SE538358C2 - A method of braking a vehicle with a hybrid drivetrain, a hybrid drivetrain and a vehicle comprising such a hybrid drivetrain - Google Patents

A method of braking a vehicle with a hybrid drivetrain, a hybrid drivetrain and a vehicle comprising such a hybrid drivetrain Download PDF

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Publication number
SE538358C2
SE538358C2 SE1351412A SE1351412A SE538358C2 SE 538358 C2 SE538358 C2 SE 538358C2 SE 1351412 A SE1351412 A SE 1351412A SE 1351412 A SE1351412 A SE 1351412A SE 538358 C2 SE538358 C2 SE 538358C2
Authority
SE
Sweden
Prior art keywords
electric machine
torque
vehicle
brake pedal
torque limitation
Prior art date
Application number
SE1351412A
Other languages
Swedish (sv)
Other versions
SE1351412A1 (en
Inventor
Afram Kourie
Mats Liwell
Mattias Nilsson
Fredrik Sundén
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1351412A priority Critical patent/SE538358C2/en
Priority to EP14866698.5A priority patent/EP3074255A4/en
Priority to PCT/SE2014/051406 priority patent/WO2015080656A1/en
Publication of SE1351412A1 publication Critical patent/SE1351412A1/en
Publication of SE538358C2 publication Critical patent/SE538358C2/en

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Classifications

    • 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
    • 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
    • B60K6/387—Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means
    • 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
    • B60K6/42—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
    • B60K6/48—Parallel type
    • B—PERFORMING OPERATIONS; TRANSPORTING
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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
    • 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
    • B60K6/54—Transmission for changing ratio
    • B60K6/547—Transmission for changing ratio the transmission being a stepped gearing
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • 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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative 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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • 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
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/196—Conjoint control of vehicle sub-units of different type or different function including control of braking systems acting within the driveline, e.g. retarders
    • 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
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18072—Coasting
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • 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
    • B60K6/42—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
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    • B60K2006/4825—Electric machine connected or connectable to gearbox input shaft
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    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
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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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • 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
    • B60W2710/083—Torque
    • B60W2710/085—Torque change rate
    • 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
    • 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
    • Y02T10/64—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
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Uppfinningen avser ett förfarande för att bromsa ett fordon (1) med en hybriddrivlina(2), innefattande en bromspedal (29), en förbränningsmotor (3), en elmaskin (4), ochen växellåda (6) med en ingàende axel (10) och utgàende axel (18), varvid förbrän-ningsmotorn (3) och elmaskinen (4) är kopplade till den ingàende axeln (10). Förfa-randet innefattar stegen a) manövrera bromspedalen (29) fràn en första position (D1)mot en andra position (D2), varvid elmaskinen (4) omkopplas till generatordrift; ochb) styra elmaskinen (4) med en förutbestämd momentbegränsning; och c) styra el-maskinen (4) utan momentbegränsning mot ett moment (T3) som motsvarar broms-pedalens (29) andra position (D2). Uppfinningen avser också en hybriddrivlina (2)och ett fordon, samt ett datorprogram (P) och en datorprogramprodukt. (Pig. s) The invention relates to a method for braking a vehicle (1) with a hybrid driveline (2), comprising a brake pedal (29), an internal combustion engine (3), an electric machine (4), and a gearbox (6) with an input shaft (10). and output shaft (18), the internal combustion engine (3) and the electric machine (4) being connected to the input shaft (10). The method comprises the steps of a) operating the brake pedal (29) from a first position (D1) towards a second position (D2), the electric machine (4) being switched to generator operation; andb) controlling the electric machine (4) with a predetermined torque limit; and c) steer the electric machine (4) without torque limitation towards a torque (T3) corresponding to the second position of the brake pedal (29) (D2). The invention also relates to a hybrid driveline (2) and a vehicle, as well as a computer program (P) and a computer program product. (Pig. S)

Description

Förfarande för att bromsa ett fordon med en hybriddrivlina, en hybriddrivlinaoch ett fordon, innefattande en sådan hybriddrivlina. A method of braking a vehicle with a hybrid driveline, a hybrid driveline and a vehicle, comprising such a hybrid driveline.

UPPFINNINGENS BAKGRUND OCH KÄND TEKNIK Föreliggande uppfinning avser ett förfarande för att bromsa ett fordon med en hy-briddrivlina enligt ingressen till patentkravet 1. Uppfinningen avser också en hybrid-drivlina enligt ingressen till patentkravet 12 och ett fordon enligt ingressen till patent- kravet 13, innefattande en sådan hybriddrivlina.BACKGROUND OF THE INVENTION AND PRIOR ART The present invention relates to a method of braking a vehicle with a hybrid driveline according to the preamble of claim 1. The invention also relates to a hybrid driveline according to the preamble of claim 12 and a vehicle according to the preamble of claim 13, comprising such a hybrid driveline.

