KR20140005402A - Driving control method for 4wd hybrid electric vehicle - Google Patents

Driving control method for 4wd hybrid electric vehicle Download PDF

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KR20140005402A
KR20140005402A KR1020120072103A KR20120072103A KR20140005402A KR 20140005402 A KR20140005402 A KR 20140005402A KR 1020120072103 A KR1020120072103 A KR 1020120072103A KR 20120072103 A KR20120072103 A KR 20120072103A KR 20140005402 A KR20140005402 A KR 20140005402A
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South Korea
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speed
driving
inverter
wheel
control signal
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KR1020120072103A
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Korean (ko)
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이승혁
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현대모비스 주식회사
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Priority to KR1020120072103A priority Critical patent/KR20140005402A/en
Priority to CN201310251418.5A priority patent/CN103523009B/en
Publication of KR20140005402A publication Critical patent/KR20140005402A/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
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/26—Wheel slip
    • B60W2520/263—Slip values between front and rear axle
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/081—Speed
    • 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
    • Y02T10/62—Hybrid vehicles

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

Abstract

The present invention relates to a driving control method for a 4WD hybrid vehicle capable of transmitting the power of a driving motor to a rear wheel axle using a clutch. The driving control method for the 4WD hybrid vehicle comprises a step of calculating the speed of the driving motor synchronized with the wheel speed by referring to the slip value of a rear wheel and a front wheel and the wheel speed received from the outside when a controller receives the requirement of converting a driving mode from 4WD to 2WD from the outside and of transmitting a speed control signal for the calculated speed to an inverter; and a step of enabling the inverter to synchronize the speed of the driving motor with the speed control signal. The controller includes a step of turning on the clutch when the inverter synchronizes the speed of the driving motor with the speed control signal; and a step of transmitting a torque control signal for the calculated driving torque to the inverter by calculating the driving torque for driving the driving motor when the clutch is turned on. The inverter includes a step of driving the driving motor with the torque control signal transmitted from the controller. The present invention turns on the clutch after the wheel speed with the speed of the driving motor to minimize the loss of a fixed speed generated in the conversion from the 2WD to the 4WD. [Reference numerals] (AA) Requesting the conversion of a driving mode; (S210) Upper controller generates a speed control signal by referring to wheel speed, front wheel, rear wheel, and slip values and transmits the speed control signal to an inverter; (S215) Synchronizing driving motor speed and wheel speed (speed of driving motor = wheel speed); (S220) Clutch ON; (S225) Zero torque control; (S230) Upper controller generates a torque control signal for operation torque and transmits the torque control signal to an inverter; (S235) Inverter controls driving motor torque using a torque control signal

Description

4륜 구동 하이브리드 차량의 구동제어방법{Driving control method for 4WD Hybrid Electric Vehicle}Driving control method for four-wheel drive hybrid vehicle {Driving control method for 4WD Hybrid Electric Vehicle}

본 발명은 4륜 구동 하이브리드 차량의 구동제어방법에 관한 것으로, 전륜과 직렬후륜이 독립적인 구동원에 의해 구동되고, 후륜에 구동모터를 적용하는 e-4WD(Electrical-4WD) 하이브리드 차량의 구동제어방법에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control method for a four-wheel drive hybrid vehicle, wherein a front wheel and a series rear wheel are driven by an independent drive source, and a drive control method for an e-4WD (Electrical-4WD) hybrid vehicle in which a drive motor is applied to the rear wheel. It is about.

선행기술문헌 중 미국 등록특허, US7,517,298B2의 도 1 및 도 2에 도시된 바와 같이, 4륜 구동4WD(Wheel Drive) 차량의 효율 향상을 위해 기계적 동력장치 부분인 프로펠러 샤프트를 제거하고 후륜에 구동모터를 적용한 e-4WD(Electrical-4WD형태가 미국 등록특허,US7,517,298B2의 도 1 및 도 2와 같이 개시되어 있다.As shown in FIGS. 1 and 2 of US Patent No. 7,517,298B2 in the prior art document, the propeller shaft, which is a mechanical power unit, is removed and the rear wheel is removed to improve the efficiency of a four-wheel drive 4WD (Wheel Drive) vehicle. E-4WD (Electrical-4WD type) to which a driving motor is applied is disclosed as shown in FIGS. 1 and 2 of US Patent No. US 7,517,298B2.

