WO2001076902A1 - System of electrical machines whose rotors are each connected to a wheel of a motor vehicle - Google Patents

System of electrical machines whose rotors are each connected to a wheel of a motor vehicle Download PDF

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Publication number
WO2001076902A1
WO2001076902A1 PCT/EP2001/004003 EP0104003W WO0176902A1 WO 2001076902 A1 WO2001076902 A1 WO 2001076902A1 EP 0104003 W EP0104003 W EP 0104003W WO 0176902 A1 WO0176902 A1 WO 0176902A1
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WO
WIPO (PCT)
Prior art keywords
electrical machines
emi
control unit
signal
electronic control
Prior art date
Application number
PCT/EP2001/004003
Other languages
German (de)
French (fr)
Inventor
Andreas GRÜNDL
Bernhard Hoffmann
Original Assignee
Compact Dynamics Gmbh
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 Compact Dynamics Gmbh filed Critical Compact Dynamics Gmbh
Priority to AU2001254792A priority Critical patent/AU2001254792A1/en
Publication of WO2001076902A1 publication Critical patent/WO2001076902A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to, or preventing, skidding of wheels
    • 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
    • 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
    • B60L3/10—Indicating wheel slip ; Correction of wheel slip
    • B60L3/102—Indicating wheel slip ; Correction of wheel slip of individual wheels
    • 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
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/3205—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration acceleration
    • 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
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • 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
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • B60K17/046—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel with planetary gearing having orbital motion
    • 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
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
    • 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
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • 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
    • B60W2520/14—Yaw
    • 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

Definitions

  • the invention relates to an arrangement of electrical
  • the invention relates to an arrangement of electrical machines, one of which is rotatably connected to a wheel of a motor vehicle, the electrical machines being operated by a common electronic control unit.
  • hydraulic brakes are practically exclusively used in which pressurized hydraulic fluid acts on a piston which brings a friction element into frictional engagement with a disc or drum which is connected to the wheel in a rotationally fixed manner.
  • This arrangement has proven itself to the extent that large forces can be exerted on the friction element with relatively high dynamics.
  • a further approach also dispenses with the electro-hydraulic converter and instead, depending on the electrical brake signal, brings the friction element into frictional engagement with the disk or drum (so-called dry brake) by means of corresponding electrical actuators.
  • the solution to this problem according to the invention consists in an arrangement of electrical machines, the rotors of which are to be connected in a rotationally fixed manner to a wheel of a motor vehicle driven by an internal combustion engine, the electrical machines being connected to an electronic control unit which is set up as a function of at least to operate one or more of the electrical machines as a motor or generator using a sensor signal.
  • Friction elements with the disc or drum allows not only the dissipation of energy from the brake for the first time, but also the targeted acceleration of individual wheels for the first time, provided this is done within the framework of an anti-lock, anti-slip, electronic stability, driving dynamics, or the like. Operation is desirable.
  • This concept can also be used to compensate for a brief interruption in the drive train, as occurs, for example, during a gear shift.
  • At least one of the electrical machines is arranged on the output side of a differential gear of the motor vehicle.
  • the or each electrical machine is preferably connected to the respective wheel of the motor vehicle on the output side via a reduction gear, preferably a planetary gear (for example with a reduction ratio of 1: 5 to 1:10).
  • a reduction gear preferably a planetary gear (for example with a reduction ratio of 1: 5 to 1:10). This means that an electrical machine can be used that is relatively compact and has a high speed.
  • the electronic control unit has at least one signal input that is set up to receive a brake signal that represents a driver's braking request.
  • This brake signal is generated by a so-called electronic brake pedal, which does not act on a pneumatic / hydraulic brake booster via a linkage as usual. Rather, a displacement or angle sensor is used here, which is coupled to a spring-supported brake pedal in order to generate the electrical brake signal.
  • the electronic control unit has at least one signal input, which is set up to receive a rotation signal reflecting the turning behavior of a wheel.
  • This wheel speed sensor corresponds to a sensor that is used, for example, in connection with known anti-lock systems to detect the locking of a wheel.
  • the electronic control unit has at least one signal input which is set up to receive a yaw rate signal reflecting the yaw behavior of the motor vehicle.
  • the electronic control unit is connected to the electrical machines via control connections in order to determine the rotational behavior of one or more wheels as a function of at least one signal applied to one of the signal inputs in the sense of acceleration or deceleration and / or blocking of the respective one To influence Rades.
  • the electronic control unit has a signal input stage for the signals present at each of the signal inputs, a signal processing stage for the signals coming from the signal input stage, and a control stage for the motor or generator operation of the electrical machines depending on the Signal processing stage generated drive signals.
  • the control stage has at least one
  • Inverter stage which is set up to supply an electrical machine connected to it with electrical energy in motor operation or to draw energy therefrom in generator operation.