Ett hybriddrivet fordon drivs av en förbränningsmotor och en elmaskin, vilka samver-kar för att avge önskad effekt och för att bland annat erhålla en god bränsleekonomihos fordonet. Elmaskinen kan också användas för att bromsa fordonet, varvid elma-skinen fungerar som en generator och därmed återför energi till en elektrisk ackumu-lator i fordonet. Fordonet är också försett med en transmission för att fördela kraftfrån förbränningsmotorn och elmaskinen samt för att åstadkomma lämplig utväxlingtill fordonets drivhjul. l fordonets drivlina förekommer glapp mellan de i transmissionen samverkande kom-ponenterna, vilka glapp uppkommer av exempelvis kuggspel mellan kugghjul i in-grepp. Det förekommer också en torsionsfjädrande effekt hos de roterbara axlar somfinns i drivlinan. Glappet och den torsionsfjädrande effekten blir påtaglig märkbart förpassagerare i fordonet när elmaskinen används för att retardera fordonet vid in- bromsning och när elmaskinen används som drivmotor efter att inbromsning upphört.A hybrid-powered vehicle is driven by an internal combustion engine and an electric machine, which work together to deliver the desired power and to, among other things, obtain good fuel economy in the vehicle. The electric machine can also be used to brake the vehicle, whereby the electric machine acts as a generator and thus returns energy to an electric accumulator in the vehicle. The vehicle is also provided with a transmission to distribute power from the internal combustion engine and the electric machine and to provide suitable gearing for the vehicle's drive wheels. In the driveline of the vehicle, there is a gap between the components cooperating in the transmission, which gaps arise from, for example, gear play between gears in engagement. There is also a torsionally resilient effect of the rotatable shafts present in the driveline. The play and the torsion-resilient effect become noticeably noticeable in front of the vehicle when the electric machine is used to decelerate the vehicle during braking and when the electric machine is used as a drive motor after braking has ceased.

Vid inbromsning och efterföljande upphörande av bromsning kommer elmaskinensvridmoment på grund av nämnda glapp och fjädrande axlar att åstadkomma en pulsoch stötvåg i hybriddrivlinan, vilken kommer att upplevas som störande för förare ochpassagerare i fordonet. Pulsen och stötvågen kan också framkalla en svängning ihybriddrivlinan på grund av den torsionsfjädrande effekten hos axlarna. Dennasvängning kommer också upplevas okomfortabel av fordonets förare och passagera- FG.During braking and subsequent cessation of braking, the torque of the electric machine due to said play and resilient axles will produce a pulse and shock wave in the hybrid driveline, which will be perceived as disturbing for drivers and passengers in the vehicle. The pulse and shock wave can also cause an oscillation in the hybrid driveline due to the torsionally resilient effect of the axles. This oscillation will also be experienced as uncomfortable by the vehicle's driver and passenger FG.

Dokumentet DE102011101487 visar ett fordon, som är försett med en hybriddrivlina,som innefattar en förbränningsmotor och en elmaskin. Vid inbromsning används el- maskinen som generator för att bromsa fordonet.Document DE102011101487 discloses a vehicle equipped with a hybrid driveline which includes an internal combustion engine and an electric machine. When braking, the electric machine is used as a generator to brake the vehicle.

SAMMANFATTNING AV UPPFINNINGEN Trots kända lösningar finns ett behov att vidareutveckla en hybriddrivlina som ger god àkkomfort i fordonet vid inbromsning och när inbromsning upphör.SUMMARY OF THE INVENTION Despite known solutions, there is a need to further develop a hybrid driveline that provides good comfort in the vehicle during braking and when braking ceases.

Syftet med föreliggande uppfinning är sàledes att tillhandahålla en hybriddrivlina som ger god àkkomfort i fordonet vid inbromsning och när inbromsning upphör.The object of the present invention is thus to provide a hybrid driveline which provides good comfort in the vehicle during braking and when braking ceases.

Detta syfte uppnàs med ett förfarande för att bromsa ett fordon med en hybriddrivlinaenligt det inledningsvis nämnda slaget, vilket kännetecknas av de särdrag som anges i patentkravet 1.This object is achieved by a method for braking a vehicle with a hybrid driveline according to the type mentioned in the introduction, which is characterized by the features stated in claim 1.

En sàdan hybriddrivlina kommer att ge god àkkomfort för förare och passagerare vidinbromsning och när inbromsning upphör. Genom att styra elmaskinen med en förut-bestämd momentbegränsning vid inbromsning och när inbromsning upphör kan före-kommande glapp och torsionsfjädringseffekter i drivlinan tas om hand och utjämnas,vilket medför att en puls och stötvàg i hybriddrivlinan undviks, vilket medför att àk- komforten i fordonet ökar.Such a hybrid driveline will provide good comfort for drivers and passengers during braking and when braking ceases. By controlling the electric machine with a predetermined torque limitation during braking and when braking ceases, any play and torsional suspension effects in the driveline can be taken care of and equalized, which means that a pulse and shock wave in the hybrid driveline is avoided, which means the driving comfort in vehicles increases.

Enligt en ytterligare utföringsform ökas momentet hos elmaskinen stegvis under mo-mentbegränsningen. Detta medför att förekommande glapp och torsionsfjädringsef-fekter i drivlinan tas om hand och utjämnas, vilket medför att en puls och stötvàg ihybriddrivlinan undviks, sä att àkkomforten i fordonet ökar.According to a further embodiment, the torque of the electric machine is increased step by step during the torque limitation. This means that any play and torsional suspension effects in the driveline are taken care of and equalized, which means that a pulse and shock wave in the hybrid driveline are avoided, so that the comfort in the vehicle increases.

Ovan angivna syften uppnàs även med en hybriddrivlina av det inledningsvis nämn-da slaget, vilket kännetecknas av de särdrag som anges i patentkravet 12, samt avett fordon av det inledningsvis nämnda slaget, vilket kännetecknas av de särdrag som anges i patentkravet 13.The above objects are also achieved with a hybrid driveline of the type mentioned in the preamble, which is characterized by the features stated in claim 12, and by a vehicle of the type mentioned in the introduction, which is characterized by the features stated in claim 13.

