KR20130067865A - 하이브리드 차량의 제어방법 - Google Patents

하이브리드 차량의 제어방법 Download PDF

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Publication number
KR20130067865A
KR20130067865A KR1020110134871A KR20110134871A KR20130067865A KR 20130067865 A KR20130067865 A KR 20130067865A KR 1020110134871 A KR1020110134871 A KR 1020110134871A KR 20110134871 A KR20110134871 A KR 20110134871A KR 20130067865 A KR20130067865 A KR 20130067865A
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KR
South Korea
Prior art keywords
motor generator
gear
ring gear
carrier
engine
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KR1020110134871A
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English (en)
Inventor
김상준
박성익
Original Assignee
현대자동차주식회사
기아자동차주식회사
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Application filed by 현대자동차주식회사, 기아자동차주식회사 filed Critical 현대자동차주식회사
Priority to KR1020110134871A priority Critical patent/KR20130067865A/ko
Priority to JP2012138743A priority patent/JP2013124091A/ja
Priority to US13/534,777 priority patent/US20130158760A1/en
Priority to DE102012211365A priority patent/DE102012211365A1/de
Priority to CN201210278762.9A priority patent/CN103158696B/zh
Publication of KR20130067865A publication Critical patent/KR20130067865A/ko
Priority to US14/275,283 priority patent/US8897946B2/en

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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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
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    • B60K6/387—Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/44—Series-parallel type
    • B60K6/445—Differential gearing distribution type
    • 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
    • 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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
    • F16H3/72—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously
    • F16H3/727—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously with at least two dynamo electric machines for creating an electric power path inside the gearing, e.g. using generator and motor for a variable power torque path
    • F16H3/728—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously with at least two dynamo electric machines for creating an electric power path inside the gearing, e.g. using generator and motor for a variable power torque path with means to change ratio in the mechanical gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/38—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the driveline clutches
    • B60K2006/381—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the driveline clutches characterized by driveline brakes
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    • 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
    • B60L15/2045—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 optimising the use of energy
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    • F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
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    • F16H37/10—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing at both ends of intermediate shafts
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    • F16H2200/2007—Transmissions using gears with orbital motion characterised by the number of sets of orbital gears with two sets of orbital gears
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    • F16H2200/203—Transmissions using gears with orbital motion characterised by the engaging friction means not of the freewheel type, e.g. friction clutches or brakes
    • F16H2200/2041—Transmissions using gears with orbital motion characterised by the engaging friction means not of the freewheel type, e.g. friction clutches or brakes with four engaging means
    • 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
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    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • 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

Abstract

본 발명의 실시예에 따른 하이브리드 차량의 제어방법은, 제1선기어, 제1유성기어, 제1링기어, 및 제1캐리어로 구성된 제1유성기어세트, 제2선기어, 제2유성기어, 제2링기어, 및 제2캐리어로 구성된 제2유성기어세트, 상기 제1캐리어와 출력축이 연결된 엔진, 상기 제1링기어를 회전시키는 제1모터제너레이터, 상기 제2선기어와 상기 제1선기어를 회전시키도록 상기 제2선기어에 연결된 제2모터제너레이터, 상기 제1링기어의 회전을 구속하는 제1브레이크, 상기 제2링기어의 회전을 구속하는 제2브레이크, 상기 제1링기어와 상기 제1캐리어를 선택적으로 연결하는 제1클러치, 상기 제1캐리어와 상기 제2링기어를 선택적으로 연결하는 제2클러치, 및 를 포함하는 하이브리드 차량의 제어방법은, 상기 제2클러치를 체결하는 단계, 상기 엔진과 상기 제1,2모터제너레이터를 이용하여 상기 제2캐리에에 연결된 출력축으로 토크를 출력하는 단계, 상기 제1모터제너레이터를 이용하여 상기 엔진의 속도를 제어하는 단계, 및 상기 제2모터제너레이터를 이용하여 상기 출력축의 토크를 제어하는 단계를 포함한다.
따라서, 제1모터제너레이터를 이용한 엔진의 운전점 제어시 제2모터제너레이터를 이용하여 베이스모터토크를 효과적으로 설정할 수 있다.

