KR101495265B1 - Method and apparatus for controlling driving motor of hybrid electrical vechicle - Google Patents

Abstract

There is disclosed a drive motor control apparatus and method for a hybrid vehicle capable of eliminating a jerk phenomenon due to a reverse torque of a drive system and a suspension device generated at the start of a hybrid vehicle. According to the present invention, a torque reduction condition of the drive motor is determined according to a current motor speed, a vehicle speed, a gear ratio, a tire radius, and a shift gear ratio when starting after a stop, based on an electric signal supplied from an excel position sensor and a brake pedal sensor Executing torque reduction control of the drive motor when the target torque is satisfied; b) canceling the torque reduction control of the drive motor based on the torque reduction amount, the vehicle speed, and the torque reduction control time; And c) performing a proportional control (P), an integral control (I), and a differential control (D) on the target torque set according to the vehicle speed after canceling the torque reduction control of the drive motor to correct the actual torque .

Cars, hybrids, drive motors, stop and start

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a drive motor control apparatus for a hybrid vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus and method for controlling a driving motor of a hybrid vehicle, and more particularly, Apparatus and method.

Hybrid Electric Vehicle (HEV) is a hybrid vehicle that uses both the internal combustion engine and the output of a motor.

It is possible to drastically reduce the emission of sea gas, and is generally referred to as an echo-car.

In the conventional hybrid vehicle, the traveling mode can be selected by selecting the traveling mode differently according to the vehicle speed.

The hybrid vehicle is provided with an output by an electric motor supplied with power from the battery at the time of starting or low-speed driving, and the driving wheel rotates. During normal driving, the internal combustion engine and the electric motor are combined according to the vehicle speed. The motive power of the internal combustion engine and the electric motor together with the driving force of the internal combustion engine cooperates with the electric motor to rotate the driving wheel W. When the motor is decelerated, the electric motor is used as a generator to charge the battery, thereby recovering energy. When the motor is stopped, the motor is stopped automatically to reduce unnecessary fuel consumption and exhaust gas.

Here, there is a traveling state occurring in a hybrid vehicle other than a general vehicle, that is, when the vehicle is oscillated using a driving motor (a general vehicle is oscillated using a clutch control or a torque converter). At this time, a back torque due to the vibration of the driving system and the suspension device occurs at the time of oscillation after the stop of the driving motor, and backlash occurs instantaneously due to the back torque. Due to the instant reverse rotation of the driving motor, A jerk which is a constant of the acceleration conversion of the acceleration sensor is generated.

The occurrence of such jerking has inevitably caused a problem that the riding feeling is lowered along with the aggravation of the vehicle.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a drive control apparatus and a drive control method thereof, And a driving motor control apparatus and method for a hybrid vehicle that can prevent a jerk due to a reverse torque of a sensory device in advance and improve ride comfort.

Technical Solution According to a first aspect of the present invention,

An excel position sensor for sensing the position of the excel pedal and outputting it as an electrical signal;

A brake pedal sensor for sensing the operation of the brake pedal and outputting the detected result as an electrical signal;

An engine clutch which interrupts transmission of power of the engine to the transmission portion;

A hybrid control unit for receiving signals supplied from the excel position sensor, the brake pedal sensor, and the engine clutch to generate a control signal; And

And a drive unit for driving the engine, the generator, and the drive motor,

The hybrid control unit

The torque reduction conditions of the drive motor are satisfied according to the speed of the current motor, the vehicle speed, the gear ratio, the tire radius, and the shift gear ratio at the time of starting after stopping on the basis of the electric signals supplied from the above-mentioned excel position sensor, brake pedal sensor and engine clutch The torque reduction control of the drive motor is performed and the torque reduction control of the drive motor is released based on the torque reduction amount, the vehicle speed, and the torque reduction control time,

In addition, the hybrid control unit,

(P), an integral control (I), and a differential control (D) to correct the target torque set in accordance with the vehicle speed after releasing the torque reduction control of the drive motor. do.

The PID control

The actual target torque of the drive motor is calculated on the basis of the determined target torque amount according to the vehicle speed, the previously stored proportional coefficient, the differential coefficient, and the integral coefficient, the previous torque of the drive motor and the present torque of the drive motor, And controlling the drive motor according to the control signal.