Ytterligare fördelar med uppfinningen framgàr av följande detaljerade beskrivning.Further advantages of the invention will become apparent from the following detailed description.

KORT BESKRIVNING AV RITNINGARNA I det följande beskrivs, sàsom ett exempel, föredragna utföringsformer av uppfin- ningen med hänvisning till bifogade ritningar, pä vilka: Fig. 1 visar i en sidovy ett schematiskt visat fordon med en drivlina enligt föreliggan- de uppfinning, Fig. 2 visar i en sidovy en schematiskt visad drivlina enligt föreliggande uppfinning, Fig. 3 visar diagram över bromspedalsposition och moment vid förfarandet för att föratt bromsa fordonet med hybriddrivlinan enligt föreliggande uppfinning, och Fig. 4 visar ett flödesschema över förfarandet för att bromsa fordonet med hybriddriv- linan enligt föreliggande uppfinning.BRIEF DESCRIPTION OF THE DRAWINGS In the following, as an example, preferred embodiments of the invention are described with reference to the accompanying drawings, in which: Fig. 1 shows in a side view a schematically shown vehicle with a driveline according to the present invention, Figs. Fig. 2 shows in a side view a schematically shown driveline according to the present invention, Fig. 3 shows diagrams of brake pedal position and torque in the method of braking the vehicle with the hybrid driveline according to the present invention, and Fig. 4 shows a flow chart of the method of braking the vehicle with hybrid drive the rope according to the present invention.

DETALJERAD BESKRIVNING AV FÖREDRAGNA UTFÖRINGSFORIVIER AV UPP-FINNINGEN Fig. 1 visar en schematisk sidovy av ett fordon 1, som innefattar en hybriddrivlina 2med en förbränningsmotor 3 och en elmaskin 4, vilka är kopplade till en växellåda 6.Växellàdan 6 är vidare kopplad till fordonets 1 drivhjul 8. Drivhjulen 8 är försedda med hjulbromsar 9.DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION Fig. 1 shows a schematic side view of a vehicle 1, which comprises a hybrid driveline 2 with an internal combustion engine 3 and an electric machine 4, which are connected to a gearbox 6. drive wheels 8. The drive wheels 8 are equipped with wheel brakes 9.

Fig. 2 visar schematiskt en hybriddrivlina 2, som innefattar förbränningsmotorn 3 ochelmaskinen 4, vilka är kopplade till en ingàende axel 10 hos växellàdan 6. Förbrän-ningsmotorn 3 kan till och frànkopplas den ingàende axeln 10 medelst en kopplings-anordning 12, som kan vara manuellt och/eller automatiskt manövrerbar. Växellàdan6 kan vara en godtycklig växellàda 6, men är företrädesvis en kombinerad manuelloch automatisk växellàda 6 av splittyp och innefattar även en huvudaxel 14, en sido-axel 16 och en utgàende axel 18 pà vilka ett eller flera kugghjul 20 är anordnade.l\/lellan huvudaxeln 14 och den utgàende axeln 18 är en retarder 22 anordnad. Den utgående axeln 18 är kopplad till en slutväxel 24, som i sin tur är kopplad till fordo-nets 1 drivhjul 8, som är försedda med hjulbromsar 9. En elektronisk styrenhet 26 ärkopplad till förbränningsmotorn 3, kopplingsanordningen 12, elmaskinen 4, växellä-dan 6 och hjulbromsarna 9 medelst elektriska ledare 28. En bromspedal 29 är kopp-lad till styrenheten för att pàverka elmaskinen 4 och hjulbromsarna 9. Istället för attöverföra signaler genom de elektriska ledarna 28 kan signaler mellan den elektronis-ka styrenheten 26 och förbränningsmotorn 3, kopplingsanordningen 12, elmaskinen4, växellådan 6, hjulbromsarna 9 och bromspedalen 29 överföras tràdlöst. Den elek-troniska styrenheten 26 kan innefatta ett minne l\/I och ett datorprogram P. Det är ocksà möjligt att koppla en dator 30 till styrenheten 26.Fig. 2 schematically shows a hybrid driveline 2, which comprises the internal combustion engine 3 and the engine 4, which are connected to an input shaft 10 of the gearbox 6. The internal combustion engine 3 can be connected to and disconnected from the input shaft 10 by means of a coupling device 12, which may be manually and / or automatically maneuverable. The gearbox 6 may be any gearbox 6, but is preferably a combined manual and automatic gearbox 6 of the split type and also comprises a main shaft 14, a side shaft 16 and an output shaft 18 on which one or more gears 20 are arranged. the main shaft 14 and the output shaft 18 a retarder 22 is provided. The output shaft 18 is connected to an end gear 24, which in turn is connected to the drive wheels 8 of the vehicle 1, which are provided with wheel brakes 9. An electronic control unit 26 is connected to the internal combustion engine 3, the coupling device 12, the electric machine 4, the gearbox 6 and the wheel brakes 9 by means of electric conductors 28. A brake pedal 29 is connected to the control unit for actuating the electric machine 4 and the wheel brakes 9. Instead of transmitting signals through the electric conductors 28, signals between the electronic control unit 26 and the internal combustion engine 3, the coupling device 12, the electric machine 4, the gearbox 6, the wheel brakes 9 and the brake pedal 29 are transmitted wirelessly. The electronic control unit 26 may comprise a memory I / I and a computer program P. It is also possible to connect a computer 30 to the control unit 26.

