KR20170133651A - Method for braking control of the electric vehicle - Google Patents

Method for braking control of the electric vehicle Download PDF

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Publication number
KR20170133651A
KR20170133651A KR1020160064695A KR20160064695A KR20170133651A KR 20170133651 A KR20170133651 A KR 20170133651A KR 1020160064695 A KR1020160064695 A KR 1020160064695A KR 20160064695 A KR20160064695 A KR 20160064695A KR 20170133651 A KR20170133651 A KR 20170133651A
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KR
South Korea
Prior art keywords
electric vehicle
braking
present
braking control
noise function
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Application number
KR1020160064695A
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Korean (ko)
Inventor
이주
오예준
이현기
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한양대학교 산학협력단
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Priority to KR1020160064695A priority Critical patent/KR20170133651A/en
Publication of KR20170133651A publication Critical patent/KR20170133651A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0076—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • 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
    • B60L15/2009—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 braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0038—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present invention relates to a braking control method capable of stopping an electric vehicle when a signal requesting quick braking is detected while the electric vehicle operates. The present invention comprises: a process of synthesizing a noise function with a rotor position sensing value when a quick braking signal is detected in a controller; a process of generating a quick braking power by outgoing a traction motor from a synchronous speed; a process of determining whether a current is equal to or greater than a rated current; and a process of blocking a pulse width modulation (PWM).

Description

전기자동차의 급제동 제어 방법{Method for braking control of the electric vehicle}TECHNICAL FIELD [0001] The present invention relates to a method for controlling an electric vehicle,

본 발명의 실시예들은 전기자동차의 급제동 제어 방법에 관한 것이다. Embodiments of the present invention relate to a method for controlling sudden braking of an electric vehicle.

기존 전기자동차는 차량 페달의 정보를 입력받아서 제동 필요시 회생제동을 통해 제동력을 발생시키는 방식을 사용한다.Existing electric vehicles use the method of generating braking force through regenerative braking when braking is required by receiving information of the vehicle pedal.

종래의 전기 자동차에서는 브레이크 페달 구동에 따른 제동 요구가 검출되는 경우 배터리의 잔존 용량을 감안한 회생 제동으로 제동력을 발생시키므로 긴급을 요하는 급제동 요구가 발생하는 경우 안정된 제동 거리를 확보할 수 없다. The conventional electric vehicle generates braking force by regenerative braking in consideration of the remaining capacity of the battery when the braking demand for braking pedal driving is detected, so that a stable braking distance can not be ensured when sudden braking demand requiring urgency occurs.

상기한 바와 같은 종래기술의 문제점을 해결하기 위해, 본 발명에서는 추가적인 회로 구성없이 기존 제어 알고리즘에 노이즈 함수 발생부만 추가하여 비상 상황에서 제동력을 발생시켜 차량을 정지시킬 수 있는 전기자동차의 급제동 제어 방법을 제안하고자 한다. In order to solve the problems of the prior art as described above, in the present invention, a sudden control method of an electric vehicle capable of stopping a vehicle by generating a braking force in an emergency situation by adding only a noise function generator to an existing control algorithm without additional circuit configuration .

본 발명의 다른 목적들은 하기의 실시예를 통해 당업자에 의해 도출될 수 있을 것이다.Other objects of the invention will be apparent to those skilled in the art from the following examples.

본원 명세서의 상세한 설명 및 도면에 따른 수단을 제공한다. And provides a means according to the description and drawings of the present disclosure.

본 발명에 따르면, 추가적인 회로 구성없이 기존 제어 알고리즘에 노이즈 함수 발생부만 추가하여 비상 상황에서 제동력을 발생시켜 차량을 정지시킬 수 있다. 이를 통해서 운전자의 안전과 전기 자동차의 신뢰성 향상에 기여할 수 있다.
According to the present invention, it is possible to stop the vehicle by generating a braking force in an emergency situation by adding only a noise function generator to an existing control algorithm without additional circuit configuration. This can contribute to the safety of the driver and the reliability of the electric vehicle.

도 1은 본 발명의 개념을 설명하기 위한 도면이다.
도 2는 본 발명의 개념을 설명하기 위한 도면이다.
도 3은 본 발명의 개념을 설명하기 위한 도면이다. 1 is a diagram for explaining the concept of the present invention.
2 is a diagram for explaining the concept of the present invention.
3 is a diagram for explaining the concept of the present invention.