  • the electronic control unit is set up to use one of the electrical machines in the generator mode
  • Feed energy withdrawn from operation at least partially into another of the electrical machines in motor operation This allows a particularly energy-efficient design of the overall arrangement with an energy source (accumulator) whose peak capacity can be designed to be lower.
  • the electronic control unit can also advantageously be set up to at least partially feed energy drawn from one of the electrical machines in generator operation into an energy store. This measure ensures a return of the braking energy that is otherwise only converted into heat.
  • Fig. 1 shows a schematic representation of a drive train of a motor vehicle with four wheels, in which the invention is implemented.
  • FIG. 1 shows four wheels VR, VL, HR, HL of a rear-driven motor vehicle with a (four-cylinder) internal combustion engine VM, the output shaft of which is connected via a clutch K to a manual transmission SG.
  • the manual gearbox SG is connected to the input side of a differential gear AG via a universal joint shaft GW via two joints Gl, G2.
  • Output shafts of the differential gear AG each have a rotor of an electrical machine EMI, EM2 arranged via a planetary gear PG1 or PG2.
  • the respective electric motor EMI, EM2 can thus exert a rotary movement superimposed on the shaft journals W1, W2, which are non-rotatably connected to the respective wheel HR, HL, to the rotary movement coming from the internal combustion engine VM.
  • This rotary movement or the torque exerted by the respective electrical machine EMI, EM2 is therefore independent of the rotary movement or the rotation, both in terms of amount and in the direction of rotation
  • the two front wheels VR, VL which are not driven in the present embodiment, each have a pivot pin AI, A2, which can be pivoted via joints G3, G4 an electrical machine EM3, EM4 is arranged in each case.
  • These electrical machines EM3, EM4 are also rotatably coupled to the wheels VR, VL via corresponding planetary gears PG3 and PG4.
  • a driving torque can be exerted either on the wheels VR, VL.
  • a rotary movement of the wheels VR, VL can also be braked, in which the respective one of the electrical machines EM3, EM4 absorbs torques in generator operation and converts them into electrical energy.
  • electrical machines EMI .. EM4 basically all types of electrical machines come into consideration for the invention. However, asynchronous or reluctance machines are preferred.
  • a speed sensor SVR, SVL, SHR, SHL is arranged on each of the wheels VR, VL, HR, HL, each of which generates a digital pulse signal which is characteristic of the speed of the respective wheel. These characteristic digital pulse signals are fed to an electronic control unit ECU via corresponding lines. This electronic
  • Control unit ECU is also supplied with a brake signal which represents a driver braking request and which a driver generates by means of a so-called electronic brake pedal BP.
  • a yaw rate sensor GS is also connected to the electronic control unit ECU, which serves to generate a yaw rate signal that reflects the yaw behavior of the motor vehicle.
  • the electronic control unit has ECU as outputs
  • Control connections for the electrical machines EM 1 .. EM4 which are controlled by a computer-controlled control so that the turning behavior of one or more the wheels VR, VL, HR, HL are influenced as a function of at least one of the sensor signals SVR, SVL, SHR, SHL, BP, GS in the sense of acceleration or deceleration and / or blocking of the respective wheel VR, VL, HR, HL.
  • the electronic control unit ECU has a signal input stage SES for the sensor signals SVR, SVL, SHR, SHL, BP, GS applied to each of the signal inputs.
  • the signal input stage SES converts these signals into the correct levels or signal sequences that can be further processed.
  • a subsequent signal processing stage SVS which contains a computer unit, these signals are processed in order to be amplified or implemented in a power control stage LAS for the motor or generator operation of the electrical machines EMI .. EM4.
  • the power control stage LAS has at least one inverter stage WRS, which is set up to supply electrical energy to a or each electrical machine EMI .. EM4 connected to it in motor operation or to draw energy therefrom in generator operation.
  • the energy withdrawn from one of the electrical machines EMI .. EM4 in generator mode is at least partially fed into another of the electrical machines EMI .. EM4 in motor operation or at least partially fed into an energy storage device ES when required.
  • the Excess energy can be converted into heat by means of a resistor arrangement WA.
  • This resistor arrangement WA can if necessary. also be arranged in the water cooling system of the vehicle.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

The invention relates to a system of electrical machines whose rotors are each connected in a rotationally fixed manner to a wheel of a motor vehicle driven by an internal combustion engine, whereby the electrical machines are connected to an electronic control unit. Said control unit is disposed for operating, by motor or generator, one or more of the electrical machines according to at least one sensor signal.

