KR102008919B1 - Motor control system and method for an Electric Shift-By-Wire system - Google Patents

Abstract

The present invention relates to a motor control system of an electric shift lever system and a control method thereof.
In one embodiment, a system for controlling an electric motor of an electric shift lever system for shifting by rotating a detent plate coupled to a rotating shaft of an electric motor based on an electrical signal transmitted from a shift lever is provided. A shift lever sensor for detecting a target shift stage by detecting a position of a shift lever changed by an operation of the shift lever, an electric motor position sensor for checking a current shift stage by detecting a current position of the electric motor, and the shift lever sensor and the electric It provides a motor control system of the electric shift lever system including a control unit for receiving information from the motor position sensor and adjusting the rotational speed of the electric motor based on the received information and the shape information of the pre-stored detent plate.
Through the system as described above it is possible to minimize the impact and noise generated in the shifting process of the electric shift lever system, it is also possible to shift quickly and accurately compared to the conventional shift lever system.

Description

Motor control system and method for an electric shift lever system {Motor control system and method for an Electric Shift-By-Wire system}

The present invention relates to a motor control system and a control method of an electric shift lever system. In particular, the area of the detent plate is divided into shift stage stars (P, R, N, and D), and the feedforward and The present invention relates to a motor control system and a method for enabling fast shifting by differently setting a target duty value of a motor for each region through PID control.

The transmission is a key component in driving a vehicle that functions to increase or decrease the engine rotational force to the wheels according to the driving conditions of the vehicle.

The transmission is divided into a manual transmission and an automatic transmission according to the transmission method. Recently, the automatic transmission is used in most vehicles because of the advantage of convenient and smooth starting without the need for a separate clutch operation.

The automatic transmission is an automatic transmission with a mechanical shift lever system that shifts to a mechanical link structure through wires according to the shifting method, and an automatic transmission with an electric shift lever system that shifts using electrical signals from a substrate instead of a mechanical link structure. Divided.

In particular, despite the disadvantage that the electric shift lever system is expensive, unlike the mechanical shift lever system, the information of the shift stage selected by the driver can be transmitted as an electric signal without mechanical connection of the transmission and the shift lever, thereby providing shock and vibration. There is an advantage that this does not occur, and in recent years, vehicles that adopt the electric shift lever system have been gradually increasing.

The electric shift lever system controls the electric motor as shown in FIG. 1 to rotate the detent plate 240 coupled to the rotating shaft of the motor, thereby changing the current shift stage to a shift stage corresponding to the driver's shift lever operation.

However, while the detent plate 240 moves from the valley to the hill, or vice versa, the detent plate 240 may have an impact on the detent plate and the detent spring, and noise may be generated by the impact. .

In addition, since the shape of the detent plate 240 corresponding to each shift stage is not constant, the speed of shifting from the P stage to the R stage or from the R stage to the N stage is not the same, and when shifting to a specific shift stage, There was a problem that it might take a long time.

That is, the conventional electric shift lever system is unable to solve the above problems, a situation in which a new system capable of fast and uniform shifting while reducing noise and impact is required.

United States Patent Publication (Registration No .: 8620537) “Shift-by-wire system”

The present invention reduces the impact and noise generated between the detent plate and the detent spring by controlling the rotational speed of the motor according to whether the detent plate moves from the hill to the valley or vice versa. An object of the present invention is to provide a motor control method of an electric shift lever system capable of maintaining a constant speed regardless of the type.

The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned above may be clearly understood by those skilled in the art from the following description. will be.

In order to solve the above problems, the present invention is an electric motor of an electric shift lever system for shifting by rotating a detent plate coupled to the rotating shaft of the electric motor based on the electrical signal transmitted from the shift lever in one embodiment. A system for controlling a speed change, comprising: a shift lever sensor configured to detect a target shift stage by detecting a position of a shift lever changed by a driver's operation; An electric motor position sensor that detects a current position of the electric motor and checks a current shift stage; And a controller configured to receive information from the shift lever sensor and the electric motor position sensor, and adjust a rotational speed of the electric motor based on the received information and shape information of a pre-stored detent plate. It provides a motor control system of the electric shift lever system comprising a.