4륜 구동 하이브리드 차량은 운전자의 요구 또는 외부의 운전상황에 따라 2가지 운전모드(2WD 및 4WD)가 선택적으로 운용될 수 있다. 2WD로부터 4WD로 변경되는 경우, 상위 제어기는 전륜의 엔진과 후륜의 구동모터의 동기화를 위해 인버터로 토크지령을 전달한다. 상위 제어기는 전륜과 후륜의 휠 슬립을 계산하고 이 휠 슬립과 엑셀 요구량에 따라 구동모터의 토크값을 계산하여, 이를 토크지령으로 인버터로 전달한다.In the four-wheel drive hybrid vehicle, two driving modes 2WD and 4WD may be selectively operated according to a driver's request or an external driving situation. When changing from 2WD to 4WD, the host controller sends a torque command to the inverter to synchronize the engine of the front wheel and the drive motor of the rear wheel. The host controller calculates the wheel slip of the front wheel and the rear wheel, calculates the torque value of the drive motor according to the wheel slip and the Excel demand, and transfers it to the inverter as a torque command.

4륜 구동 하이브리드 차량의 후륜 구동은 후륜측 차축(axle)과 인버터에 의해 이루어지며, 구동모터의 후륜측 동력 전달을 위해 클러치를 사용한다. The rear wheel drive of a four wheel drive hybrid vehicle is performed by a rear wheel axle and an inverter, and a clutch is used to transmit power to the rear wheel of the drive motor.

그러나, 종래 4륜 구동 하이브리드 차량은, 차속의 변경 상황에서 2WD로부터 4WD모드로의 변경을 위해 후륜의 구동모터를 차량의 구동원으로 연결하는 경우 전륜의 엔진 토크와 후륜의 구동모터 토크가 달라 차량의 정속성이 훼손되는 문제가 발생할 수 있다.However, in a conventional four-wheel drive hybrid vehicle, when the rear motor driving motor is connected to the driving source of the vehicle in order to change from 2WD to 4WD mode in a vehicle speed change situation, the engine torque of the front wheel and the driving motor torque of the rear wheel are different. The problem of deterioration of the static property may occur.

즉, 종래 4륜 구동 하이브리드 차량은, 4WD로의 변경시 클러치를 통해 구동모터를 후륜측 차축(axle)에 연결 시, 휠속과 구동모터의 속도의 차이가 발생하는 경우 정속성을 유지하는 것이 어렵게 될 수 있다.That is, in the conventional four-wheel drive hybrid vehicle, when the drive motor is connected to the rear wheel axle through the clutch when changing to 4WD, it is difficult to maintain the constant speed when the difference between the speed of the wheel and the drive motor occurs. Can be.

US7,517,298B2, 2009, 04. 14, 도면 1, 2US 7,517,298B2, 2009, 04. 14, drawings 1, 2

본 발명의 목적은 차속의 변경 환경에서 2WD로부터 4WD로의 운전모드 변경하려는 경우, 휠속과 구동모터의 속도를 동기화할 수 있는 로직을 구동로직에 추가함으로써 종래 2WD로부터 4WD로의 운전모드 변경시 발생하는 정속성의 훼손을 최소화할 수 있는 4륜 구동 하이브리드 차량의 구동제어방법을 제공하는 것이다.An object of the present invention is to change the driving mode from 2WD to 4WD in a vehicle speed changing environment, by adding logic to drive logic that can synchronize the speed of the wheel and the driving motor to the driving logic. It is to provide a drive control method for a four-wheel drive hybrid vehicle that can minimize the damage of the property.