Description

ANORDNUNG VON ELEKTRISCHEN MASCHINEN, DEREN ROTOREN JEWEILS MIT EINEM RAD EINES KRAFTFAHRZEUGES VERBUNDEN SINDARRANGEMENT OF ELECTRICAL MACHINES WHOSE ROTORS ARE EACH CONNECTED TO A WHEEL OF A MOTOR VEHICLE
Beschreibungdescription
Hintergrund der ErfindungBackground of the Invention
Die Erfindung betrifft eine Anordnung von elektrischenThe invention relates to an arrangement of electrical
Maschinen, deren Rotoren jeweils mit einem Rad einesMachines whose rotors each have a wheel one
Kraftfahrzeuges zu verbinden sind, das durch einen Verbrennungsmotor angetrieben ist. Insbesondere geht es bei der Erfindung um eine Anordnung von elektrischen Maschinen, von denen jeweils einer mit einem Rad eines Kraftfahrzeuges drehfest verbunden ist, wobei die elektrischen Maschinen von einer gemeinsamen elektronischen Steuereinheit betrieben werden.Motor vehicle to be connected, which is driven by an internal combustion engine. In particular, the invention relates to an arrangement of electrical machines, one of which is rotatably connected to a wheel of a motor vehicle, the electrical machines being operated by a common electronic control unit.
Stand der TechnikState of the art
Im Kraftfahrzeug-Bereich sind derzeit praktisch ausschließlich hydraulische Bremsen eingesetzt, bei denen unter Druck stehendes Hydraulikfluid auf einen Kolben wirkt, der ein Reibelement in Reibungseingriff mit einer Scheibe oder Trommel bringt, die mit dem Rad drehfest verbunden ist. Diese Anordnung hat sich insoweit bewährt, als damit bei relativ hoher Dynamik große Kräfte auf das Reibelement ausgeübt werden können. Allerdings ist der Aufwand für dieIn the motor vehicle sector, hydraulic brakes are practically exclusively used in which pressurized hydraulic fluid acts on a piston which brings a friction element into frictional engagement with a disc or drum which is connected to the wheel in a rotationally fixed manner. This arrangement has proven itself to the extent that large forces can be exerted on the friction element with relatively high dynamics. However, the effort for that
Leitungsführung für das Hydraulikfluid relativ hoch. Außerdem verschleißen die Reibelemente und müssen regelmäßig ausgetauscht werden. Auch die Scheibe oder Trommel ist einem Verschleiß ausgesetzt und muß gelegentlich ersetzt werden. Außerdem stellt die Bremse eine die Fahreigenschaften negativ beeinflussende relativ große ungefederte Masse dar, die in einer Ausnehmung der Felge des Rades angeordnet ist. Daher besteht die Bestrebung, zu dieser Technik Alternativen, bevorzugt elektrische oder elektronische Alternativen zu finden.Line routing for the hydraulic fluid relatively high. In addition, the friction elements wear out and must be replaced regularly. The disc or drum is also subject to wear and must be replaced occasionally. In addition, the brake represents a relatively large unsprung mass that negatively influences the driving characteristics a recess of the rim of the wheel is arranged. Therefore, there is an effort to find alternatives to this technology, preferably electrical or electronic alternatives.
Es gibt eine Reihe von Ansätzen, die Hydraulikfluidleitungen durch elektrische Leitungen zu ersetzen. Einer dieser Ansätze besteht darin, ein elektrisches Bremssignal über elektrische Leitungen vom Bremspedal (über eine elektronische Steuerung) zu den Rädern zu führen und nur noch direkt am Rad über elektro-hydraulische Wandler das Reibelement in Reibungseingriff mit der Scheibe oder Trommel zu bringen (sog. halb-trockene Bremse) .There are a number of approaches to replace hydraulic fluid lines with electrical lines. One of these approaches is to lead an electrical brake signal via electrical cables from the brake pedal (via an electronic control) to the wheels and only to bring the friction element into frictional engagement with the disc or drum directly on the wheel via electro-hydraulic converters (so-called semi-dry brake).
Ein weitergehender Ansatz verzichtet auch auf die elektro- hydraulischen Wandler und bringt statt dessen in Abhängigkeit von dem elektrischen Bremssignal das Reibelement mittels entsprechender elektrischer Stellglieder in Reibungseingriff mit der Scheibe oder Trommel (sog. trockene Bremse) .A further approach also dispenses with the electro-hydraulic converter and instead, depending on the electrical brake signal, brings the friction element into frictional engagement with the disk or drum (so-called dry brake) by means of corresponding electrical actuators.
Allerdings hat sich noch keine dieser Lösungen durchsetzen können, da sie alle noch mit erheblichen Leistungseinbußen oder Kompromissen bei der Sicherheit im Verhältnis zu den sehr ausgereiften hydraulischen Bremssystemen behaftet sind. Dies gilt insbesondere auch für Bremssysteme, bei denen mittels einer entsprechenden elektronischen Steuerung Anti- Blockier-, Anti-Schlupf- , elektronische Stabilitäts- , Fahrdynamik- , oder andere Funktionen realisiert sind. Der Erfindung zugrundeliegendes Problem Ausgehend von dieser Situation liegt der Erfindung das Problem zugrunde, die Nachteile der oben genannten Anordnungen zu überwinden und eine Möglichkeit bereitzustellen um einerseits von den hydraulischenHowever, none of these solutions has yet been able to assert itself, since they all still suffer from considerable performance losses or compromises in terms of safety in relation to the very sophisticated hydraulic brake systems. This also applies in particular to brake systems in which anti-lock, anti-slip, electronic stability, driving dynamics or other functions are implemented by means of a corresponding electronic control. Problem on which the Invention is Based Based on this situation, the invention is based on the problem of overcoming the disadvantages of the above-mentioned arrangements and of providing a possibility to use hydraulic ones on the one hand
Bremssystemen wegzukommen und andererseits auch einen anderen Weg als die bisherigen elektrischen oder elektrohydraulisehen Bremssysteme zu beschreiten.Braking systems to get away and on the other hand to go a different way than the previous electrical or electrohydraulic braking systems.