In particular, the control unit includes a position information receiving unit for receiving information on the target gear stage and the current gear stage and the current position of the electric motor; A compensation unit configured to calculate a target duty value by performing feedforward control and PID control based on the information received by the position information receiver, and transmit the calculated duty value to the electric motor; And a determination unit for checking whether or not the current shift stage and the target shift stage match each other.

At this time, when the position of the detent spring is changed from the valley of the detent plate to the acid during the rotation of the detent plate, the compensation unit performs a positive feedforward control to gradually increase the duty value of the electric motor, It is characterized by increasing the rotation speed.

On the contrary, when the position of the detent spring is changed from the peak of the detent plate to the valley of the detent plate while the detent detent plate is rotated, the compensator performs negative feedforward control to gradually reduce the duty value of the electric motor. It is characterized by slowing the rotation speed.

In addition, the compensator may maintain the horizontal moving speed of the detent plate by adding the duty value derived by the PID control to the duty value derived by the feedforward control.

In another embodiment, the present invention provides a method for controlling an electric motor of an electric shift lever system for shifting by rotating a detent plate coupled to a rotating shaft of an electric motor based on an electrical signal transmitted from a shift lever. (a) a shift stage checking step of confirming whether the target shift stage of the driver identified from the shift lever sensor and the current shift stage identified from the position sensor of the electric motor match; (b) an error calculation step of calculating an error value between the target position and the current position of the electric motor when it is determined that the target shift stage and the current shift stage do not coincide in the shift stage checking step (a); (c) calculating a target duty value by performing feedforward control and PID control based on the error value calculated in the error calculating step and current position information of the electric motor, and calculating the target duty value based on the calculated target duty value. A compensation step of controlling the rotational speed of the electric motor; And (d) determining whether the current position and the target position of the electric motor coincide with each other.

In particular, the (c) compensating step is to determine the current position of the electric motor, in order to increase the duty value when the position of the detent spring is changed from the valley of the detent plate to the mountain during the rotation of the detent plate A positive feedforward control is performed.

In addition, the (c) compensating step is to determine the current position of the electric motor, as a result of determining the current position of the electric motor, the position of the detent spring is changed from the mountain of the detent plate to the goal during the rotation of the detent plate In this case, the negative feedforward control is performed to reduce the duty value.

In addition, the (c) compensation step is characterized in that the PID control for deriving the compensation duty value by multiplying the error value calculated in the error calculation step by the gain value stored in the control unit.

At this time, the gain value is characterized in that is stored separately for each shift stage.

In addition, in the motor control method of the electric shift lever system of the present invention, if it is determined that the current position and the target position of the electric motor do not coincide in the determining step (d), the (b) error calculating step and the (c) compensation are performed. It is characterized by performing the step again.

The present invention speeds up the rotational speed of the motor when the detent plate moves from the valley to the hill, and conversely, the detent plate moves from the hill to the valley by slowing down the rotational speed of the motor, which occurs between the detent spring and the detent plate. It can suppress the shock and noise.

In addition, according to the present invention, by controlling the rotational speed of the motor, the speed change can be kept constant regardless of the shape of the detent plate.

1 is a perspective view showing a detent plate and a detent spring of the electric shift lever system.
2 (a) is a view showing a state where the detent spring is located in the valley portion of the detent plate, Figure 2 (b) is a view showing a state where the detent spring is located in the mountain portion of the detent plate during the shifting process. .
3 is a view showing the components constituting the motor control system of the electric shift lever system of the present invention.
4 is a diagram illustrating a process of correcting a target duty value of a motor through FeedForward and PID control in a shifting process.
5 is a flowchart illustrating a motor control method of the electric shift lever system of the present invention.
6 is a flowchart illustrating a motor control method of the electric shift lever system of the present invention.

Hereinafter, with reference to the drawings will be described the present invention in more detail. It should be noted that the same elements in the figures are represented by the same numerals wherever possible. In addition, detailed description of well-known functions and configurations that may unnecessarily obscure the subject matter of the present invention will be omitted.

When a component is referred to as being connected or connected to another component, it is to be understood that although the component may be directly connected or connected to the other component, other components may exist in the middle. In addition, when a member is located "on" another member throughout this specification, this includes not only when a member is in contact with the other member, but also when there is another member between the two members.