Here, the torque reduction control condition of the drive motor is,

(Motor speed - vehicle speed * gear ratio * tire radius / shift gear ratio)> first threshold value and

The vehicle speed < the second threshold value,

Wherein the torque reduction control release condition of the drive motor

Torque reduction amount > = target torque amount according to vehicle speed, and

Vehicle speed > = second threshold value,

Torque reduction control time > 1 second.

In addition, the PID control of the drive motor may include:

(Ti) _n-1 + Kd * (e _n- e _n-1 ), _{wherein the} actual target torque satisfies the following _formula: Kp * e _n + Ki * e _n +

Here, e _n is a proportional coefficient, Ki is an integral coefficient, Kd is a differential coefficient e _n , e _n-1 , e _n-2 is a current proportional coefficient, The received torque values are n-th torque, n-1-th torque, and n-2-th torque.

According to another aspect of the present invention,

a) when the torque reduction condition of the drive motor is satisfied according to the current motor speed, the vehicle speed, the gear ratio, the tire radius, and the shift gear ratio at the time of starting from the standstill based on the electric signal supplied from the excel position sensor and the brake pedal sensor, Executing torque reduction control of the drive motor;

b) canceling the torque reduction control of the drive motor based on the torque reduction amount, the vehicle speed, and the torque reduction control time; And

c) performing a proportional control (P), an integral control (I), and a differential control (D) by executing a target torque set according to a vehicle speed after canceling the torque reduction control of the drive motor and driving it with a corrected actual torque And a control unit.

As described above, according to the present invention, by performing the proportional control after the deceleration control at the time of starting the vehicle after stopping the vehicle, the jerk due to the reverse torque of the driving system and the suspension device, It is possible to prevent the vehicle from getting ahead, thereby obtaining an effect of improving ride comfort.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a block diagram showing a configuration of a ramp control apparatus for a hybrid vehicle according to an embodiment of the present invention.

 As shown in the figure, the configuration of a ramp control apparatus for a hybrid vehicle according to an embodiment of the present invention includes an accelerator position sensor 10, a brake pedal sensor 20, a vehicle speed sensor 30, a hybrid control unit 50 ), A drive motor control unit 90, and a drive motor 130.

Here, the excel position sensor 10 senses the position of the excel pedal and outputs it as an electrical signal. The brake pedal sensor 20 senses the operation of the brake pedal and outputs it as an electrical signal.

The hybrid control unit 50 controls the hybrid control unit 50 based on the electric signals supplied from the vehicle speed sensor 30 when starting after stopping based on the electric signals supplied from the ECU 10 and the brake pedal sensor 20, When the torque reduction control condition of the drive motor 130 is satisfied based on the rotation speed of the drive motor 130, the gear ratio stored in advance, the radius of the tire stored in advance, and the shift gear ratio with respect to the current shift speed, Control is performed. That is, when the hybrid control unit 50 satisfies the first threshold value (50 rpm) and the vehicle speed <second threshold value (30 rpm) (motor speed - vehicle speed * gear ratio * tire radius / shift gear ratio) And generates a control signal for performing the torque reduction control of the motor 130. The control signal is supplied to the drive motor 130 through the drive motor control unit 90 and the drive motor 130 Thereby generating power.

When the torque reduction control release condition is satisfied based on the torque reduction amount, the vehicle speed, and the torque reduction control time after the execution of the torque reduction control, the hybrid control unit 50 controls the torque reduction control of the drive motor 130 As shown in FIG. The torque reduction control cancellation condition is one of torque reduction amount> target torque amount according to vehicle speed, vehicle speed> second threshold value (30 rpm), and torque reduction control time> threshold value (1 second).

Next, the hybrid control unit 50 performs a proportional control (P), an integral control (I), and a differential control (D) on the target torque set in accordance with the vehicle speed after releasing the torque reduction control of the drive motor After correction, the corrected actual torque is driven.

Here, the PID control computes the actual target torque of the drive motor based on the target torque amount determined according to the vehicle speed, the previously stored proportional coefficient, the differential coefficient, and the integral coefficient, the previous torque of the drive motor, and the current torque of the drive motor , And the drive motor 130 is driven in accordance with the calculated actual target torque.