Fig. 3 visar ett diagram över bromspedalsposition och moment vid förfarandet för attstyra hybriddrivlinan 2 enligt föreliggande uppfinning. Den övre heldragna kurvan re-presenterar bromspedalens 29 position. Den nedre heldragna kurvan representerar elmaskinens 4 moment vid inbromsning av fordonet 1.Fig. 3 shows a diagram of brake pedal position and torque in the method of controlling the hybrid driveline 2 according to the present invention. The upper solid curve represents the position of the brake pedal 29. The lower solid curve represents the elements of the electric machine 4 when braking the vehicle 1.

Vid tidpunkten t1 trycker fordonets 1 förare pà bromspedalen 29, som därmed försfrän en första position D1 mot en andra position D2. Enligt fig. 3 när bromspedalenpositionen D2 vid tidpunkten t2. När bromspedalen 29 aktiveras genom att den trycksner och förs frän positionen D1 fränkopplas förbränningsmotorn 3 den ingäende ax-eln 10 hos växellädan 6 medelst kopplingsanordningen 12, vilket sker vid tidpunktent1. För det fall bromspedalspositionen i den andra positionen D2 eller bromspedalensacceleration när den lämnar positionen D1 motsvarar en mycket kraftig inbromsningaktiveras fordonets 1 hjulbromsar 9. Vid nedtryckningen och därmed aktiveringen avbromspedalen 29 vid tidpunkten t1 omkopplas även elmaskinen 4 till generatordriftför att pàbörja bromsning och tillsammans med hjulbromsarna 9 ytterligare bidraga tillinbromsning av fordonet 1 medelst ett fràn elmaskinen 4 verkande bromsmoment pàdrivlinan 2. Samtidigt som bromspedalen 29 aktiveras vid tidpunkten t1 skickas ensignal fràn styrenenheten 26 till elmaskinen 4. När det stàr klart att bromspedalen 29aktiveras med en acceleration och/eller en kraft, som överstiger ett förutbestämtgränsvärde eller alternativt när bromspedalen 29 förts till en viss position motsvaran-de positionen D2, kommer även fordonets 1 hjulbromsar 9 att aktiveras.At time t1, the driver of the vehicle 1 presses on the brake pedal 29, which thereby advances a first position D1 towards a second position D2. According to Fig. 3, when the brake pedal position D2 at time t2. When the brake pedal 29 is activated by pushing it and moving it from the position D1, the internal combustion engine 3 is disengaged from the input shaft 10 of the gearbox 6 by means of the coupling device 12, which takes place at time 1. In the event that the brake pedal position in the second position D2 or brake pedal acceleration when leaving position D1 corresponds to a very strong braking, the vehicle's wheel brakes 9 are activated. further contribute to braking the vehicle 1 by means of a braking torque acting on the driveline 2 from the electric machine 4. At the same time as the brake pedal 29 is activated at time t1, a signal is sent from the control unit 26 to the electric machine 4. When it is clear that the brake pedal 29 is activated by an acceleration and / or a force exceeds a predetermined limit value or alternatively when the brake pedal 29 is moved to a certain position corresponding to position D2, the wheel brakes 9 of the vehicle 1 will also be activated.

För det fall bromspedalen 29 aktiveras med en acceleration och/eller en kraft somunderstiger ett förutbestämt gränsvärde eller alternativt att bromspedalspositionen iden andra positionen D2 motsvarar en mjuk inbromsning kommer enbart elmaskinen4 aktiveras genom att omkopplas till generatordrift för att bromsa fordonet 1 medelstett pä drivlinan 2 verkande bromsmoment. För det fall bromsmomentet frän elmaski-nen 4 är tillräckligt för att inbromsa fordonet 1 aktiveras inte fordonets 1 hjulbromsar9. Vid bromspedalens 29 position D1 är det bromsande momentet TO frän elmaski- nen 4 väsentligen obefintligt eller noll.In the event that the brake pedal 29 is activated with an acceleration and / or a force below a predetermined limit value or alternatively that the brake pedal position in the second position D2 corresponds to a soft braking, only the electric machine 4 will be activated by switching to generator operation to brake the vehicle 1. . In the event that the braking torque from the electric machine 4 is sufficient to brake the vehicle 1, the wheel brakes 9 of the vehicle 1 are not activated. At position D1 of the brake pedal 29, the braking torque TO from the electric machine 4 is substantially non-existent or zero.

I växellädan 6 och slutväxeln 24 förekommer glapp mellan de i växellädan 6 och slut-växeln 24 samverkande komponenterna, exempelvis kuggspel mellan kugghjul 20 iingrepp. Det förekommer ocksä en torsionsfjädrande effekt hos de roterbara axlarsom finns i växellädan 6 och slutväxeln 24 samt hos axlar som sammankopplar väx-ellädan 6, slutväxeln 24 och drivhjulen 8, säsom kardan- och drivaxlar. För det fallelmaskinen 4 utverkar ett kraftigt bromsmoment vid omkopplingen till generatordriftkommer nämnda glapp och fjädrande axlar att medföra en puls och stötvàg i hybrid-drivlinan 2, vilken kommer att upplevas som störande för förare och passagerare ifordonet 1. Pulsen och stötvàgen kommer ocksä att framkalla en svängning i hybrid-drivlinan 2 pä grund av den torsionsfjädrande effekten hos axlarna. Denna svängningkommer ocksä upplevas okomfortabel av fordonets 1 förare och passagerare.In the gearbox 6 and the final gear 24 there is a gap between the components cooperating in the gearbox 6 and the final gear 24, for example gear play between gears 20 engages. There is also a torsionally resilient effect of the rotatable shafts present in the gearbox 6 and the final gear 24 as well as in axles which connect the gearbox 6, the final gear 24 and the drive wheels 8, such as propeller and drive shafts. Because the falling machine 4 produces a strong braking torque during the switching to generator drive, said play and resilient axles will cause a pulse and shock wave in the hybrid driveline 2, which will be perceived as disturbing for the driver and passengers of the vehicle 1. The pulse and shock wave will also cause a oscillation in the hybrid driveline 2 due to the torsionally resilient effect of the axles. This swing will also be experienced as uncomfortable by the vehicle's 1 driver and passengers.