Erfindungsgemäße LösungSolution according to the invention
Die erfindungsgemäße Lösung dieser Aufgabe besteht in einer Anordnung von elektrischen Maschinen, deren Rotoren jeweils mit einem Rad eines von einem Verbrennungsmotor angetriebenen Kraftfahrzeuges drehfest zu verbinden sind, wobei die elektrischen Maschinen mit einer elektronischen Steuereinheit verbunden sind, die dazu eingerichtet ist, in Abhängigkeit von wenigstens einem Sensorsignal eine oder mehrere der elektrischen Maschinen motorisch oder generatorisch zu betreiben.The solution to this problem according to the invention consists in an arrangement of electrical machines, the rotors of which are to be connected in a rotationally fixed manner to a wheel of a motor vehicle driven by an internal combustion engine, the electrical machines being connected to an electronic control unit which is set up as a function of at least to operate one or more of the electrical machines as a motor or generator using a sensor signal.
Vorteile der ErfindungAdvantages of the invention
Dieser gegenüber den bisherigen Kraftfahrzeugbremsen konzeptionell völlig neue Ansatz erlaubt das Aufbringen der erforderlichen Bremsmomente mit der notwendigen Dynamik ohne die Verwendung der bisher für erforderlich gehaltenenThis concept, which is completely new in concept from previous motor vehicle brakes, allows the application of the required braking torques with the necessary dynamics without the use of those previously considered necessary
Reibelemente mit der Scheibe oder Trommel . Außerdem erlaubt dieses Konzept erstmals nicht nur das Dissipieren von Energie aus der Bremse sondern erstmals auch das gezielte Beschleunigen einzelner Räder, sofern dies im Rahmen eines Anti-Blockier-, Anti-Schlupf-, elektronische Stabilitäts- , Fahrdynamik-, oder dergl . Betrieb wünschenswert ist. Außerdem kann mit diesem Konzept auch kurzzeitig eine Unterbrechung des Antriebsstranges ausgeglichen werden, wie sie zum Beispiel bei einem Getriebe-Schaltvorgang auftritt. Dies hat den weiteren Vorteil, daß das Schaltgetriebe erheblich einfacher aufgebaut sein kann, da die bisher notwendigen Synchronringe entfallen können, da mit den elektrischen Maschinen an den Rädern die Drehzahl der Eingangs- bzw. Ausgangswelle des Schaltgetriebes konstant gehalten werden kann.Friction elements with the disc or drum. In addition, this concept allows not only the dissipation of energy from the brake for the first time, but also the targeted acceleration of individual wheels for the first time, provided this is done within the framework of an anti-lock, anti-slip, electronic stability, driving dynamics, or the like. Operation is desirable. This concept can also be used to compensate for a brief interruption in the drive train, as occurs, for example, during a gear shift. This has the further advantage that the manual transmission can be constructed considerably more simply, since the previously necessary synchronizer rings can be dispensed with, since the speed of the input or output shaft of the manual transmission can be kept constant with the electrical machines on the wheels.
Vorteilhafte Weiterbildungen der ErfindungAdvantageous developments of the invention
In einer ersten Ausführungsform der Erfindung ist wenigstens eine der elektrischen Maschinen an der Abtriebsseite eines Ausgleichsgetriebes des Kraftfahrzeuges angeordnet ist. Dies hat den Vorteil, daß die bisherigen, im Zentrum des Rades angeordnete Scheiben- oder Trommelbremse entfällt, so daß die ungefederte Masse der Räder sich erheblich verringert.In a first embodiment of the invention, at least one of the electrical machines is arranged on the output side of a differential gear of the motor vehicle. This has the advantage that the previous disc or drum brake arranged in the center of the wheel is no longer required, so that the unsprung mass of the wheels is considerably reduced.
Vorzugsweise ist dabei die oder jede elektrische Maschine abtriebsseitig über ein Untersetzungsgetriebe, vorzugsweise ein Planetengetriebe (zum Beispiel mit einem Untersetzungsverhältnis von 1 : 5 bis 1 : 10) mit dem jeweiligen Rad des Kraftfahrzeuges verbunden. Damit kann eine elektrische Maschine verwendet werden, die relativ kompakt baut und eine hohe Drehzahl hat .The or each electrical machine is preferably connected to the respective wheel of the motor vehicle on the output side via a reduction gear, preferably a planetary gear (for example with a reduction ratio of 1: 5 to 1:10). This means that an electrical machine can be used that is relatively compact and has a high speed.