In the present application, the term “comprises” or “having” is intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more. It is to be understood that it does not exclude in advance the possibility of the presence or addition of other features or numbers, steps, operations, components, components or combinations thereof.

On the other hand, the term 'system' used in the present invention should be understood to mean a system including a plurality of configurations.

With reference to Figures 2 and 4, it will be described in detail with respect to the motor control system of the electric shift lever system according to an embodiment of the present invention.

Figure 2 (a) is a view showing a state where the detent spring is located in the valley portion of the detent plate, Figure 2 (b) is a view showing a state where the detent spring is located in the mountain portion of the detent plate during the shifting process 3 is a view showing the components constituting the motor control system of the electric shift lever system of the present invention, Figure 4 shows a process of correcting the target duty value of the motor through the FeedForward and PID control in the shift process Drawing.

The motor control system of the electric shift lever system of the present invention detects the position of the shift lever 100 that is changed by the driver's operation to check the target shift stage, and the current position of the shift lever sensor 110 and the electric motor 200. Receives information from the electric motor position sensor 210 and the shift lever sensor 110 and the electric motor position sensor 210 to detect the current shift stage, and the received information and the pre-stored detent plate 230 It includes a control unit 300 for adjusting the rotational speed of the electric motor 200 based on the shape information.

The present invention enables a fast shift by providing a motor control system as described above, and also minimizes the noise and shock generated when the shift occurs. Hereinafter, the components constituting the system of the present invention will be described in detail.

First, the shift lever sensor 110 is attached to the shift lever 100 and is a component capable of detecting a change in position of the shift lever 100 according to the driver's operation. For example, when the driver operates the shift lever 100 to change the shift stage from the “P” stage to the “D” stage, the shift lever sensor 110 recognizes the “D” stage as the target shift stage.

Next, the electric motor position sensor 210 is attached to the electric motor 200 to confirm the current position of the electric motor 200, where the current position of the electric motor 200 is It means the angle that the rotating shaft 220 is rotated.

The detent plate 230 is coupled to the rotating shaft 220 of the electric motor 200 as shown in FIG. 1, so that the detent plate 230 also rotates according to the rotation of the rotating shaft 220.

The detent plate 230 is formed in a hill and valley shape corresponding to each of the P, R, N, D shift stages, as shown in Figure 2 is coupled to the fixing portion 250 by the rotation of the detent plate 230 When the detent spring 240 is located at the valley of the detent plate 230, the shift stage corresponding thereto becomes the current shift stage. For example, when the detent spring 240 is located at the valley corresponding to the "P" end of the detent plate 230 as shown in FIG. 2A, the current shift stage becomes the "P" end.

Position information of the detent plate 230 and the detent spring 240 corresponding to the current position of the electric motor 200 is mapped to a controller to be described later, so that the electric motor position sensor 210 is the current position of the electric motor. By identifying the information, it is also possible to grasp information about the current shift stage of the vehicle.

In this case, the electric motor position sensor 210 is preferably an inhibitor switch or a hall sensor, but is not limited thereto. If the rotation angle of the electric motor 200 can be measured, it is irrelevant.

Next, the control unit 300 which is a key component of the present invention will be described. The control unit 300 of the present invention may be a transmission control unit (TCU), and is characterized in that the position information receiving unit 310, the compensation unit 320 and the determination unit 330.

First, the position information receiver 310 may receive information regarding a target gear shift stage and a current gear shift stage from the shift lever sensor 110 and the electric motor position sensor 210, respectively.

In addition, the position information receiver 310 receives the information on the current position (rotation angle) of the electric motor 200, so that the detent spring 240 as shown in Figure 2 (a), (b) It is possible to determine whether it is located at the mountain or goal of 230, whether it is located at the position moving from the goal to the mountain, or vice versa.

Next, the compensation unit 320 will be described with reference to FIG. 4. At this time, the feedforward and PID control shown in FIG. 4 is only an embodiment of the compensation process, and is not necessarily compensated as shown in FIG. 4.