Description

하이브리드 차량의 제어방법{CONTROL METHOD OF HYBRID VEHICLE}
본 발명은 엔진, 제1모터제너레이터, 및 제2모터제너레이터를 이용하여 별도의 변속기의 무단변속을 가능하게 하는 하이브리드 차량의 제어방법에 관한 것이다.
일반적으로, 자동변속기는 주행 조건에 따라서 적절한 회전력을 얻기 위해 유압 등을 이용하여 엔진/모터에서 발생되는 동력을 다단으로 변속한다.
한편, 하이브리드 차량 중 일부는, 두 개의 모터제너레이터(motor/generater: MG)와 엔진을 유성기어를 통해서 연결하고, 상기 모터제너레이터를 속도/토크 제어하여, 무단변속을 가능하게 한다.
이는 별도의 변속기 없이 엔진, 제1,2모터제너레이터, 및 두 개의 유성기어세트를 이용하여 차량의 운전조건에 따라서 출력속도가 가변된다. 여기서, 상기 제1,2모터제너레이터를 속도제어함으로써 가능해진다.
제1모터제너레이터는 엔진의 운전조건에 따라서 속도제어를 수행하고, 제2모터제너레이터는 엔진과 더불어 토크를 제어하여, 전체 출력토크를 제어한다.
한편, 두 개의 모터제너레이터와 엔진을 이용하는 유연하이브리드시스템(FHS4)에서, 제1모터제너레이터를 이용한 엔진의 운전점 제어시 베이스모터토크를 설정하는 방법에 대한 연구가 진행되고 있다.
따라서, 본 발명은 유연하이브리드시스템(FHS4)에서, 제1모터제너레이터를 이용한 엔진의 운전점 제어시 베이스모터토크를 효과적으로 설정할 수 있는 하이브리드 차량의 제어방법을 제공하는 것이다.
본 발명에 따라서, 제1선기어, 제1유성기어, 제1링기어, 및 제1캐리어로 구성된 제1유성기어세트, 제2선기어, 제2유성기어, 제2링기어, 및 제2캐리어로 구성된 제2유성기어세트, 상기 제1캐리어와 출력축이 연결된 엔진, 상기 제1링기어를 회전시키는 제1모터제너레이터, 상기 제2선기어와 상기 제1선기어를 회전시키도록 상기 제2선기어에 연결된 제2모터제너레이터, 상기 제1링기어의 회전을 구속하는 제1브레이크, 상기 제2링기어의 회전을 구속하는 제2브레이크, 상기 제1링기어와 상기 제1캐리어를 선택적으로 연결하는 제1클러치, 상기 제1캐리어와 상기 제2링기어를 선택적으로 연결하는 제2클러치, 및 를 포함하는 하이브리드 차량의 제어방법은, 상기 제2클러치를 체결하는 단계, 상기 엔진과 상기 제1,2모터제너레이터를 이용하여 상기 제2캐리에에 연결된 출력축으로 토크를 출력하는 단계, 상기 제1모터제너레이터를 이용하여 상기 엔진의 속도를 제어하는 단계, 및 상기 제2모터제너레이터를 이용하여 상기 출력축의 토크를 제어하는 단계를 포함한다.
상기 엔진이 설정된 목표속도에 도달하도록 상기 제1모터제너레이터의 회전속도를 제어한다.
상기 엔진의 목표속도는 아래 수식(2)에 의해서 연산된다.
Figure pat00001
- 수식(2)
상기 출력축의 토크는 아래 수식(3)에 의해서 연산된다.
Figure pat00002
- 수식(3)
상기 제1모터제너레이터의 속도제어를 위한 목표토크는 아래 수식4, 5, 6에 의해서 연산된다.
Figure pat00003
- 수식(4)
Figure pat00004
-수식(5)
Figure pat00005
- 수식(6)
상기 제2모터제너레이터의 토크제어를 위한 목표토크는 아래 수식(8)에 의해서 연산된다.
Figure pat00006
- 수식(8)
앞에서 기재된 바와 같이 본 발명에 따른 하이브리드 차량의 제어방법에서, 제1모터제너레이터를 이용한 엔진의 운전점 제어시 제2모터제너레이터를 이용하여 베이스모터토크를 효과적으로 설정할 수 있다.
도 1은 본 발명의 실시예에 따른 하이브리드 차량의 변속 시스템의 개략적인 구성도이다.
도 2는 본 발명의 실시예에 따른 하이브리드 차량의 변속 시스템을 레버형식으로 표현한 그래프이다.
도 3은 본 발명의 실시예에 따른 하이브리드 차량의 변속 시스템에서 차속,엔진회전속도, 및 휠토크를 보여주는 그래프이다.
도 4는 본 발명의 실시예에 따른 하이브리드 차량의 변속 시스템을 제어하기 위한 수식들을 보여준다.
도 5는 본 발명의 실시예에 따른 하이브리드 차량의 변속 시스템을 제어하기 위한 제1모터제너레이터의 제어를 위한 플로우차트이다.
도 6은 본 발명의 실시예에 따른 하이브리드 차량의 변속 시스템을 제어하기 위한 제2모터제너레이터의 제어를 위한 플로우차트이다.
도 7은 본 발명의 실시예에 따른 하이브리드 차량의 변속 시스템을 제어하기 위해서 제1,2모터제너레이터의 제어를 위한 수식들을 보여준다.
이하, 본 발명의 바람직한 실시예를 첨부한 도면에 의거하여 상세하게 설명하면 다음과 같다.
도 1은 본 발명의 실시예에 따른 하이브리드 차량의 변속 시스템의 개략적인 구성도이다.
도시한 바와 같이, 하이브리드 차량은 엔진(100), 제1유성기어세트(PG1), 제2유성기어세트(PG2), 제1모터제너레이터(MG1), 제1브레이크(BK1), 제1클러치(CL1), 제2클러치(CL2), 제2브레이크(BK2), 및 제2모터제너레이터(MG2)를 포함한다.