Insbesondere bei Kraftfahrzeugen, die keinen Allrad-Antrieb haben ist wenigstens eine der elektrischen Maschinen an einem Achszapfen eines unangetriebenen Rades des Kraftfahrzeuges angeordnet . In einer ersten - einfachen - Ausführungsform hat die elektronische Steuereinheit wenigstens einen Signal-Eingang, der zum Empfang eines einen Fahrer-Bremswunsch wiedergebenden Brems-Signals eingerichtet ist. Dieses Brems-Signal wird durch ein sog. elektronisches Bremspedal erzeugt, das nicht wie üblich über ein Gestänge auf einen pneumatischen/hydraulischen Bremskraftverstärker wirkt. Vielmehr wird hierbei ein Weg-oder Winkelgeber verwendet, der mit einem federnd abgestützten Bremspedal gekoppelt ist um das elektrische Brems-Signal zu erzeugen.In particular in the case of motor vehicles which have no all-wheel drive, at least one of the electrical machines is arranged on an axle journal of a non-driven wheel of the motor vehicle. In a first — simple — embodiment, the electronic control unit has at least one signal input that is set up to receive a brake signal that represents a driver's braking request. This brake signal is generated by a so-called electronic brake pedal, which does not act on a pneumatic / hydraulic brake booster via a linkage as usual. Rather, a displacement or angle sensor is used here, which is coupled to a spring-supported brake pedal in order to generate the electrical brake signal.
Weiterhin hat die elektronische Steuereinheit wenigstens einen Signal-Eingang, der zum Empfang eines das Drehverhalten eines Rades wiedergebenden Dreh-Signals eingerichtet ist. Dieser Rad-Drehzahlsensor entspricht einem Sensor, wie er zum Beispiel im Zusammenhang mit bekannten Anti-Blockier - Systemen verwendet wird um das Blockieren eines Rades zu erkennen.Furthermore, the electronic control unit has at least one signal input, which is set up to receive a rotation signal reflecting the turning behavior of a wheel. This wheel speed sensor corresponds to a sensor that is used, for example, in connection with known anti-lock systems to detect the locking of a wheel.
In einer weitergehenden Ausführungsform der Erfindung hat die elektronische Steuereinheit wenigstens einen Signal-Eingang, der zum Empfang eines das Gier-Verhalten des Kraftfahrzeuges wiedergebenden Gierraten-Signals eingerichtet ist. Damit ist es im Zusammenhang mit der vorstehend beschriebenen Funktionaliät der Erfindung, nicht nur Brems- sondern auch Antriebsmomente gezielt auf einzelne der Räder auszuüben möglich, das Gierverhalten eines Kraftfahrzeuges besonders schnell zu beeinflussen indem einerseits einzelne Räder abgebremst und gleichzeitig abgestimmt andere Räder durch die elektrischen Maschinen beschleunigt werden. Erfindungsgemäß ist die elektronische Steuereinheit mit den elektrischen Maschinen über Ansteuer-Anschlüsse verbunden ist um auf das Drehverhalten eines oder mehrerer Räder in Abhängigkeit von wenigstens einem an einem der Signal-Ein- gänge anliegenden Signale im Sinne einer Beschleunigung oder Verzögerung und/oder Blockade des jeweiligen Rades Einfluß zu nehmen.In a further embodiment of the invention, the electronic control unit has at least one signal input which is set up to receive a yaw rate signal reflecting the yaw behavior of the motor vehicle. In connection with the functionality of the invention described above, it is possible not only to apply braking but also drive torques specifically to individual wheels, to influence the yawing behavior of a motor vehicle particularly quickly, on the one hand by braking individual wheels and at the same time coordinating other wheels by the electrical machines be accelerated. According to the invention, the electronic control unit is connected to the electrical machines via control connections in order to determine the rotational behavior of one or more wheels as a function of at least one signal applied to one of the signal inputs in the sense of acceleration or deceleration and / or blocking of the respective one To influence Rades.
Die elektronische Steuereinheit hat eine Signal-Eingangsstufe für die an jedem der Signal-Eingänge anliegenden Signale, eine Signal-Verarbeitungsstufe für die von der Signal- Eingangsstufe kommenden Signale, und eine Ansteuerstufe für den motorischen oder generatorischen Betrieb der elektrischen Maschinen in Abhängigkeit von von der Signal- Verarbeitungsstufe erzeugten Ansteuersignalen aufweist.The electronic control unit has a signal input stage for the signals present at each of the signal inputs, a signal processing stage for the signals coming from the signal input stage, and a control stage for the motor or generator operation of the electrical machines depending on the Signal processing stage generated drive signals.