상기 목적을 달성하기 위한 본 발명의 일 측면은 클러치를 통해 후륜축 차축(axle)에 구동모터의 동력을 전달하는 4륜 구동 하이브리드 차량의 구동제어방법에 관한 것으로, 본 4륜 구동 하이브리드 차량의 구동제어방법은 상위 제어기가 외부로부터 4륜구동(4WD)으로부터 2륜구동(2W)으로 운전모드의 변경이 요구된 경우, 외부로부터 수신된 휠속도 및 전륜과 후륜의 슬립값을 참조하여, 상기 휠속도에 동기화될 수 있는 상기 구동모터의 속도를 계산하고, 상기 구동모터를 구동하기 위한 인버터로 상기 계산된 속도에 대한 속도제어신호를 전달하는 단계; 상기 인버터가 상기 속도제어신호에 대응하여 상기 구동모터의 속도를 동기화하는 단계; 상기 상위 제어기가, 상기 인버터에 의해 상기 구동모터의 속도가 동기화된 경우 상기 클러치를 온(ON)하여 상기 구동모터와 상기 후륜측 차축을 연결하는 단계; 및 상기 상위 제어기는, 상기 클러치가 온 된 경우, 외부로부터 수신된 차량의 엑셀 값에 의해 상기 구동모터의 구동을 위한 구동토크를 계산하고, 상기 계산된 구동토크에 대한 토크제어신호를 상기 인버터로 전달하는 단계; 및 상기 인버터가 상기 상위 제어기로부터 전달된 상기 토크제어신호에 의해 상기 구동모터를 구동하는 단계를 포함하는 것을 특징으로 한다.One aspect of the present invention for achieving the above object relates to a drive control method of a four-wheel drive hybrid vehicle for transmitting the power of the drive motor to the rear axle (axle) through a clutch, the drive of the four-wheel drive hybrid vehicle The control method is based on the wheel speed received from the outside and the slip values of the front wheel and the rear wheel when the host controller is required to change the driving mode from 4WD to 2W2W from the outside. Calculating a speed of the drive motor that can be synchronized and transferring a speed control signal for the calculated speed to an inverter for driving the drive motor; Synchronizing the speed of the drive motor by the inverter in response to the speed control signal; Connecting the drive motor to the rear wheel axle by turning on the clutch when the host controller synchronizes the speed of the drive motor by the inverter; And the upper controller, when the clutch is turned on, calculates a drive torque for driving the drive motor according to an Excel value of a vehicle received from the outside, and transmits a torque control signal for the calculated drive torque to the inverter. Delivering; And driving, by the inverter, the driving motor by the torque control signal transmitted from the host controller.

상기 인버터는, 상기 클러치가 온(ON) 된 후 상기 상위제어기로부터 전달되는 토크제어신호가 전달되기 전까지, 상기 구동모터에 대해 제로(zero) 토크제어를 수행할 수 있다.The inverter may perform zero torque control on the driving motor until the torque control signal transmitted from the upper controller is transferred after the clutch is turned on.

상기 4륜 구동 하이브리드 차량의 구동제어방법은 상기 상위 제어가 외부로부터 4륜구동(4WD)으로부터 2륜구동(2WD)으로 운전모드의 변경이 요구된 경우, 상기 클러치를 오프(OFF)하고, 차량의 엔진에 의해 차량을 구동하는 단계; 및 상기 인버터는 상기 클러치가 오프 된 경우, 상기 구동모터의 역기전력에 의해 정해지는 임계값까지 상기 구동모터의 속도를 감속시키는 단계를 더 포함할 수 있다.The driving control method of the four-wheel drive hybrid vehicle is configured to turn off the clutch when the upper control is requested to change the driving mode from four-wheel drive (4WD) to two-wheel drive (2WD) from the outside, and the engine of the vehicle is turned off. Driving the vehicle by; And when the clutch is turned off, decelerating the speed of the drive motor to a threshold determined by the counter electromotive force of the drive motor.

이와 같이, 본 발명은 휠속도와 구동모터의 속도를 동기화한 후 클러치를 온 함으로써 2WD로부터 4WD로의 운전모드 변경시 발생하는 정속성의 훼손을 최소화할 수 있다.As described above, the present invention can minimize the damage of the constant speed generated when the operation mode is changed from 2WD to 4WD by turning on the clutch after synchronizing the speed of the wheel and the driving motor.

도 1은 본 발명의 일 실시예에 따른 4륜 구동 하이브리드 차량의 구동제어방법을 설명하기 위한 블록도이다.
도 2는 본 발명의 일 실시예에 따른 4륜 구동 하이브리드 차량의 4륜구동으로부터 2륜구동으로의 운전모드 변경을 설명하기 위한 제어절차도이다.
도 3은 본 발명의 일 실시예에 따른 4륜 구동 하이브리드 차량의 2륜구동으로부터 4륜구동으로의 운전모드 변경을 설명하기 위한 제어절차도이다.
도 4는 도 2 및 도 3에 도시된 동작을 설명하기 위한 그래프이다. 1 is a block diagram illustrating a driving control method of a four-wheel drive hybrid vehicle according to an exemplary embodiment of the present invention.
FIG. 2 is a control flowchart illustrating a change of a driving mode from four-wheel drive to two-wheel drive of a four-wheel drive hybrid vehicle according to an exemplary embodiment of the present invention.
FIG. 3 is a control flowchart illustrating a change of a driving mode from two-wheel drive to four-wheel drive of a four-wheel drive hybrid vehicle according to an exemplary embodiment of the present invention.
4 is a graph for explaining the operations illustrated in FIGS. 2 and 3.