Genom att styra elmaskinen 4 med en förutbestämd momentbegränsning och/ellergradvis öka elmaskinens 4 moment under tidsperioden t1-t3 för att undvika att enpuls och stötvàg i hybriddrivlinan 2 uppkommer kan de negativa effekterna som be-skrivs ovan elimineras. Säledes momentbegränsas elmaskinen 4 under kontrolleradeformer medelst styrenheten 26 efter det att inbromsningen päbörjats vid t1. Detta in-nebär att under tidsperioden mellan t1 och t3 kommer elmaskinens 4 moment att ökautan att nàgot nämnvärt moment kommer att överföras till fordonets 1 drivhjul 8 pägrund av att glapp och torsionsfjädring i drivlinan 2 upptas av det begränsade mo-mentet hos elmaskinen 4. Vid t3 näs ett moment T1 dä glapp och torsionsfjädring idrivlinan 2 upptagits av elmaskinens 4 moment, varvid elmaskinens 4 momentbe-gränsning upphör. Elmaskinens 4 moment kommer därvid kraftigt öka frän momentetT1 under en period mellan t3 och t4 för att därefter äter begränsas vid ett uppnättmoment T2, som uppträder strax före ett moment T3 näs, vilket motsvarar bromspe- dalens 29 andra position D2. När tidpunkten t5 nàtts bromsas fordonet med det mo- ment som föraren begärt när bromspedalen 29 tryckts ned. l\/lomentbegränsningen och tidsperioden mellan t1 och t3 styrs av den elektroniskastyrenheten 26. Tidpunkten t4 som inträffar strax före ett moment T3 näs detekterasoch styrs av styrenheten 26. Ett antal varvtalsgivare och organ för att bestämmamoment (inte visade) finns anordnade vid hybriddrivlinan 2 för att ge information omvarvtal och moment hos förbränningsmotorn 3, kopplingsanordningen 12, elmaskinen 4 samt de i växellàdan 6 roterade komponenterna.By controlling the electric machine 4 with a predetermined torque limitation and / or gradually increasing the torque of the electric machine 4 during the time period t1-t3 in order to avoid a single pulse and shock wave in the hybrid driveline 2, the negative effects described above can be eliminated. Thus, the electric machine 4 is momentarily limited during controlled reforms by means of the control unit 26 after the braking has started at t1. This means that during the time period between t1 and t3 the torque of the electric machine 4 will increase without any appreciable torque being transmitted to the drive wheel 8 of the vehicle 1 due to play and torsional suspension in the driveline 2 being occupied by the limited torque of the electric machine 4. t3 a torque T1 is reached when the play and torque suspension of the driveline 2 is occupied by the torque of the electric machine 4, whereby the torque limitation of the electric machine 4 ceases. The torque of the electric machine 4 will then increase sharply from the torque T1 during a period between t3 and t4 and then eat is limited at an torque T2, which occurs just before a torque T3 is reached, which corresponds to the second position D2 of the brake pedal 29. When the time t5 is reached, the vehicle is braked at the moment requested by the driver when the brake pedal 29 is depressed. The torque limitation and the time period between t1 and t3 are controlled by the electronic control unit 26. The time t4 which occurs just before a torque T3 is detected and controlled by the control unit 26. A number of speed sensors and means for determining torque (not shown) are provided at the hybrid driveline 2 for to provide information on the speed and torque of the internal combustion engine 3, the coupling device 12, the electric machine 4 and the components rotated in the gearbox 6.

Glappet och torsionsfjädringen i drivlinan 2 som styrs ut av det begränsade momen-tet frän elmaskinen 4 kan beskrivas med ekvationen: Tereq=Jexcbw+lrg'tjgxá)eioffset Te req avser det begärda momentet till elmaskinen 4Je motsvarar tröghetsmomentet hos elmaskinen 4.(DW motsvarar acceleration hos fordonets 1 drivhjul 8.Te motsvarar vridmoment fràn elmaskinen 4. (be motsvarar elmaskinens 4 acceleration.The play and torsion suspension in the driveline 2 controlled by the limited torque from the electric machine 4 can be described by the equation: Tereq = Jexcbw + lrg'tjgxá) eioffset Te req refers to the requested torque to the electric machine 4Je corresponds to the moment of inertia D of the electric machine 4. acceleration of the vehicle's drive wheel 8.Te corresponds to the torque from the electric machine 4. (be corresponds to the acceleration of the electric machine 4.

Offset motsvarar ett förutbestämt värde för elmaskinaccelerationen. Ju lägre offset-värde desto längre blir tiden för att upptaga glappet i drivlinan.Offset corresponds to a predetermined value for the electric machine acceleration. The lower the offset value, the longer the time to take up the gap in the driveline.