상기 제1유성기어세트(PG1)는 제1선기어(s1), 제1유성기어(p1), 제1링기어(r1), 및 제1캐리어(c1)를 포함하고, 상기 엔진(100)의 출력축은 상기 제1선기어(s1)를 회전시키도록 배치된다.
상기 제1모터제너레이터(MG1)의 출력축은 상기 제1링기어(r1)를 회전시키도록 배치되고, 상기 제1브레이크(BK1)는 상기 제1모터제너레이터(MG1)의 출력축과 상기 제1링기어(r1)의 회전을 선택적으로 구속한다.
상기 제1클러치(CL1)는 상기 제1링기어(r1)와 상기 제1캐리어(c1)를 선택적으로 연결하고, 상기 제2클러치(CL2)는 상기 제1캐리어(c1)와 상기 제2링기어(r2)를 선택적으로 연결한다.
상기 제2브레이크(BK2)는 상기 제2링기어(r2)를 선택적으로 구속하도록 배치되고, 상기 제2캐리어(c2)는 출력축과 연결된다. 상기 제1선기어(s1)와 상기 제2선기어(s2)는 직결되고, 상기 제2모터제너레이터(MG2)는 상기 제2선기어(s2)를 회전시키도록 배치된다.
본 발명의 실시예에서, 복합분기상태에서, 상기 제2클러치(CL2)가 작동되어, 상기 제1캐리어(c1)와 상기 제2캐리어(c2)가 직결되고, 상기 엔진(100)과 상기 제1모터제너레이터(MG1), 및 상기 제2모터제너레이터(MG2)가 작동되어 상기 제2캐리어(c2)를 통해서 토크가 출력된다.
도 2는 본 발명의 실시예에 따른 하이브리드 차량의 변속 시스템을 레버형식으로 표현한 그래프이다.
도 2를 참조하면, 상기 제1클러치(CL1)가 작동되어, 상기 제2링기어(r2)의 회전수와 상기 엔진(100)의 회전수가 동일하게 형성되고, 상기 엔진(100)의 운전점제어(속도제어)는 상기 제1모터제너레이터(MG1)가 수행하고, 상기 제2모터제너레이터(MG2)는 요구출력토크에 따라서 제어된다.
도 3은 본 발명의 실시예에 따른 하이브리드 차량의 변속 시스템에서 차속,엔진회전속도, 및 휠토크를 보여주는 그래프이다.
가로축은 시간을 나타내고, 세로축은 토크 또는 속도를 나타낸다. 도시한 바와 같이, 차속, 엔진회전속도(목표, 현재), 및 휠토크(목표, 현재)가 형성된다. 상기 휠토크는 출력축(output shaft)의 토크와 비례한다.
도 4는 본 발명의 실시예에 따른 하이브리드 차량의 변속 시스템을 제어하기 위한 수식들을 보여준다.
상기 엔진(100)의 속도를 아래의 수식(1)과 수식(2)에 의해서 연산된다.
Figure pat00007
-수식(1)
Figure pat00008
-수식(2)
아울러, 시스템에 의해서 출력된 출력축 토크는 아래의 수식(3)에 의해서 연산된다.
Figure pat00009
-수식(4)
도 5는 본 발명의 실시예에 따른 하이브리드 차량의 변속 시스템을 제어하기 위한 제1모터제너레이터의 제어를 위한 플로우차트이고, 도 6은 본 발명의 실시예에 따른 하이브리드 차량의 변속 시스템을 제어하기 위한 제2모터제너레이터의 제어를 위한 플로우차트이다.
도 5 및 도 6을 참조하면, 본 발명의 실시예에 따른 FHS4의 복합분기모드에서 상기 제1모터제너레이터(MG1)를 이용한 엔진(100)의 속도제어시 목표속도와의 에러를 통해서 PI토크를 발생시키고, 여기에 엔진(100)의 토크 및 제2모터제너레이터(MG2)의 토크에 해당하는 피드포워드토크를 추가로 적용하였다.
이와 동시에, 운전자의 요구 축출력을 만족시키기 위해서 제2모터제너레이터(MG2)의 토크를 발생시킨다.
도 7은 본 발명의 실시예에 따른 하이브리드 차량의 변속 시스템을 제어하기 위해서 제1,2모터제너레이터(MG1, MG2)의 제어를 위한 수식들을 보여준다.
상기 제1모터제너레이터(MG1)의 요구토크는 아래의 식(4), 식(5), 식(6), 및 식(7)에 의해서 연산된다.
Figure pat00010
-식(4)
Figure pat00011
-식(5)
Figure pat00012
-식(6)
Figure pat00013
-식(7)
상기 제2모터제너레이터(MG2)의 요구토크는 아래의 식(8)에 의해서 연산된다.
Figure pat00014
-식(8)
이상으로 본 발명에 관한 바람직한 실시예를 설명하였으나, 본 발명은 상기 실시예에 한정되지 아니하며, 본 발명의 실시예로부터 당해 발명이 속하는 기술분야에서 통상의 지식을 가진 자에 의한 용이하게 변경되어 균등하다고 인정되는 범위의 모든 변경을 포함한다.
100: 엔진
MG1: 제1모터제너레이터
MG2: 제2모터제너레이터
PG1: 제1유성기어세트
r1: 제1링기어,
s1: 제1선기어
p1: 제1유성기어
c1: 제1캐리어
PG2: 제2유성기어세트
r2: 제2링기어,
s2: 제2선기어
p2: 제2유성기어
c2: 제2캐리어
BK1: 제1브레이크
BK2: 제2브레이크
CL1: 제1클러치
CL2: 제2클러치