That is, the actual target torque obtained by the calculation process satisfying the actual target torque = the target required amount + Kp * e _n + Ki * e _n + (Ti) _n-1 + Kd * (e _n -e _n-1 ) the motor 130 is controlled, wherein said e _n is a - (the current speed of the drive motor target speed according to the vehicle speed), Kp is a proportional coefficient, Ki is the integral coefficient, Kd: differential coefficient e _n, e _{n- 1} and e _n-2 are _n- th torque, n-1-th torque, and n-2-th torque, respectively.

Here, since the PID control process of the driving motor 130 is a known technique, a detailed description thereof will be omitted.

The controller 130 outputs a control signal for driving the driving motor 130 at a torque determined according to the torque reduction control and the torque reduction control termination control and the PID control of the hybrid controller 50 through the above- Generates electric power using electric energy in accordance with a control signal of the drive motor controller 90. [

FIG. 2 is a flowchart showing the control process of the drive motor 130 when the hybrid vehicle is stopped after the hybrid vehicle is stopped by the hybrid control unit 50 shown in FIG. A control process of the drive motor 130 at the time of stopping and starting the hybrid vehicle will be described with reference to the drawings.

The hybrid control unit 50 receives electrical signals supplied from the excel position sensor 10 and the brake pedal sensor 30 and determines whether or not stopping and restarting is requested based on the received electrical signals 303 . If it is determined in step 305 that the vehicle is requested to restart after stopping the hybrid control unit 50, the hybrid control unit 50 determines whether the vehicle speed supplied from the vehicle speed sensor 30, the rotational speed of the current driving motor 130, And the torque reduction ratio of the drive motor 130 when the torque reduction control condition of the drive motor 130 is satisfied.

That is, the hybrid control unit 50 determines whether the current speed of the driving motor 130 is equal to the speed-speed ratio * the gear ratio * the tire radius / the shift gear ratio)> the first threshold value 50 rpm (step 305) If the condition of step 305 is satisfied, it is judged whether the vehicle speed is less than the second threshold value 30 rpm (step 306). If the condition is satisfied, the torque reduction control of the drive motor 130 is executed And the control signal is supplied to the driving motor 130 via the driving motor control unit 90. The driving motor 130 operates in accordance with the control signal to generate power 307, .

When the torque reduction control release condition is satisfied based on the torque reduction amount, the vehicle speed, and the torque reduction control time after the execution of the torque reduction control, the hybrid control unit 50 controls the torque reduction control of the drive motor 130 Terminate.

That is, the hybrid control unit 50 determines whether the torque reduction amount is equal to the target torque amount according to the vehicle speed (309). If the condition of the step 309 is satisfied, the hybrid control unit 50 cancels the torque reduction control (311).

If the condition of the step 309 is not satisfied, it is determined whether the condition of the vehicle speed> = the second threshold value 30 rpm is satisfied (313). If the condition of the step 313 is satisfied, the step 311 ).

However, if the condition of the step 313 is not satisfied, it is determined whether the condition of the torque reduction control time> the third threshold value (1 second) is satisfied (315). If the condition of the step 315 is satisfied The routine proceeds to step 311, and if the determination condition of step 315 is not satisfied, the routine proceeds to step 307 to execute continuation torque reduction control.

If the torque reduction control is terminated through the step 311, the hybrid control unit 50 sets the target torque set in accordance with the vehicle speed as proportional control (P), integral control (I), and differential control (D) And generates a control signal for driving the driving motor 130 with the corrected actual torque, and drives the driving motor 130 through the control signal (315).

Here, the PID control computes the actual target torque of the drive motor based on the target torque amount determined according to the vehicle speed, the previously stored proportional coefficient, the differential coefficient, and the integral coefficient, the previous torque of the drive motor, and the current torque of the drive motor , And the drive motor 130 is driven in accordance with the calculated actual target torque.

That is, the actual target torque obtained by the calculation process satisfying the actual target torque = the target required amount + Kp * e _n + Ki * e _n + (Ti) _n-1 + Kd * (e _n -e _n-1 ) the motor 130 is controlled, wherein said e _n is a - (the current speed of the drive motor target speed according to the vehicle speed), Kp is a proportional coefficient, Ki is the integral coefficient, Kd: differential coefficient e _n, e _{n- 1} and e _n-2 are _n- th torque, n-1-th torque, and n-2-th torque, respectively.