이하 첨부된 도면들을 참조하여 본 발명의 4륜 구동 하이브리드 차량의 구동제어방법에 대하여 설명한다. Hereinafter, a driving control method for a four-wheel drive hybrid vehicle according to the present invention will be described with reference to the accompanying drawings.

도 1은 본 발명의 일 실시예에 따른 4륜 구동 하이브리드 차량의 구동제어방법을 설명하기 위한 블록도로서, 여기서는 설명의 편의상 엔진으로 구동되는 전륜측은 구성들을 생략하였다.FIG. 1 is a block diagram illustrating a driving control method for a four-wheel drive hybrid vehicle according to an exemplary embodiment of the present invention. For convenience of description, the front wheel side driven by the engine is omitted.

도 1에 도시된 바와 같이, 본 실시예에 따른 4륜 구동 하이브리드 차량(1)은 상위 제어기(10)의 제어에 의해 클러치(20)를 연결 또는 해제함으로써 후륜축 차축(axle)(30)에 구동모터(40)의 동력을 전달한다. 후륜측 차축(30)은 감속기(32)와 차동기어(34)를 포함할 수 있다.As shown in FIG. 1, the four-wheel drive hybrid vehicle 1 according to the present embodiment is connected to the rear axle 30 by connecting or releasing the clutch 20 under the control of the upper controller 10. The power of the drive motor 40 is transmitted. The rear wheel axle 30 may include a reducer 32 and a differential gear 34.

본 실시예에 따른 4륜 구동 하이브리드 차량(1)은 4륜구동(4WD)모드, 2륜구동(2WD)모드, EV모드로 운전될 수 있다. 4륜구동(4WD)모드는 전륜측의 엔진과 후륜측의 구동모터(40)에 차량이 구동되는 모드이고, 2륜구동(2WD)모드는 전륜측의 엔진에 의해서만 차량이 구동되는 모드이며, EV모드는 후륜측 구동모터(40)에 의해서만 차량이 구동되는 모드이다.The four-wheel drive hybrid vehicle 1 according to the present embodiment may be driven in a four-wheel drive (4WD) mode, two-wheel drive (2WD) mode, EV mode. In the 4WD mode, the vehicle is driven by the engine on the front wheel and the drive motor 40 on the rear wheel. In the 2WD mode, the vehicle is driven only by the engine on the front wheel. Is a mode in which the vehicle is driven only by the rear wheel driving motor 40.

여기서는, 각 운전모드 각각에 대한 설명은 주지기술로서 생략하며, 4륜구동으로부터 2륜구동으로 운전모드가 변경되거나, 2륜구동으로부터 4륜구동으로 운전모드가 변경되는 경우만을 설명한다.Here, description of each operation mode is omitted as a well-known technique, and only the case where the operation mode is changed from four-wheel drive to two-wheel drive or the driving mode is changed from two-wheel drive to four-wheel drive is described.

이하에서는, 도 2 및 도 4를 참조하여, 4륜구동으로부터 2륜구동으로 운전모드가 변경되는 경우 본 실시예에 따른 4륜 구동 하이브리드 차량의 제어방법을 설명한다. 도 2는 4륜구동으로부터 2륜구동으로의 운전모드 변경을 설명하기 위한 제어절차도이고, 도 4는 이에 따른 동작을 설명하기 위한 그래프이다.Hereinafter, referring to FIGS. 2 and 4, a control method of a four-wheel drive hybrid vehicle according to the present embodiment when the driving mode is changed from four-wheel drive to two-wheel drive will be described. FIG. 2 is a control procedure diagram for explaining a change in driving mode from four-wheel drive to two-wheel drive, and FIG. 4 is a graph for explaining the operation accordingly.

먼저, 상위 제어기(10)는 외부로부터 4륜구동(4WD)으로부터 2륜구동(2WD)으로 운전모드의 변경이 요구되는 지 판단한다(S205). 도 4의 "A"는 4륜구동(4WD)으로부터 2륜구동(2WD)으로의 운전모드 변경 시점을 가르킨다. First, the host controller 10 determines whether a change of the driving mode is required from the 4WD 4WD to the 2WD 2WD from the outside (S205). &Quot; A " in FIG. 4 indicates the operation mode change time point from the four-wheel drive 4WD to the two-wheel drive 2WD.