Ju större glapp och torsionsfjädringsväg som förekommer i hybriddrivlinan 2, destolängre blir tidsperioden mellan t1 och t3 samt mellan t4 och t5. Tidsperioden mellant1 och t3 päverkas av Offset-värdet, vilket kan förutbestämmas eller momentant be-stämmas medelst en äterkopplingsfunktion till styrenheten 26. För det fall Offset-värdet förutbestäms baseras förutbestämningen pà erfarenhetsmässiga värden förglappets och torsionsfjädringsvägens storlek och den tid det tar att utjämna glappet och torsionsfjädringsvägen.The larger the play and torsional suspension path that occurs in the hybrid driveline 2, the longer the time period between t1 and t3 and between t4 and t5. The time period between 1 and t3 is affected by the offset value, which can be predetermined or momentarily determined by means of a feedback function to the control unit 26. In case the offset value is predetermined, the predetermination is based on empirical values of the pre-gapped and torsion spring time. torsion suspension road.

Vid tidpunkten t7 manövrerar föraren bromspedalen 29 frän den andra till den förstapositionen D1 för att därmed avsluta bromsningen av fordonet 1. För att inte en pulseller stöt skall uppkomma när elmaskinens 4 moment upphör styrs elmaskinen 4 päsä vis att momentet minskas med en förutbestämd momentbegränsning. Under entidsperiod motsvarande t6-t7 minskas momentet frän T3 till T2. Därefter styrs elma-skinen 4 utan momentbegränsning mot ett moment som motsvarar bromspedalens29 första position D1. För att undvika en puls eller stöt i drivlinan 2 när elmaskinens 4moment helt upphör styrs elmaskinen 4 till ett tillstànd vid tidpunkten t8 med en förut-bestämd momentbegränsning innan momentet som motsvarar bromspedalens 29första position D1 näs vid tidpunkten t9. l\/lomentet hos elmaskinen 4 kan stegvisminskas under momentbegränsningen när bromsningen av fordonet 1 avslutas. Fö-reträdesvis utförs momentbegränsningen under en förutbestämd tidsperiod, som ba- seras pä erfarenhetsmässiga värden.At time t7, the driver operates the brake pedal 29 from the second to the first position D1 to thereby terminate the braking of the vehicle 1. In order not to cause a pulse or shock when the torque of the electric machine 4 ceases, the electric machine 4 is controlled so that the torque is reduced by a predetermined torque limitation. During a one-time period corresponding to t6-t7, the torque is reduced from T3 to T2. Thereafter, the electric machine 4 is steered without torque limitation towards a torque corresponding to the first position D1 of the brake pedal29. To avoid a pulse or shock in the driveline 2 when the torque of the electric machine 4 ceases completely, the electric machine 4 is controlled to a state at time t8 with a predetermined torque limitation before the torque corresponding to the first position D1 of the brake pedal 29 is reached at time t9. The torque of the electric machine 4 can be gradually reduced during the torque limitation when the braking of the vehicle 1 is completed. Preferably, the torque limitation is performed for a predetermined period of time, which is based on empirical values.

Fig. 4 visar ett flödesschema över förfarandet för att styra hybriddrivlinan 2 enligt fö-religgande uppfinning. Förfarandet innefattar följande steg: a) manövrera bromspedalen 29 fràn en första position D1 mot en andra position D2,varvid elmaskinen 4 omkopplas till generatordrift; och b) styra elmaskinen 4 med en förutbestämd momentbegränsning; och c) styra elmaskinen 4 utan momentbegränsning mot ett moment T3 som motsvarar bromspedalens 29 andra position D2.Fig. 4 shows a flow chart of the method for controlling the hybrid driveline 2 according to the present invention. The method comprises the following steps: a) operating the brake pedal 29 from a first position D1 towards a second position D2, the electric machine 4 being switched to generator operation; and b) controlling the electric machine 4 with a predetermined torque limitation; and c) steer the electric machine 4 without torque limitation towards a torque T3 corresponding to the second position D2 of the brake pedal 29.

Förfarande innefattar även det ytterligare steget:d) styra elmaskinen 4 frän ett tillstànd utan momentbegränsning till ett tillstànd meden förutbestämd momentbegränsning innan momentet T3 som motsvarar bromspe- dalens 29 andra position D2 näs.The method also comprises the further step: d) controlling the electric machine 4 from a state without torque limitation to a state with predetermined torque limitation before the torque T3 corresponding to the second position D2 of the brake pedal 29 is reached.

Företrädesvis ökas momentet gradvis hos elmaskinen 4 under momentbegränsning- en i steg b) och/eller steg d). l\/lomentbegränsningen i steg b) och/eller steg d) utförs företrädesvis under en förut-bestämd tidsperiod t1-t3 resp. t4-t5, vilken momentbegränsning och tidsperiod be- stäms av en styrsignal till elmaskinen 4.Preferably, the torque is gradually increased in the electric machine 4 during the torque limitation in step b) and / or step d). The torque limitation in step b) and / or step d) is preferably performed for a predetermined time period t1-t3 resp. t4-t5, which torque limitation and time period is determined by a control signal to the electric machine 4.

Förfarande innefattar även det ytterligare stegen: e) manövrera bromspedalen 29 frän den andra positionen D2 till den första positio-nen D1; och f) styra elmaskinen 4 utan momentbegränsning mot ett moment TO som motsvarar bromspedalens 29 första position D1.The method also comprises the further steps of: e) operating the brake pedal 29 from the second position D2 to the first position D1; and f) steer the electric machine 4 without torque limitation towards a torque TO which corresponds to the first position D1 of the brake pedal 29.

Före steg f), innefattar förfarandet även det ytterligare steget:g) styra elmaskinen 4, pä sä vis att momentet minskas med en förutbestämd mo- mentbegränsning.Before step f), the method also comprises the further step: g) controlling the electric machine 4, in such a way that the torque is reduced by a predetermined torque limitation.