이하, 본 발명의 다양한 실시예들을 첨부된 도면을 참조하여 상술한다. Various embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

전기자동차와 같이 전동기를 이용해 주행력을 발생시키는 장치에서는 주로 토크제어를 수행한다. 따라서 정지속도를 만들기 위해 적정량의 역토크 크기를 예측하고 또한 역토크를 어떤 메커니즘을 이용해서 발생시킬지에 대한 방법이 필요하다. Torque control is mainly performed in an apparatus such as an electric vehicle that generates a driving force by using an electric motor. Therefore, there is a need for a method for predicting an appropriate amount of reverse torque to generate a stopping speed and for generating a reverse torque using a mechanism.

전동기 벡터제어 원리는 고정자에 회전자계를 인가해서 회전자와 회전자계를 동일한 속도로 동기시켜서 토크를 발생시킨다. The motor vector control principle applies torque to the stator to synchronize the rotor and the rotor system at the same speed to generate torque.

본 발명에서는 이와 같은 벡터제어의 원리를 역으로 이용하여 급제동 요구 시 회전자 위치정보에 SW적인 노이즈 함수를 합성시켜 동기 되어 있는 상태를 강제로 탈조시켜서 제동력이 발생하도록 한다.In the present invention, the principle of the vector control is reversed to combine the SW-like noise function with the rotor position information in the case of the sudden braking demand, and the synchronized state is forcibly settled to generate the braking force.

도 1은 급제동 제어 방법의 흐름도를 도시한 도면이다. 1 is a diagram showing a flow chart of a rapid braking control method.

도 1을 참조하면, 먼저 차량 상태정보를 파악하여 이때 급정거에 대한 요구가 있을 경우 위치센서의 회전자 위치 정보에 노이즈 함수를 합성시킨다. 이 과정에서 진동하는 전류가 영구자석의 감자 또는 IGBT 전류제한치를 증가하지 않도록 특정값 이상시에는 PWM off 시켜서 전류가 더 이상 증가하지 않게 막는다. 이때의 순서도는 아래 그림과 같다.Referring to FIG. 1, first, the vehicle state information is grasped and a noise function is synthesized with the rotor position information of the position sensor when there is a request for the sudden stop. In this process, the oscillating current is PWM off when the value exceeds a certain value so as not to increase the potentiometer or IGBT current limit of the permanent magnet, thereby preventing the current from further increasing. The flowchart at this time is shown in the figure below.

도 2 및 도 3은 본 발명의 제어방법을 적용하여 시물레이션 한 결과를 도시한 도면이다.FIG. 2 and FIG. 3 are diagrams showing results of simulation by applying the control method of the present invention.

도 2는 급제동 신호 발생 시 회전자 위치정보에 노이즈 함수를 합성시켰을 때의 회전자 위치 합성 파형을 도시하고 있다. FIG. 2 shows a rotor position synthesis waveform when a noise function is synthesized with the rotor position information when a sudden braking signal is generated.

이 같은 신호가 합성 되었을 때, 주행중인 차량에 미치는 영향을 시물레이션을 통해 확인하였다. 즉, 도 3과 같이 급제동 요구 신호가 발생한 이후, 노이즈가 실린 회전자 위치 정보는 동기 주파수를 탈조시켜 제동력을 발생하도록 하여 급정거가 가능해진다.When these signals were synthesized, the effect on the running vehicle was confirmed through simulations. That is, after the sudden braking demand signal is generated as shown in FIG. 3, the rotor position information in which noises are generated causes the braking force to be generated by stepping out the synchronizing frequency, so that the braking force is suddenly enabled.

Claims (1)

급정지 신호 검출 후 SW적으로 노이즈 함수를 발생하는 단계;
기존 위치 센서의 위치정보 값에 앞서 발생된 노이즈 함수를 합성하는 단계; 및
탈조로 인해 과전류 출력시 PWM Off 한 후에 다시 재기동 하는 단계;를 포함하는 전기자동차의 급제동 제어 방법.Generating a noise function as SW after detecting the stopping signal;
Synthesizing the noise function generated prior to the position information value of the existing position sensor; And
And a step of restarting the PWM motor after PWM off when an overcurrent is output due to the demagnetization.
KR1020160064695A 2016-05-26 2016-05-26 Method for braking control of the electric vehicle KR20170133651A (en)

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KR1020160064695A KR20170133651A (en) 2016-05-26 2016-05-26 Method for braking control of the electric vehicle

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