판단결과 4륜구동으로부터 2륜구동으로의 운전모드 변경이 요구되는 것으로 판단한 경우, 상위 제어기(10)는 휠속도 및 전륜과 후륜의 슬립값을 참조하여, 휠속에 동기화될 수 있는 구동모터(40)의 속도를 계산하고 이 계산된 속도에 대한 도 4에 표시된 그래프와 같이 속도제어신호를 인버터(50)로 전달한다(S210).When it is determined that the operation mode change from the 4 wheel drive to the 2 wheel drive is required, the upper controller 10 refers to the wheel speed and slip values of the front wheel and the rear wheel, so that the driving motor 40 can be synchronized with the wheel. The speed is calculated and the speed control signal is transferred to the inverter 50 as shown in the graph shown in FIG. 4 for the calculated speed (S210).

다음, 인버터(50)는 상위 제어기(10)로부터 전달된 속도제어신호에 대응하여 구동모터의 속도를 동기화한다(S215). 도 4의 속도제어신호에 대응하여 인버터(50)는 도 4의 "인버터구동모드"의 그래프 중 "속도제어모드"와 같이 표시될 수 있다.Next, the inverter 50 synchronizes the speed of the drive motor in response to the speed control signal transmitted from the upper controller 10 (S215). In response to the speed control signal of FIG. 4, the inverter 50 may be displayed as “speed control mode” in the graph of “inverter drive mode” of FIG. 4.

다음, 상위 제어기(10)는, 인버터(50)에 의해 구동모터(40)의 속도가 동기화된 경우 클러치(20)를 온(ON) 하여 구동모터(40)와 후륜측 차축(30)을 연결한다(S220). 도 4의 "B"와 같이 표시될 수 있다.Next, the upper controller 10 connects the driving motor 40 to the rear wheel axle 30 by turning on the clutch 20 when the speed of the driving motor 40 is synchronized by the inverter 50. (S220). It may be displayed as “B” in FIG. 4.

다음, 인버터(50)는 구동모터(40)의 속도가 동기화된 후 상위 제어기(10)로부터 전달되는 토크제어신호가 전달되기 전까지, 구동모터에 대해 제로(zero) 토크제어를 수행한다(S225). 제로 토크제어에 대해서는 도 4의 "인버터구동모드"의 그래프 중 "제로 토크제어"와 같이 표시될 수 있다.Next, the inverter 50 performs zero torque control on the drive motor until the speed of the drive motor 40 is synchronized and before the torque control signal transmitted from the host controller 10 is transmitted (S225). . The zero torque control may be displayed as "zero torque control" in the graph of the "inverter drive mode" of FIG.

이것은 상위 제어기(10)와 인버터(50) 사이의 CAN통신 에러 및 차속의 변화에 따라 야기될 수 있는 문제를 고려한 것으로, 이에 의해 본 실시예에 따른 4륜 구동 하이브리드 차량의 제어방법은 상위 제어기(10)로부터 토크제어신호가 전달되기 전 대기시 차속 변화에 따라 전류량이 급격히 변화하는 문제를 사전에 예방할 수 있고, 배터리의 에너지 소모를 최소화할 수 있어 연비를 향상할 수 있다.This takes into account the problems that may be caused by the CAN communication error between the upper controller 10 and the inverter 50 and the change in the vehicle speed, whereby the control method of the four-wheel drive hybrid vehicle according to the present embodiment is based on the upper controller ( Before the torque control signal is transmitted from 10), it is possible to prevent the problem that the amount of current rapidly changes according to the change of the vehicle speed in the standby, and the fuel consumption can be improved by minimizing the energy consumption of the battery.

또한, 상위 제어기(10)는, 클러치(20)가 온 된 경우, 외부로부터 수신된 차량의 엑셀 값에 의해 구동모터(40)의 구동을 위한 구동토크를 계산하고, 계산된 구동토크에 대한 토크제어신호를 인버터(50)로 전달한다(S230).In addition, when the clutch 20 is turned on, the upper controller 10 calculates a driving torque for driving the driving motor 40 based on an Excel value of a vehicle received from the outside, and calculates torque for the calculated driving torque. The control signal is transmitted to the inverter 50 (S230).