Dabei hat die Ansteuerstufe wenigstens eineThe control stage has at least one
Wechselrichterstufe, die dazu eingerichtet ist, eine mit ihr verbundene elektrische Maschine mit elektrischer Energie im motorischen Betrieb zu beaufschlagen bzw. von dieser im generatorischen Betrieb Energie zu entnehmen.Inverter stage, which is set up to supply an electrical machine connected to it with electrical energy in motor operation or to draw energy therefrom in generator operation.
Außerdem ist in einer bevorzugten Ausführungsform der Erfindung die elektronische Steuereinheit dazu eingerichtet, aus einer der elektrischen Maschinen im generatorischenIn addition, in a preferred embodiment of the invention, the electronic control unit is set up to use one of the electrical machines in the generator mode
Betrieb entnommene Energie zumindest teilweise in eine andere der elektrischen Maschinen im motorischen Betrieb einzuspeisen. Dies erlaubt eine besonders energie-effiziente Auslegung der Gesantanordnung mit einer Energiequelle (Akkumulator) , deren Spitzenkapazität geringer ausgelegt sein kann. Die elektronische Steuereinheit kann mit Vorteil auch dazu eingerichtet sein, aus einer der elektrischen Maschinen im generatorischen Betrieb entnommene Energie zumindest teilweise in einen Energiespeicher einzuspeisen. Diese Maßnahme stellt eine Rückführung der ansonsten lediglich in Wärme umgesetzten Bremsenergie sicher.Feed energy withdrawn from operation at least partially into another of the electrical machines in motor operation. This allows a particularly energy-efficient design of the overall arrangement with an energy source (accumulator) whose peak capacity can be designed to be lower. The electronic control unit can also advantageously be set up to at least partially feed energy drawn from one of the electrical machines in generator operation into an energy store. This measure ensures a return of the braking energy that is otherwise only converted into heat.
Kurzbeschreibung der ZeichnungBrief description of the drawing
Fig. 1 zeigt eine schematische Darstellung eines Antriebsstrangs eines Kraftfahrzeuges mit vier Rädern, in dem die Erfindung verwirklicht ist.Fig. 1 shows a schematic representation of a drive train of a motor vehicle with four wheels, in which the invention is implemented.
Ausführliche Beschreibung der ZeichnungDetailed description of the drawing
In Fig. 1 sind vier Räder VR, VL, HR, HL eines heck-ange- triebenen Kraftfahrzeuges mit einem (Vierzylinder-) Verbrennungsmotor VM gezeigt, dessen Abtriebswelle über eine Kupplung K mit einem Schaltgetriebe SG verbunden ist. Ausgangsseitig ist das Schaltgetriebe SG über eine Gelenkwelle GW über zwei Gelenke Gl, G2 mit der Eingangsseite eines Ausgleichsgetriebes AG verbunden. Auf den beiden1 shows four wheels VR, VL, HR, HL of a rear-driven motor vehicle with a (four-cylinder) internal combustion engine VM, the output shaft of which is connected via a clutch K to a manual transmission SG. On the output side, the manual gearbox SG is connected to the input side of a differential gear AG via a universal joint shaft GW via two joints Gl, G2. On the two
Abtriebswellen des Ausgleichsgetriebes AG ist jeweils ein Rotor einer elektrischen Maschine EMI, EM2 über ein Planetengetriebe PG1 bzw. PG2 angeordnet. Damit kann der jeweilige Elektromotor EMI, EM2 auf die mit dem jeweiligen Rad HR, HL drehfest verbundenen Wellenzapfen Wl, W2 eine zu der von dem Verbrennungsmotor VM kommenden Drehbewegung überlagerte Drehbewegung ausüben. Diese Drehbewegung bzw. das durch die jeweilige elektrische Maschine EMI, EM2 ausgeübte Drehmoment ist damit sowohl im Betrag als auch in der Drehrichtung unabhängig von der Drehbewegung bzw. demOutput shafts of the differential gear AG each have a rotor of an electrical machine EMI, EM2 arranged via a planetary gear PG1 or PG2. The respective electric motor EMI, EM2 can thus exert a rotary movement superimposed on the shaft journals W1, W2, which are non-rotatably connected to the respective wheel HR, HL, to the rotary movement coming from the internal combustion engine VM. This rotary movement or the torque exerted by the respective electrical machine EMI, EM2 is therefore independent of the rotary movement or the rotation, both in terms of amount and in the direction of rotation
Drehmoment die/das von dem Verbrennungsmotor VM kommt . Auf diese Weise kann das jeweilige Rad HR, HL sowohl angetrieben als auch abgebremst werden.Torque that comes from the internal combustion engine VM. In this way, the respective wheel HR, HL can be both driven and braked.