 The compensation unit 320 performs a feedforward control and a PID control (Proportional Integral Derivative Control) based on the information received from the position information receiver 310 to control the rotational speed of the electric motor 200. Configuration. In particular, the compensation unit 320 may calculate a target duty value for rotating the electric motor 200 at a desired speed by correcting the duty value by simultaneously performing feed forward control and PID control.

The compensator 320 performs feedforward control based on the position information of the detent plate 230 and the detent spring 240 determined by the position information receiver 310.

 When the position of the detent spring 240 is changed from the valley of the detent plate 230 to the mountain by the rotation of the detent plate 230 (a-1, a-2, a-3 section in Figure 4) Since the restoring force acts by the detent spring 240 to slow down the rotation of the detent plate 230, the compensator 320 performs positive feedforward control to perform the electric motor 200. It is possible to gradually increase the duty value transmitted to, and consequently to control the rotation speed of the electric motor 200 faster.

On the contrary, when the position of the detent spring 240 is changed from the peak of the detent plate 230 to the valley by the rotation of the detent plate 230 (b-1, b-2, b-3 of Figure 4) There is a restoring force acting in reverse to increase the speed of rotation to the detent plate 230, the impact and noise is generated between the detent plate 230 and the detent spring 240 in the process.

Accordingly, the compensator 320 performs negative feedforward control to gradually reduce the duty value transmitted to the electric motor 200, thereby controlling the rotation speed of the electric motor 200 more slowly. have.

That is, the compensation unit 320 performs the feed forward control as described above, so that the detent regardless of the rotation state of the detent plate 230 (when moving from the valley to the mountain or from the mountain to the valley) The horizontal movement speed of the plate 230 can be kept constant, and the noise and impact generated when the detent plate 230 moves from the mountain to the valley can be minimized.

 In addition, the compensation unit 320 calculates a difference value (error value) between the target position and the current position of the electric motor 200 on the basis of the information on the target gear stage and the current gear stage received by the position information receiver 310 and In addition, PID control for deriving a compensation duty value may be performed by multiplying an error value by a gain value previously stored in the controller 300.

Particularly, a gain value corresponding to an error value is mapped to the control unit 300. The gain value is stored in each of the P, R, N, and D stages according to the shift stage, and the detent plate 230 is stored. The gain value may be different according to the current position of the watent spring 240. For example, as a gain value corresponding to the P stage, Kp may be stored as 0.5, Kd is 0.5, and Ki is 0.5, and Kp corresponding to the D stage is 0.5, Kd is 0.5, and Ki is stored as 1. It may be.

In addition, the control unit 300 may distinguish the areas (a-1, 2, 3 and b-1, 2, 3) where the detent spring 240 is located, and store the gain values corresponding thereto. .

According to the present invention, a gain value corresponding to an error amount of an electric motor position is mapped in advance as described above, so that a gain value suitable for an error amount gradually changing with the rotation of the electric motor 200 can be quickly derived, Accurate PID control is possible. In addition, by performing PID control, the electric shift lever system of the present invention can control the electric motor 200 faster and without error than the conventional electric shift lever system.

As a result, the compensation unit 320 transmits the target duty value obtained by adding the compensation duty value derived through PID control to the duty value derived through feedforward control in real time, thereby transmitting the electric motor 200 to the electric motor 200. The rotational speed of) can be controlled efficiently.

Finally, the determination unit 330 compares the current position and the target position of the electric motor after controlling the electric motor 200 by the compensator 320 to determine whether the current shift stage and the target shift stage are matched. Configuration.

When the current shift stage and the target shift stage do not coincide with each other, the determination unit 330 may allow the compensation unit 320 to perform the rotation control of the electric motor 200 again, and the current shift stage matches the target shift stage. In this case, the control of the electric motor 200 is stopped until there is an operation of the shift lever 100 of the driver.

Next, a motor control method of the electric shift lever system of the present invention will be described with reference to FIGS. 5 and 6.

5 is a flowchart illustrating a motor control method of the motorized shift lever system of the present invention, and FIG. 6 is a flowchart illustrating a motor control method of the motorized shift lever system of the present invention.