Efter steg f), innefattar förfarandet även det ytterligare steget:h) styra elmaskinen 4 frän ett tillstànd utan momentbegränsning till ett tillstànd meden förutbestämd momentbegränsning innan momentet TO som motsvarar bromspe- dalens 29 första position D1 näs. l\/lomentet minskas företräsedvis gradvis hos elmaskinen 4 under momentbegräns- ningen i steg g) eller steg h). l\/lomentbegränsningen i steg g) eller steg h) utförs företrädesvis under en förutbe-stämd tidsperiod t6-t7 resp. t8-t9. l\/lellan steget a) och steget b), innefattar förfarandet även det ytterligare steget:i) fränkoppla förbränningsmotorn 3 fràn den ingäende axeln 10 medelst en kopp-lingsanordning 12.After step f), the method also comprises the further step: h) controlling the electric machine 4 from a state without torque limitation to a state with predetermined torque limitation before the torque TO corresponding to the first position D1 of the brake pedal 29 is reached. The torque is preferably gradually reduced in the electric machine 4 during the torque limitation in step g) or step h). The torque limitation in step g) or step h) is preferably performed for a predetermined time period t6-t7 resp. t8-t9. Between step a) and step b), the method also comprises the further step: i) disconnecting the internal combustion engine 3 from the input shaft 10 by means of a coupling device 12.

Hybriddrivlinan 2 styrs företrädesvis medelst en elektronisk styrenhet 26.The hybrid driveline 2 is preferably controlled by means of an electronic control unit 26.

Enligt uppfinningen tillhandahälles ett datorprogram P, som kan innefatta rutiner föratt styra hybriddrivlinan 2 enligt föreliggande uppfinning.According to the invention, there is provided a computer program P, which may include routines for controlling the hybrid driveline 2 according to the present invention.

Datorprogrammet P kan innefatta rutiner för att bromsa ett fordon 1 med en hybrid- drivlina 2 enligt de ovan angivna förfarandestegen.The computer program P may include routines for braking a vehicle 1 with a hybrid driveline 2 according to the procedure steps set forth above.

Programmet P kan vara lagrat pà ett exekverbart vis eller pà komprimerat vis i ett minne l\/I och/eller i ett läs/skrivminne R.The program P can be stored in an executable manner or in a compressed manner in a memory l \ / I and / or in a read / write memory R.

Uppfinningen avser ocksà en datorprogramprodukt innefattande en programkod lag-rad pà ett, av en dator 30 läsbart, medium för att utföra förfarandestegen ovan, närnämnda programkod körs pà styrenheten 26 eller en annan dator 30 ansluten till styrenheten 26.The invention also relates to a computer program product comprising a program code stored on a medium, which can be read by a computer 30, for performing the method steps above, said program code being executed on the control unit 26 or another computer 30 connected to the control unit 26.

Angivna komponenter och särdrag som anges ovan kan inom ramen för uppfinning- en kombineras mellan olika angivna utföringsformer.The stated components and features stated above can be combined within the scope of the invention between different specified embodiments.

Claims (1)