Die beiden in der vorliegenden Ausführungsform nicht angetriebenen Vorderrädern VR, VL haben jeweils einen über Gelenke G3 , G4 verschwenkbaren Achszapfen AI, A2 , an dem jeweils eine elektrische Maschine EM3 , EM4 angeordnet ist. Diese elektrischen Maschinen EM3 , EM4 sind ebenfalls über entsprechende Planetengetriebe PG3 bzw. PG4 mit den Rädern VR, VL drehfest gekoppelt. So kann mit den elektrischen Maschinen EM3 , EM4 entweder auf die Räder VR, VL ein diese antreibendes Drehmoment ausgeübt werden. In entsprechender Weise kann auch eine Drehbewegung der Räder VR, VL abgebremst werden kann, in dem die jeweilige der elektrischen Maschinen EM3 , EM4 im generatorischen Betrieb Drehmomente aufnimmt und in elektrische Energie umwandelt. Als elektrische Maschinen EMI .. EM4 kommen für die Erfindung grundsätzlich alle Arten elektrischer Maschinen in Betracht. Bevorzugt sind allerdings Asynchron- oder Reluktanzmaschinen.The two front wheels VR, VL, which are not driven in the present embodiment, each have a pivot pin AI, A2, which can be pivoted via joints G3, G4 an electrical machine EM3, EM4 is arranged in each case. These electrical machines EM3, EM4 are also rotatably coupled to the wheels VR, VL via corresponding planetary gears PG3 and PG4. Thus, with the electrical machines EM3, EM4, a driving torque can be exerted either on the wheels VR, VL. In a corresponding manner, a rotary movement of the wheels VR, VL can also be braked, in which the respective one of the electrical machines EM3, EM4 absorbs torques in generator operation and converts them into electrical energy. As electrical machines EMI .. EM4 basically all types of electrical machines come into consideration for the invention. However, asynchronous or reluctance machines are preferred.
An jedem der Räder VR, VL, HR, HL ist ein Drehzahlsensor SVR, SVL, SHR, SHL angeordnet, die jeweils ein für die Drehzahl des jeweiligen Rades charakteristisches Digitalimpulssignal erzeugen. Diese charakteristischen Digitalimpulssignale werden über entsprechende Leitungen einer elektronischen Steuereinheit ECU zugeführt. Dieser elektronischenA speed sensor SVR, SVL, SHR, SHL is arranged on each of the wheels VR, VL, HR, HL, each of which generates a digital pulse signal which is characteristic of the speed of the respective wheel. These characteristic digital pulse signals are fed to an electronic control unit ECU via corresponding lines. This electronic
Steuereinheit ECU wird auch ein einen Fahrer-Bremswunsch wiedergebendes Brems-Signal zugeführt, das ein Fahrer mittels eines sog. elektronischen Bremspedals BP erzeugt.Control unit ECU is also supplied with a brake signal which represents a driver braking request and which a driver generates by means of a so-called electronic brake pedal BP.
Des weiteren ist mit der elektronischen Steuereinheit ECU auch ein Gierraten-Sensor GS verbunden, der dazu dient, ein das Gier-Verhalten des Kraftfahrzeuges wiedergebendes Gierraten-Signal zu erzeugen.Furthermore, a yaw rate sensor GS is also connected to the electronic control unit ECU, which serves to generate a yaw rate signal that reflects the yaw behavior of the motor vehicle.
Als Ausgänge hat die elektronische Steuereinheit ECUThe electronic control unit has ECU as outputs
Ansteuer-Anschlüsse für die elektrischem Maschinen EM 1 .. EM4, die von einer rechnergesteuerten Ansteuerung so angesteuert werden, daß das Drehverhalten eines oder mehrerer der Räder VR, VL, HR, HL in Abhängigkeit von wenigstens einem der Sensorsignale SVR, SVL, SHR, SHL, BP, GS im Sinne einer Beschleunigung oder Verzögerung und/oder Blockade des jeweiligen Rades VR, VL, HR, HL beeinflußt wird.Control connections for the electrical machines EM 1 .. EM4, which are controlled by a computer-controlled control so that the turning behavior of one or more the wheels VR, VL, HR, HL are influenced as a function of at least one of the sensor signals SVR, SVL, SHR, SHL, BP, GS in the sense of acceleration or deceleration and / or blocking of the respective wheel VR, VL, HR, HL.
Dazu hat die elektronische Steuereinheit ECU eine Signal- Eingangsstufe SES für die an jedem der Signal-Eingänge anliegenden Sensorsignale SVR, SVL, SHR, SHL, BP, GS . Die Signal-Eingangsstufe SES setzt diese Signale in die richtigen Pegel bzw. weiterverarbeitbare Signalfolgen um. In einer anschließenden Signal-Verarbeitungsstufe SVS, die eine Rechnereinheit enthält, werden diese Signale verarbeitet, um in einer Leistungs-Ansteuerstufe LAS für den motorischen oder generatorischen Betrieb der elektrischen Maschinen EMI .. EM4 verstärkt bzw. umgesetzt zu werden.For this purpose, the electronic control unit ECU has a signal input stage SES for the sensor signals SVR, SVL, SHR, SHL, BP, GS applied to each of the signal inputs. The signal input stage SES converts these signals into the correct levels or signal sequences that can be further processed. In a subsequent signal processing stage SVS, which contains a computer unit, these signals are processed in order to be amplified or implemented in a power control stage LAS for the motor or generator operation of the electrical machines EMI .. EM4.