The present invention provides a method of controlling an electric motor of an electric shift lever system for shifting by rotating a detent plate coupled to a rotating shaft of an electric motor based on an electrical signal transmitted from a shift lever. .

Motor control method of the electric shift lever system of the present invention (a) the shift stage check step of checking whether or not the target shift stage of the driver identified from the shift lever sensor and the current shift stage identified from the electric motor position sensor (S210). (b) Error calculation for calculating an error value between the target position and the current position of the electric motor when it is determined that the target shift stage and the current shift stage do not coincide in the step (a) of checking the shift stage (S210). The target duty value is calculated by performing feedforward control and PID control based on the error value calculated in step S220 and (c) the error calculation step S220 and the current position information of the electric motor. Compensation step (S230) of controlling the rotational speed of the electric motor on the basis of the calculated target duty value and (d) Determination step (S240) of finally checking whether the current position and the target position of the electric motor is the same; It should.

At this time, the shift stage confirming step (S210) and the error calculation step (S220) and the role and the role performed by the shift lever sensor 110, the electric motor position sensor 210, the position information receiver 310 described above. Therefore, detailed description thereof will be omitted.

Next, the compensation step (S230) which is the core of the motor control method of the present invention will be described.

The compensation step (S230) is characterized by controlling the rotation of the electric motor by performing the feed forward control and PID control, as a result of determining the current position of the electric motor, the position of the detent spring in the process of rotating the detent plate In the case of changing from the valley of the detent plate to the acid, since the rotational speed of the electric motor is lowered due to the restoring force generated by the detent spring, the positive feedforward control is performed to increase the duty value supplied to the electric motor. To increase the rotational speed of the electric motor.

On the contrary, as a result of determining the current position of the electric motor, if the position of the detent spring is changed from the peak of the detent plate to the valley during the rotation of the detent plate, the restoring force generated by the detent spring is earlier (de If the position of the tent spring is changed from the valley to the hill), it may act in the opposite direction, causing shock and noise between the detent spring and the detent plate, so that the negative feedforward is reduced to reduce the duty value supplied to the electric motor. By performing the control, one wants to lower the rotational speed of the electric motor.

In addition, the compensation step (S230) is a compensation duty value by performing a PID control to multiply the error value by the error value (target position of the electric motor-the current position of the electric motor) of the target position and the current position of the electric motor To calculate. In this case, the gain value corresponding to the error value is a value previously stored in the control unit or the TCU, and a detailed description thereof will be omitted.

As a result, the compensation step (S230) is a target duty value by adding the compensation duty value derived through PID control to the duty value of the feed forward control based on the current position of the electric motor (position of the detent plate and the detent spring) It is possible to calculate the, and to transmit the target duty value to the electric motor to control the rotational speed and direction of the electric motor. At this time, in the compensating step (S230), it is preferable to perform the feed forward control and the PID control at the same time to quickly perform the duty value compensation process, but the feed forward control and the PID control may be performed at this time.

Finally, the determination step (S240), the determination step (S240) is a comparison between the current position of the electric motor and the target position of the electric motor after the compensation step (S230) is performed, the current gear stage and the target gear stage It is a step of checking whether it matches, that is, a step of determining whether the shift is made correctly.

If it is determined that the current shift stage and the target shift stage match, the control of the electric motor may be terminated until the next shift lever operation of the driver. If the current shift stage and the target shift stage are determined to be inconsistent, the error calculation may be performed. Step S220 and the compensation step S230 are performed again so that the shift lever system can be controlled as the driver intends.

In summary, the present invention provides a system for controlling the motor of the electric shift lever system as described above and a method of controlling the same, thereby enabling fast shifting and occurring between the detent plate 230 and the detent spring 240. Noise and shock can be minimized to provide a comfortable driving environment for the driver.

While the above has been shown and described with respect to preferred embodiments and applications of the present invention, the present invention is not limited to the specific embodiments and applications described above, the invention without departing from the gist of the invention claimed in the claims Various modifications can be made by those skilled in the art, and these modifications should not be individually understood from the technical spirit or the prospect of the present invention.

