 움직이는 전기 자동차와는 다르다.
연료전지 자동차는 가솔린에 열을 가해 기화시킨 다음 수증기와 공기를 혼합해 수소와 일산화탄소를 만든다. 일산화탄소는 증기의 촉매 작용을 통해 이산화탄소와 수소로 바꾸고, 만들어진 수소가스를 산소와 화학적으로 결합시켜 모터를 움직이는 전기를 만들어 차를 움직인다.
이러한 연료전지 자동차는 배출가스가 없어 공해가 발생하지 않아 전기와 연료를 함께 사용하는 하이브리드 자동차에 이어 미래 자동차 산업을 주도할 가능성이 높다.
그러나, 이러한 연료전지 자동차는 일반 내연기관 자동차에 비하여 부품의 개수가 많고 시스템이 복잡하다.
따라서, 각 부품의 이상 동작에 대한 제어 알고리즘이 필요하다.
실시예는 구동모터의 제어에 필요한 속도 신호를 전달하는 과정에서 이상이 발생 시에 이를 보정하는 보정장치 및 보정 방법을 제공한다.
실시예는 모터를 구동원으로 갖는 연료전지 자동차에 있어서, 모터의 속도를 검출하는 레졸버, 구동축의 휠속도를 검출하는 휠속도검출부, 상기 휠속도의 평균을 연산하여 전송하는 ABS 제어기, 및 상기 레졸버의 고장이 판정되면 상기 휠속도의 정보를 수신하고, 상기 휠속도의 정보에 기초하여 상기 모터의 속도를 연산하여 상기 모터의 구동을 제어하는 연료전지 제어기를 포함하는 연료전지 자동차의 모터속도 보상장치를 제공한다.
상기 연료전지 제어기는 상기 레졸버의 고장이 판정되면 휠속도검출부에서 제공되는 상기 휠속도의 평균값과 종감속 기어비를 적용하여 상기 모터의 속도를 연산할 수 있다.
상기 ABS 제어기는 CAN통신을 통하여 상기 휠속도의 정보를 전송하고, 상기 연료전지 제어기는 상기 CAN통신을 통하여 상기 휠속도의 정보를 수신할 수 있다.
상기 ABS 제어기는 상기 CAN통신을 통하여 상기 휠속도의 정보를 10ms 마다 전송할 수 있다.
상기 ABS 제어기는 4개의 휠의 상기 휠속도검출부로부서 수신되는 휠속도의 평균 값을 전송할 수 있다.
상기 연료전지 제어기는 상기 레졸버의 고장이 판정되면 비상 운전 모드로 전환하여 상기 모터를 구동할 수 있다.
상기 연료전지 제어기는 상기 비상 운전 모드로 전환하면 비상등을 점등할 수 있다.
한편, 실시예는 모터의 속도를 검출하는 레졸버를 모니터링하는 단계, 상기 레졸버의 고장이 판정되면 비상 운전 모드로 전환하는 단계, ABS 제어기로부터 휠속도의 정보를 수신하는 단계, 및 상기 휠속도 정보로부터 상기 모터의 속도를 연산하는 단계를 포함하는 연료전지 자동차의 모터속도 연산방법을 제공한다.
상기 모터의 속도를 연산하는 단계는 휠속도검출부에서 제공되는 상기 휠속도의 평균값과 종감속 기어비를 적용하여 상기 모터의 속도를 연산할 수 있다.
ABS 제어기로부터 휠속도의 정보를 수신하는 단계는, CAN통신을 통하여 상기 휠속도의 정보를 수신할 수 있다.
실시예에 따르면, 레졸버의 고장이 발생되어 모터의 속도를 검출할 수 없는 상황에서 비상운전모드로 진입하여 CAN 통신을 이용하여 ABS 제어기로부터 차량의 속도 데이터를 수신하고, 이를 기초로 모터 속도를 연산함으로써 자동차를 정지하지 않고 주행할 수 있다.
따라서, 레졸버의 고장이 발생하더라도 자동차의 운행에 안정성 및 신뢰성이 제공될 수 있다.