그리고, 인버터(50)는 상위 제어기(10)로부터 전달된 토크제어신호에 의해 구동모터(40)를 구동한다(S235).In addition, the inverter 50 drives the driving motor 40 by the torque control signal transmitted from the host controller 10 (S235).

이와 같이, 본 실시예에 따른 4륜 구동 하이브리드 차량의 제어방법은, 상위 제어기(10)에 의해 2륜구동으로부터 4륜구동으로의 운전모드 변경 요구가 수신된 경우 수행되는 절차로서 휠속도와 구동모터(40)의 속도를 동기화한 후 클러치(20)를 온 함으로써 2WD로부터 4WD로의 운전모드 변경시 발생하는 정속성의 훼손을 최소화할 수 있다.As described above, the control method of the four-wheel drive hybrid vehicle according to the present embodiment is a procedure performed when the request for changing the driving mode from the two-wheel drive to the four-wheel drive is received by the host controller 10. By synchronizing the speed of 40), by turning on the clutch 20, it is possible to minimize the damage of the constant speed generated when the operation mode is changed from 2WD to 4WD.

이하에서는, 도 3 및 도 4를 참조하여, 2륜구동으로부터 4륜구동으로 운전모드가 변경되는 경우 본 실시예에 따른 4륜 구동 하이브리드 차량의 제어방법을 설명한다. 도 3은 4륜구동으로부터 2륜구동으로의 운전모드 변경을 설명하기 위한 제어절차도이다.3 and 4, a control method of a four-wheel drive hybrid vehicle according to the present embodiment when the driving mode is changed from two-wheel drive to four-wheel drive will be described. FIG. 3 is a control procedure diagram for explaining a change in driving mode from four-wheel drive to two-wheel drive.

먼저, 상위 제어기(10)는 외부로부터 4륜구동(4WD)으로부터 2륜구동(2WD)으로 운전모드의 변경이 요구된 것으로 판단한 경우(S310), 도 4의 "C"에 도시된 바와 같이 클러치(20)를 오프한다(S315).First, when the host controller 10 determines that the change of the driving mode is requested from the 4WD to the 2WD from the outside (S310), the clutch 20 as shown in "C" of FIG. ) Off (S315).

다음 상위 제어기(10)는 엔진에 의해 차량을 구동한다(S320). 즉 상위 제어기(10)는 외부로부터 입력되는 악셀 값에 대응하여 엔진이 전륜차축(axle)을 구동하도록 제어한다. Next, the upper controller 10 drives the vehicle by the engine (S320). That is, the host controller 10 controls the engine to drive the front wheel axle in response to an accelerator value input from the outside.

다음, 인버터(50)는 클러치(20)가 오프 된 경우, 구동모터(40)의 역기전력에 의해 정해지는 임계값까지 구동모터(40)의 속도를 감속시킨다(S325), 이것은 클러치(20) 오프 후 회생제동시의 과전류를 방지하기 위함이다. 그리고 구동모터(40)의 제어를 종료한다(S330). Next, when the clutch 20 is turned off, the inverter 50 decelerates the speed of the drive motor 40 to a threshold determined by the counter electromotive force of the drive motor 40 (S325), which turns off the clutch 20. This is to prevent overcurrent during regenerative braking. And the control of the drive motor 40 is terminated (S330).

이와 같이 본 실시예에 따른 4륜 구동 하이브리드 차량의 제어방법은 2륜구동으로부터 4륜구동으로의 운전모드의 변경과 4륜구동으로부터 2륜구동으로의 운전모드의 변경을 중심으로 후륜측의 클러치(20)의 온오프와 인버터(50)의 동작을 중심을 설명하였다. 그러나, 본 실시예에 따른 구동로직이 전체적인 4륜 구동 하이브리드 차량의 구동로직과 함께 결합되어 수행될 수 있음은 자명하다.As described above, the control method of the four-wheel drive hybrid vehicle according to the present embodiment is based on the change of the driving mode from two-wheel drive to four-wheel drive and the change of the driving mode from four-wheel drive to two-wheel drive. The on-off and operation of the inverter 50 have been described in the center. However, it is apparent that the driving logic according to the present embodiment can be performed in combination with the driving logic of the entire four-wheel drive hybrid vehicle.