1. Förfarande för att bromsa ett fordon (1) med en hybriddrivlina (2), innefattande-en bromspedal (29), -en förbränningsmotor (3), -en elmaskin (4), och -en växellåda (6) med en ingående axel (10) och utgående axel (18), varvid förbrän-ningsmotorn (3) och elmaskinen (4) är kopplade till den ingående axeln (10),kännetecknat av att förfarandet innefattar följande steg: a) omkoppla elmaskinen (4) till qeneratordrift när manëvrera-bromspedalen (29) m_a-növreras av fordonets förare från en första position (D1) mot en andra position (D2),b) styra elmaskinen (4) med en förutbestämd momentbegränsning för att undvika atten puls och stötvåq i hvbriddrivlinan (2) uppkommer; eeh c) styra elmaskinen (4) utan momentbegränsning mot ett av föraren begärt moment(T3) som motsvarar bromspedalens (29) andra position (D2)-)_goich d) styra elmaskinen (4) från ett tillstånd utan momentbegränsning till ett tillstånd med en förutbestämd momentbeqränsninq innan momentet (T3) som motsvarar broms- pedalens (29) andra position (D2) nås. 32. Förfarande enligt någet-av-kraven 1eller-2, kännetecknat av att momentet grad- vis ökas hos elmaskinen (4) under momentbegränsningen i steg b) och/eller steg d). 4§. Förfarande enligt något av föregående krav, kännetecknat av att momentbe-gränsningen i steg b) och/eller steg d) utförs under en förutbestämd tidsperiod (t1-t3resp. t4-t5), vilken momentbegränsning och tidsperiod bestäms av en styrsignal till elmaskinen (4). 2o| 11 55. Förfarande enligt något av föregående krav, kännetecknat av det ytterligare ste- gensteqet att när bromspedalen (29) manövreras från den andra positionen (D2) till den första positionen (D1): f) styra elmaskinen (4) utan momentbegränsning mot ett moment (TO) som motsvararbromspedalens (29) första position (D1). 65. Förfarande enligt krav 55, kännetecknat av att före steg f), det ytterligare steget:g) styra elmaskinen (4), på så vis att momentet minskas med en förutbestämd mo- mentbegränsning. IQ. Förfarande enligt något av kraven 5-4_ eller êë, kännetecknat av att efter steg f),det ytterligare steget: h) styra elmaskinen (4) från ett tillstånd utan momentbegränsning till ett tillstånd meden förutbestämd momentbegränsning innan momentet (TO) som motsvarar broms- pedalens (29) första position (D1) nås. 81. Förfarande enligt något av kraven 6-5_ eller IQ, kännetecknat av att momentet gradvis minskas hos elmaskinen (4) under momentbegränsningen i steg g) eller stegh). 9§. Förfarande enligt något av kraven 6-85¿7, kännetecknat av att momentbegräns-ningen i steg g) eller steg h) utförs under en förutbestämd tidsperiod (t6-t7 resp. t8-t9). 492. Förfarande enligt något av föregående krav, kännetecknat av att mellan stegeta) och steget b), det ytterligare steget: i) frånkoppla förbränningsmotom (3) från den ingående axeln (10) medelst en kopp- lingsanordnlng (12). 443), Förfarande enligt något av föregående krav, varvid hybriddrivlinan (2) styrs medelst en elektronisk styrenhet (26). 12 421_1. Hybriddrivlina, kännetecknad av att hybriddrivlinan (2) innefattar organ an- passade att utföra styrningen av förfarandet enligt något av kraven 1 - HQ. 432. Fordon, kännetecknat av att det innefattar en hybriddrivlina (2) enligt kravälg _ 44_1_3. Datorprogram (P) för att bromsa ett fordon (1) med en hybriddrivlina (2) därnämnda datorprogram (P) innefattar programkod för att orsaka en elektronisk styren-het (26) eller en annan-dator (30) ansluten till dennämnda elektroniska styrenheten(26) att utföra stegen enligt något av patentkraven 1 - MQ. 453. Datorprogramprodukt innefattande en programkod lagrad på ett, av en dator(30) läsbart, medium för att utföra förfarandestegen enligt något av patentkraven 1 -MQ, när nämnda programkod körs på en elektronisk styrenhet (26) eller en annandator (30) ansluten till den-nämnda elektroniska styrenheten (26).A method of braking a vehicle (1) with a hybrid driveline (2), comprising - a brake pedal (29), an internal combustion engine (3), an electric machine (4), and a gearbox (6) with an input shaft (10) and output shaft (18), the internal combustion engine (3) and the electric machine (4) being connected to the input shaft (10), characterized in that the method comprises the following steps: a) switching the electric machine (4) to generator operation when the control brake pedal (29) is m_a-operated by the driver of the vehicle from a first position (D1) towards a second position (D2), b) steer the electric machine (4) with a predetermined torque limitation to avoid eighteen pulses and shock waves in the hybrid driveline (2 ) arises; eeh c) steer the electric machine (4) without torque limitation to a torque (T3) requested by the driver corresponding to the second position of the brake pedal (29) (D2) -) goich d) steer the electric machine (4) from a torque-free state to a state predetermined torque limitation before the torque (T3) corresponding to the second position (D2) of the brake pedal (29) is reached. Method according to any one of claims 1 or 2, characterized in that the torque is gradually increased in the electric machine (4) during the torque limitation in step b) and / or step d). 4§. Method according to one of the preceding claims, characterized in that the torque limitation in step b) and / or step d) is carried out for a predetermined time period (t1-t3resp. T4-t5), which torque limitation and time period is determined by a control signal to the electric machine (4 ). 2o | Method according to one of the preceding claims, characterized in that the further step is that when the brake pedal (29) is actuated from the second position (D2) to the first position (D1): f) steers the electric machine (4) without torque limitation towards a torque (TO) which corresponds to the first position (D1) of the brake pedal (29). Method according to claim 55, characterized in that before step f), the further step: g) controls the electric machine (4), in such a way that the torque is reduced by a predetermined torque limitation. IQ. Method according to one of Claims 5 to 4 or êë, characterized in that after step f), the further step: h) controlling the electric machine (4) from a state without torque limitation to a state with predetermined torque limitation before the torque (TO) corresponding to the brake the first position (D1) of the pedal (29) is reached. Method according to one of Claims 6 to 5 or IQ, characterized in that the torque is gradually reduced in the electric machine (4) during the torque limitation in step g) or steph). 9§. Method according to one of Claims 6 to 85 to 7, characterized in that the torque limitation in step g) or step h) is carried out for a predetermined period of time (t6-t7 and t8-t9, respectively). A method according to any one of the preceding claims, characterized in that between step) and step b), the further step: i) disconnecting the internal combustion engine (3) from the input shaft (10) by means of a coupling device (12). A method according to any one of the preceding claims, wherein the hybrid driveline (2) is controlled by means of an electronic control unit (26). 12 421_1. Hybrid driveline, characterized in that the hybrid driveline (2) comprises means adapted to perform the control of the method according to any one of claims 1 - HQ. Vehicle, characterized in that it comprises a hybrid driveline (2) according to claim 44. Computer program (P) for braking a vehicle (1) with a hybrid driveline (2) said computer program (P) comprises program code for causing an electronic control unit (26) or another computer (30) connected to said electronic control unit ( Performing the steps according to any one of claims 1 - MQ. A computer program product comprising a program code stored on a computer readable medium (30) for performing the method steps according to any one of claims 1 -MQ, when said program code is executed on an electronic control unit (26) or another computer (30) connected to the said electronic control unit (26).
SE1351412A 2013-11-28 2013-11-28 A method of braking a vehicle with a hybrid drivetrain, a hybrid drivetrain and a vehicle comprising such a hybrid drivetrain SE538358C2 (en)

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EP14866698.5A EP3074255A4 (en) 2013-11-28 2014-11-26 Method for braking a vehicle with a hybrid powertrain by controlled use of an electric machine
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