도 1은 본 발명의 실시예에 따른 연료전지 자동차의 모터속도 보정장치를 개략적으로 도시한 도면이다.
도 2는 본 발명의 실시예에 따른 연료전지 자동차의 모터속도 보정방법을 나타내는 순서도이다.
아래에서는 첨부한 도면을 참고로 하여 본 발명의 실시예에 대하여 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자가 용이하게 실시할 수 있도록 상세히 설명한다. 그러나 본 발명은 여러 가지 상이한 형태로 구현될 수 있으며 여기에서 설명하는 실시예에 한정되지 않는다. 그리고 도면에서 본 발명을 명확하게 설명하기 위해서 설명과 관계없는 부분은 생략하였으며, 명세서 전체를 통하여 유사한 부분에 대해서는 유사한 도면 부호를 붙였다.
명세서 전체에서, 어떤 부분이 어떤 구성요소를 "포함"한다고 할 때, 이는 특별히 반대되는 기재가 없는 한 다른 구성요소를 제외하는 것이 아니라 다른 구성요소를 더 포함할 수 있는 것을 의미한다.
도 1은 본 발명의 실시예에 따른 연료전지 자동차의 모터속도 보정장치를 개략적으로 도시한 도면이다.
도 1에서 알 수 있는 바와 같이, 본 발명의 실시예에 따른 연료전지 자동차의 모터속도 추정장치는, 속도제어부(101)와 약계자제어부(102), FCU(Fuelcelll Control Unit : 103), MCU(Motor Control Unit : 105), 모터(300), 레졸버(310), 구동휠(500), 휠속도검출부(510) 및 ABS 제어기(Antilock Brake System : 104)를 포함한다.
속도제어부(101)는 시프트 레버(Shift Lever)로 선택되는 변속단을 검출하여 그에 대한 정보를 FCU(103)에 제공한다.
약계자제어부(102)는 주행 중 고속 운행을 위한 것으로, 주 전동기의 계자 자속을 감소시키기 위하여 인가되는 제어 신호에 따라 전류값을 제어한다.
FCU(103)는 최상위 제어기로, 네트워크로 연결되는 하위 제어기들을 통합 제어하고, 각 하위 제어기들의 정보를 수집 분석하여 연료전지 차량의 전반적인 거동을 제어한다.
상기 FCU(103)는 레졸버(510)의 고장이 판정되면 차량을 정지하지 않고, 비상모드로 전환하여 ABS 제어기(104)로부터 구동모터(300)의 속도를 연산한다.
상기 FCU(103)는 레졸버(510)의 고장이 판정되면 휠속도검출부(510)에서 제공되는 구동휠(500) 속도의 평균값과 종감속 기어비, 타이어 지름 등의 정보를 적용하여 모터(300)의 속도를 연산한다.
이때, 상기 상기 FCU(103)는 ABS 제어기(104)로부터 구동휠(500) 속도를 CAN (Controller Area Network) 통신을 통하여 수신한다.
MCU(105)는 복수개의 전력 스위칭소자로 구성되는 인버터 및 보호회로를 포함하며, 상기 FCU(103)에서 인가되는 제어신호에 따라 배터리(106)에서 공급되는 직류전압을 3상 교류전압으로 변환시켜 모터(300)를 구동을 제어한다.
상기 MCU(105)에 포함되는 전력 스위칭소자는 IGBT(Insulated Gate Bipolar Transistor), MOSFET, 트랜지스터, 릴레이 중 어느 하나로 구성될 수 있다.
그리고, 상기 MCU(105)에 포함되는 보호회로는 구동전원의 흐름을 감시하고, 차량의 추돌이나 충돌, 낙뢰 등 다양한 원인에 의해 구동전원에 과전압, 과전류가 유입되는 경우 구동전원을 분산 혹은 차단시켜 연료전지 차량에 구비되는 제반 시스템을 보호하고, 탑승자를 고압으로부터 안정되게 보호한다.
모터(300)는 MCU(105)를 통해 공급되는 3상 교류전압으로 구동되어 발전기로 동작된다.