1: 4륜 구동 하이브리드 차량
10: 상위 제어기
20: 클러치
30: 후륜측 차축
32: 감속기
34: 차동기어
40: 구동모터
50: 인버터1: 4-wheel drive hybrid vehicle
10: Host controller
20: clutch
30: rear wheel axle
32: reducer
34: differential gear
40: drive motor
50: Inverter

Claims (3)

클러치를 통해 후륜축 차축(axle)에 구동모터의 동력을 전달하는 4륜 구동 하이브리드 차량의 구동제어방법에 있어서,
상위 제어기는 외부로부터 4륜구동(4WD)으로부터 2륜구동(2W)으로 운전모드의 변경이 요구된 경우, 외부로부터 수신된 휠속도 및 전륜과 후륜의 슬립값을 참조하여, 상기 휠속도에 동기화될 수 있는 상기 구동모터의 속도를 계산하고, 상기 구동모터를 구동하기 위한 인버터로 상기 계산된 속도에 대한 속도제어신호를 전달하는 단계;
상기 인버터는 상기 속도제어신호에 대응하여 상기 구동모터의 속도를 동기화하는 단계;
상기 상위 제어기는, 상기 인버터에 의해 상기 구동모터의 속도가 동기화된 경우 상기 클러치를 온(ON)하여 상기 구동모터와 상기 후륜측 차축을 연결하는 단계; 및
상기 상위 제어기는, 상기 클러치가 온 된 경우, 외부로부터 수신된 차량의 엑셀 값에 의해 상기 구동모터의 구동을 위한 구동토크를 계산하고, 상기 계산된 구동토크에 대한 토크제어신호를 상기 인버터로 전달하는 단계; 및
상기 인버터는 상기 상위 제어기로부터 전달된 상기 토크제어신호에 의해 상기 구동모터를 구동하는 단계를 포함하는 것을 특징으로 하는 4륜 구동 하이브리드 차량의 구동제어방법.In the drive control method of a four-wheel drive hybrid vehicle for transmitting the power of the drive motor to the rear axle (axle) through the clutch,
When the host controller is required to change the driving mode from 4WD to 2W2W from the outside, the host controller may synchronize with the wheel speed by referring to the wheel speed received from the outside and slip values of the front and rear wheels. Calculating a speed of the drive motor, and transmitting a speed control signal for the calculated speed to an inverter for driving the drive motor;
Synchronizing the speed of the drive motor with the inverter in response to the speed control signal;
The upper controller may include connecting the driving motor and the rear wheel side axle by turning on the clutch when the speed of the driving motor is synchronized by the inverter; And
When the clutch is turned on, the host controller calculates a drive torque for driving the drive motor based on an Excel value of a vehicle received from the outside, and transmits a torque control signal for the calculated drive torque to the inverter. Making; And
And the inverter drives the driving motor by the torque control signal transmitted from the host controller. 제1항에 있어서,
상기 인버터는, 상기 클러치가 온(ON) 된 후 상기 상위제어기로부터 전달되는 토크제어신호가 전달되기 전까지, 상기 구동모터에 대해 제로(zero) 토크제어를 수행하는 것을 특징으로 하는 4륜 구동 하이브리드 차량의 구동제어방법.The method of claim 1,
The inverter performs a zero torque control on the drive motor after the clutch is turned on and before the torque control signal transmitted from the upper controller is transmitted. Drive control method. 제1항에 있어서,
상기 상위 제어기는 외부로부터 4륜구동(4WD)으로부터 2륜구동(2WD)으로 운전모드의 변경이 요구된 경우, 상기 클러치를 오프(OFF)하고, 차량의 엔진에 의해 차량을 구동하는 단계; 및
상기 인버터는 상기 클러치가 오프 된 경우, 상기 구동모터의 역기전력에 의해 정해지는 임계값까지 상기 구동모터의 속도를 감속시키는 단계를 더 포함하는 것을 특징으로 하는 4륜 구동 하이브리드 차량의 구동제어방법.
The method of claim 1,
When the host controller is required to change the driving mode from four-wheel drive (4WD) to two-wheel drive (2WD) from the outside, turning off the clutch and driving the vehicle by the engine of the vehicle; And
The inverter further comprises the step of decelerating the speed of the drive motor to a threshold value determined by the counter electromotive force of the drive motor, when the clutch is off.
KR1020120072103A 2012-07-03 2012-07-03 Driving control method for 4wd hybrid electric vehicle KR20140005402A (en)

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