Claims (6)

  1. 제1선기어, 제1유성기어, 제1링기어, 및 제1캐리어로 구성된 제1유성기어세트, 제2선기어, 제2유성기어, 제2링기어, 및 제2캐리어로 구성된 제2유성기어세트, 상기 제1캐리어와 출력축이 연결된 엔진, 상기 제1링기어를 회전시키는 제1모터제너레이터, 상기 제2선기어와 상기 제1선기어를 회전시키도록 상기 제2선기어에 연결된 제2모터제너레이터, 상기 제1링기어의 회전을 구속하는 제1브레이크, 상기 제2링기어의 회전을 구속하는 제2브레이크, 상기 제1링기어와 상기 제1캐리어를 선택적으로 연결하는 제1클러치, 상기 제1캐리어와 상기 제2링기어를 선택적으로 연결하는 제2클러치; 및 를 포함하는 하이브리드 차량의 제어방법에서,
    상기 제2클러치를 체결하는 단계;
    상기 엔진과 상기 제1,2모터제너레이터를 이용하여 상기 제2캐리에에 연결된 출력축으로 토크를 출력하는 단계;
    상기 제1모터제너레이터를 이용하여 상기 엔진의 속도를 제어하는 단계; 및
    상기 제2모터제너레이터를 이용하여 상기 출력축의 토크를 제어하는 단계;
    를 포함하는 하이브리드 차량의 제어방법.
  2. 제1항에서,
    상기 엔진이 설정된 목표속도에 도달하도록 상기 제1모터제너레이터의 회전속도를 제어하는 것을 특징으로 하는 하이브리드 차량의 제어방법.
  3. 제2항에서,
    상기 엔진의 목표속도는 아래 수식(2)에 의해서 연산되는 것을 특징으로 하는 하이브리드 차량의 제어방법.
    Figure pat00015
    - 수식(2)
  4. 제1항에서,
    상기 출력축의 토크는 아래 수식(3)에 의해서 연산되는 것을 특징으로 하는 하이브리드 차량의 제어방법.
    Figure pat00016
    - 수식(3)
  5. 제1항에서,
    상기 제1모터제너레이터의 속도제어를 위한 목표토크는 아래 수식4, 5, 6에 의해서 연산되는 것을 특징으로 하는 하이브리드 차량의 제어방법.
    Figure pat00017
    - 수식(4)
    Figure pat00018
    - 수식(5)
    Figure pat00019
    - 수식(6)
  6. 제1항에서,
    상기 제2모터제너레이터의 토크제어를 위한 목표토크는 아래 수식(8)에 의해서 연산되는 것을 특징으로 하는 하이브리드 차량의 제어방법.
    Figure pat00020
    - 수식(8)
KR1020110134871A 2011-12-14 2011-12-14 하이브리드 차량의 제어방법 KR20130067865A (ko)

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US13/534,777 US20130158760A1 (en) 2011-12-14 2012-06-27 Control method of hybrid vehicle
DE102012211365A DE102012211365A1 (de) 2011-12-14 2012-06-29 Regelverfahren eines Hybridfahrzeuges
CN201210278762.9A CN103158696B (zh) 2011-12-14 2012-06-29 混合动力车的控制方法
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EP3548322B1 (en) 2016-11-30 2023-06-14 Dana Limited Electric axle transmission for electric and hybrid electric vehicles
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