레졸버(310)는 모터의 회전속도를 검출하여 그에 대한 정보를 FCU(103)에 제공하여 운전요구 및 주변의 환경조건에 따라 모터(300)의 속도 및 토크가 피드백 제어 되도록 한다.
횔속도검출부(510)는 주행에 따른 구동휠(500)의 회전속도를 검출하여 그에 대한 정보를 ABS 제어기(104)에 전송한다.
ABS 제어기(104)는 바퀴가 잠기지 않도록 바퀴를 짧은 시간 동안 복수회에걸쳐 쳐주어 안정적으로 감속 또는 핸들링하는 것으로, 4개의 휠의 휠속도검출부(510)로부터 주기적으로 휠속도 정보를 수신하여 평균값을 연산하고, 그에 대한 정보를 CAN 통신(110)으로 내보낸다.
상기 ABS 제어기(104)의 휠평균속도 정보는 10ms 마다 CAN 통신(110)으로 전송될 수 있다.
상기한 기능을 포함하는 본 발명에 따른 연료전지 자동차에서 통상적인 동작은 종래의 연료전지 자동차와 동일 내지 유사하게 실행되므로 이에 대한 구체적인 설명은 생략한다.
본 발명은 모터의 속도를 검출하는 레졸버의 고장이 발생되는 경우 안정된 피드백 제어를 유지하기 위하여 모터의 속도를 연산하는 발명이므로, 이에 대한 동작에 대해서만 구체적으로 설명한다.
도 2는 본 발명의 실시예에 따른 연료전지 자동차의 모터속도 보정방법을 나타내는 순서도이다.
본 발명이 적용되는 연료전지 자동차가 운행되는 상태에서(S101) FCU(103)는 레졸버(310)의 상태를 모니터링하여 (S102) 고장으로 검출되는지 판단한다(S103).
상기 S103의 판단에서 FCU(103)는 레졸버(310)의 고장이 판정되지 않으면 레졸버(310)에서 제공되는 모터(300)의 속도에 따라 피드백 제어를 실행한다.
그러나, 상기 S103의 판단에서 FCU(103)는 레졸버(310)의 고장이 판정되면 비상 운전 모드로 전환한다(S104).
비상 운전 모드에서 상기 FCU(103)는 비상등 등을 점등할 수 있다.
즉, 상기 FCU(103)는 레졸버(310)로부터 모터속도를 수신하지 않고, ABS 제어기(104)로부터 휠평균속도 정보를 수신한다(S105).
이때, ABS 제어기(104)는 4개의 휠의 휠속도검출부(510)로부터 주기적으로 휠속도 정보를 수신하여 평균값을 연산하고, 그에 대한 정보를 CAN 통신(110)으로 내보내므로, 상기 FCU(103)는 CAN 통신(110)을 통하여 전송되는 휠평균속도 정보를 수신한다.
이후, 소정 기간 동안의 구동휠의 휠속도를 평균하고, 휠속도의 평균값과 현재의 변속단 조건에서 결정되는 종감속 기어비, 타이어 반지름 등의 조건을 적용하여 모터(300)의 속도를 연산한다(S106).
다음으로, 연산된 모터(300)의 속도에 기초하여 모터(300)를 제어한다(S107).
이와 같이 레졸버(310)의 고장이 발생된 상태에서 모터(300)의 속도를 명확하게 연산하여 피드백 제어에 적용함으로써, 연료전지 자동차의 운행에 안정성 및 신뢰성이 제공될 수 있다.
이상에서 본 발명의 실시예에 대하여 상세하게 설명하였지만 본 발명의 권리범위는 이에 한정되는 것은 아니고 다음의 청구범위에서 정의하고 있는 본 발명의 기본 개념을 이용한 당업자의 여러 변형 및 개량 형태 또한 본 발명의 권리범위에 속하는 것이다.