1 is a diagram showing an operation state of a general hybrid vehicle.

2 is a diagram showing a configuration of a drive motor control apparatus for a hybrid vehicle according to an embodiment of the present invention.

FIG. 3 is a flowchart illustrating a driving motor control process of the hybrid control unit shown in FIG. 2. FIG.

Claims (10)

An excel position sensor for sensing the position of the excel pedal and outputting it as an electrical signal; A brake pedal sensor for sensing the operation of the brake pedal and outputting the detected result as an electrical signal; An engine clutch which interrupts transmission of power of the engine to the transmission portion; A hybrid control unit for receiving signals supplied from the excel position sensor, the brake pedal sensor, and the engine clutch to generate a control signal; And And a drive unit for driving the engine, the generator, and the drive motor, The hybrid control unit The torque reduction conditions of the drive motor are satisfied according to the speed of the current motor, the vehicle speed, the gear ratio, the tire radius, and the shift gear ratio at the time of starting after stopping on the basis of the electric signals supplied from the above-mentioned excel position sensor, brake pedal sensor and engine clutch The torque reduction control of the drive motor is performed and the torque reduction control of the drive motor is released based on the torque reduction amount, the vehicle speed, and the torque reduction control time. . The torque reduction control method according to claim 1, (Motor speed - vehicle speed * gear ratio * tire radius / shift gear ratio)> first threshold value and Vehicle speed < second threshold value &quot;. The torque reduction control apparatus according to claim 2, wherein the torque reduction control release condition of the drive motor Torque reduction amount > = target torque amount according to vehicle speed, and Vehicle speed > = second threshold value, Torque reduction control time > 1 sec. &Lt; / RTI &gt; The hybrid vehicle control system according to claim 1, (P), an integral control (I), and a differential control (D) to correct the target torque set in accordance with the vehicle speed after releasing the torque reduction control of the drive motor. A drive motor controller for the hybrid vehicle. 5. The method of claim 4, wherein the PID control The actual target torque of the drive motor is calculated on the basis of the determined target torque amount according to the vehicle speed, the previously stored proportional coefficient, the differential coefficient, and the integral coefficient, the previous torque of the drive motor and the present torque of the drive motor, And controlling the driving motor according to the control signal. The PID control method according to claim 4 or 5, wherein the PID control of the drive motor comprises: Satisfy the real demand target torque = target _{+ Kp * e n + Ki *} e n + (Ti) n-1 + Kd * (e n -e n-1) , and Here, e _n is a proportional coefficient, Ki is an integral coefficient, Kd is a differential coefficient e _n , e _n-1 , e _n-2 is a current proportional coefficient, And the received torque value is an n-th torque, an (n-1) -th torque, and an (n-2) -th torque. a) If the driving motor torque reduction conditions are satisfied according to the current motor speed, vehicle speed, gear ratio, tire radius, and gear ratio when starting after stopping on the basis of electric signals supplied from the excel position sensor and brake pedal sensor, Performing abatement control; b) canceling the drive motor torque reduction control based on the torque reduction amount, the vehicle speed, and the torque reduction control time; And (c) driving motor torque reduction control, performing a proportional control (P), an integral control (I), and a differential control (D) by correcting the target torque set according to the vehicle speed after the cancellation, And the driving motor is driven by the driving motor.   8. The method according to claim 7, wherein the torque reduction control condition of the drive motor in step a) (Motor speed - vehicle speed * gear ratio * tire radius / shift gear ratio)> first threshold value and Vehicle speed < second threshold value &quot;. 8. The control apparatus according to claim 7, wherein the torque reduction control release condition of the drive motor Torque reduction amount > = target torque amount according to vehicle speed, and Vehicle speed > = second threshold value, Torque reduction control time > 1 second. &Lt; / RTI &gt; 8. The method of claim 7, wherein the PID control of the drive motor comprises: Satisfy the real demand target torque = target _{+ Kp * e n + Ki *} e n + (Ti) n-1 + Kd * (e n -e n-1) , and Here, e _n is a proportional coefficient, Ki is an integral coefficient, Kd is a differential coefficient e _n , e _n-1 , e _n-2 is a current proportional coefficient, Wherein the received torque value is an n-th torque, an (n-1) -th torque, and an (n-2) -th torque.

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