Also, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: shift lever
110: shift lever sensor
200: electric motor
210: electric motor position sensor
220: rotation axis
230: detent plate
240: detent spring
300: control unit
400: transmission

Claims (11)

A system for controlling an electric motor of an electric shift lever system for shifting by rotating a detent plate coupled to a rotating shaft of an electric motor based on an electrical signal transmitted from a shift lever,
A shift lever sensor for detecting a target shift stage by detecting a position of a shift lever changed by a driver's operation;
An electric motor position sensor that detects a current position of the electric motor and checks a current shift stage; And
A control unit which receives information from the shift lever sensor and the electric motor position sensor, and adjusts a rotational speed of the electric motor based on the received information and shape information of a pre-stored detent plate;
In the motor control system of the motorized shift lever system comprising:
The control unit,
A position information receiving unit which receives information on the target speed change stage and the current speed change stage, and information on the current position of the electric motor; And
A compensator configured to simultaneously perform feedforward control and PID control based on the information received by the position information receiver, calculate a target duty value, and transmit the calculated target duty value to the electric motor;
Including;
By dividing the area where the detent spring is located on the detent plate into a plurality of areas and mapping a gain value corresponding thereto, using the gain value of the PID control,
Motor control system of the electric shift lever system.
The method of claim 1,
The control unit,
Determination unit for checking whether the current gear stage and the target gear stage match;
The motor control system of the electric shift lever system further comprises.
The method of claim 2,
When the position of the detent spring is changed from the valley of the detent plate to the mountain during the rotation of the detent plate, the compensation unit controls the rotational speed of the electric motor by positive feedforward control to gradually increase the duty value. A motor control system of an electric shift lever system, characterized by speeding up.
The method of claim 2,
The compensating unit performs negative feedforward control to gradually reduce the duty value when the position of the detent spring is changed from the peak of the detent plate to the valley of the detent plate while the detent detent plate rotates, thereby rotating the speed of the electric motor. A motor control system of an electric shift lever system, characterized by slowing down.
The method of claim 2,
The compensator may add the duty value derived by the PID control to the duty value derived by the feedforward control, thereby maintaining a constant horizontal moving speed of the detent plate. Control system.
A method of controlling an electric motor of an electric shift lever system for shifting by rotating a detent plate coupled to a rotating shaft of an electric motor based on an electrical signal transmitted from a shift lever,
(a) a shift stage checking step of confirming whether a target shift stage of the driver identified from the shift lever sensor and a current shift stage identified from the electric motor position sensor match;
(b) an error calculation step of calculating an error value between the target position and the current position of the electric motor when it is determined that the target shift stage and the current shift stage do not coincide in the shift stage checking step (a);
(c) calculating a target duty value by performing feedforward control and PID control based on the error value calculated in the error calculating step and current position information of the electric motor, and calculating the target duty value based on the calculated target duty value. A compensation step of controlling the rotational speed of the electric motor; And
(d) a final step of determining whether the current position and the target position of the electric motor coincide with each other.
PID control of the (c) compensation step,
By dividing the area where the detent spring is located on the detent plate into a plurality of areas and mapping a gain value corresponding to the area to the control unit, using the gain value of the PID control,
How to control the motor of the electric shift lever system.
The method of claim 6,
Compensating step (c) is to determine the current position of the electric motor, when the position of the detent spring is changed from the valley of the detent plate to the mountain during the rotation of the detent plate, the positive value to increase the duty value A motor control method for an electric shift lever system, characterized by performing feedforward control.
The method of claim 6,
In the step (c) of the compensating step, when the current position of the electric motor is determined and the current position of the electric motor is determined, the position of the detent spring is changed from the peak of the detent plate to the valley during the rotation of the detent plate. And a negative feedforward control to reduce the duty value.
The method of claim 6,
The PID control of the compensation step (c) of the electric shift lever system, characterized in that to derive the compensation duty value by multiplying the error value calculated in the step (b) the error calculation step (Gain) previously mapped to the control unit. Motor control method.
The method of claim 9,
The pre-mapped gain value may be classified according to shift stages and further mapped to the motor control method of the electric shift lever system.
The method of claim 6,
If it is determined that the current position and the target position of the electric motor do not coincide in the determining step (d), the motor of the electric shift lever system, wherein the error calculating step and the compensation step are performed again. Control method.

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