101 : 속도제어부 102 : 약계자 제어부
103 : FCU 104 : ABS 제어기
105 : MCU 110 : CAN 통신
300 : 모터 310 : 레졸버
500 : 구동휠 510 : 휠속도검출부

Claims (10)

  1. 모터를 구동원으로 갖는 연료전지 자동차의 모터속도 보상장치에 있어서,
    모터의 속도를 검출하는 레졸버;
    구동축의 휠속도를 검출하는 휠속도검출부;
    상기 휠속도의 평균을 연산하여 전송하는 ABS 제어기; 및
    상기 레졸버의 고장이 판정되면 상기 휠속도의 정보를 수신하고, 상기 휠속도의 정보에 기초하여 상기 모터의 속도를 연산하여 상기 모터의 구동을 제어하는 연료전지 제어기;를 포함하되,
    상기 ABS 제어기는 CAN통신을 통하여 상기 휠속도의 정보를 전송하고, 상기 연료전지 제어기는 상기 CAN통신을 통하여 상기 휠속도의 정보를 수신하되,
    상기 ABS 제어기는 4개의 휠의 상기 휠속도검출부로부터 수신되는 휠속도의 평균 값을 전송하는
    연료전지 자동차의 모터속도 보상장치.
  2. 제1항에 있어서,
    상기 연료전지 제어기는 상기 레졸버의 고장이 판정되면 휠속도검출부에서 제공되는 상기 휠속도의 평균값과 종감속 기어비를 적용하여 상기 모터의 속도를 연산하는 것을 특징으로 하는 연료전지 자동차의 모터속도 보상장치.
  3. 삭제
  4. 제1항에 있어서,
    상기 ABS 제어기는 상기 CAN통신을 통하여 상기 휠속도의 정보를 10ms 마다 전송하는 연료전지 자동차의 모터속도 보상장치.
  5. 삭제
  6. 제1항에 있어서,
    상기 연료전지 제어기는 상기 레졸버의 고장이 판정되면 비상 운전 모드로 전환하여 상기 모터를 구동하는 연료전지 자동차의 모터속도 보상장치.
  7. 제6항에 있어서,
    상기 연료전지 제어기는 상기 비상 운전 모드로 전환하면 비상등을 점등하는 연료전지 자동차의 모터속도 보상장치.
  8. 모터의 속도를 검출하는 레졸버를 모니터링하는 단계;
    상기 레졸버의 고장이 판정되면 비상 운전 모드로 전환하는 단계;
    ABS 제어기로부터 휠속도의 정보를 수신하는 단계; 및
    상기 휠속도 정보로부터 상기 모터의 속도를 연산하는 단계;를 포함하되,
    ABS 제어기로부터 휠속도의 정보를 수신하는 단계에서, 상기 ABS 제어기는 4개의 휠의 상기 휠속도검출부로부터 수신되는 휠속도의 평균 값을 전송하는
    연료전지 자동차의 모터속도 연산방법.
  9. 제8항에 있어서,
    상기 모터의 속도를 연산하는 단계는
    휠속도검출부에서 제공되는 상기 휠속도의 평균값과 종감속 기어비를 적용하여 상기 모터의 속도를 연산하는 것을 특징으로 하는 연료전지 자동차의 모터속도 연산방법.
  10. 제8항에 있어서,
    ABS 제어기로부터 휠속도의 정보를 수신하는 단계는,
    CAN통신을 통하여 상기 휠속도의 정보를 수신하는 연료전지 자동차의 모터속도 연산방법.
KR20120146808A 2012-12-14 2012-12-14 연료전지자동차의 모터속도 보정장치 및 보정방법. KR101484208B1 (ko)

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DE102013222749.3A DE102013222749B4 (de) 2012-12-14 2013-11-08 Vorrichtung und Verfahren zum Ausgleichen einer Motorgeschwindigkeit eines Brennstoffzellenfahrzeugs
CN201310688077.8A CN103863138B (zh) 2012-12-14 2013-11-15 补偿燃料电池车电动机速度的装置和方法
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KR102633943B1 (ko) 2018-09-14 2024-02-05 현대자동차주식회사 차량의 휠 속도 추정 장치 및 방법
CN111619366A (zh) * 2020-05-28 2020-09-04 清华大学 基于电机旋变和轮速传感器的控制系统及控制方法

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US9233610B2 (en) 2016-01-12
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