Dazu weist die Leistungs-Ansteuerstufe LAS wenigstens eine Wechselrichterstufe WRS auf, die dazu eingerichtet ist, eine bzw. jede mit ihr verbundene elektrische Maschine EMI .. EM4 mit elektrischer Energie im motorischen Betrieb zu beaufschlagen bzw. von dieser im generatorischen Betrieb Energie zu entnehmen. Die aus einer der elektrischen Maschinen EMI .. EM4 im generatorischen Betrieb entnommene Energie wird bei entsprechender Anforderung zumindest teilweise in eine andere der elektrischen Maschinen EMI .. EM4 im motorischen Betrieb eingespeist oder zumindest teilweise in einen Energiespeicher ES eingespeist. Falls die erzeugte Energie einer oder mehrerer der elektrischen Maschinen EMI .. EM4 nicht unmittelbar in eine der anderen elektrischen Maschinen umgeleitet werden kann, oder auch eine Einspeisung in den Energiespeicher ES in vollem Umfang ausscheidet, kann die überschießende Energie mittels einer Widerstandsanordnung WA in Wärme umgesetzt werden. Diese Widerstandsanordnung WA kann ggf . auch in der Wasserkühlanlage des Fahrzeuges angeordnet sein. For this purpose, the power control stage LAS has at least one inverter stage WRS, which is set up to supply electrical energy to a or each electrical machine EMI .. EM4 connected to it in motor operation or to draw energy therefrom in generator operation. The energy withdrawn from one of the electrical machines EMI .. EM4 in generator mode is at least partially fed into another of the electrical machines EMI .. EM4 in motor operation or at least partially fed into an energy storage device ES when required. If the generated energy of one or more of the electrical machines EMI .. EM4 cannot be redirected directly into one of the other electrical machines, or if a feed into the energy store ES is completely eliminated, the Excess energy can be converted into heat by means of a resistor arrangement WA. This resistor arrangement WA can if necessary. also be arranged in the water cooling system of the vehicle.

Claims

Ansprüche Expectations
1. Anordnung von elektrischen Maschinen (EMI .. EM4) , deren Rotoren jeweils mit einem Rad (VR, VL, HR, HL) eines von einem Verbrennungsmotor (VM) angetriebenen Kraftfahrzeuges (KFZ) drehfest zu verbinden sind, wobei die elektrischen Maschinen mit einer elektronischen Steuereinheit (ECU) verbunden sind, die dazu eingerichtet ist, in Abhängigkeit von wenigstens einem Sensorsignal (SVR, SVL, SHR, SHL, BP, GS) eine oder mehrere der elektrischen Maschinen (EMI .. EM4) motorisch oder generatorisch zu betreiben.1. Arrangement of electrical machines (EMI .. EM4), the rotors of which are rotatably connected to a wheel (VR, VL, HR, HL) of a motor vehicle (KFZ) driven by an internal combustion engine (VM), the electrical machines using an electronic control unit (ECU) are connected, which is set up to operate one or more of the electrical machines (EMI .. EM4) as a motor or as a generator depending on at least one sensor signal (SVR, SVL, SHR, SHL, BP, GS) ,
2. Anordnung von elektrischen Maschinen (EMI .. EM4) nach Anspruch 1, wobei wenigstens eine der elektrischen Maschinen (EM3, EM4) an der Abtriebsseite eines Ausgleichsgetriebes (AG) des Kraftfahrzeuges angeordnet ist.2. Arrangement of electrical machines (EMI .. EM4) according to claim 1, wherein at least one of the electrical machines (EM3, EM4) is arranged on the output side of a differential (AG) of the motor vehicle.
3. Anordnung von elektrischen Maschinen (EMI .. EM4) nach Anspruch 2, wobei die oder jede elektrische Maschine abtriebsseitig über ein Untersetzungsgetriebe (PG1 .. PG4) , vorzugsweise ein Planetengetriebe mit dem jeweiligen Rad (VR, VL, HR, HL) des Kraftfahrzeuges verbunden ist.3. Arrangement of electrical machines (EMI .. EM4) according to claim 2, wherein the or each electrical machine on the output side via a reduction gear (PG1 .. PG4), preferably a planetary gear with the respective wheel (VR, VL, HR, HL) of Motor vehicle is connected.
4. Anordnung von elektrischen Maschinen (EMI .. EM4) nach Anspruch 1, wobei wenigstens eine der elektrischen Maschinen (EMI, EM2) an einem Achszapfen (AI, A2) eines unangetriebenen Rades (VR, VL) des Kraftfahrzeuges anzuordnen ist. 4. Arrangement of electrical machines (EMI .. EM4) according to claim 1, wherein at least one of the electrical machines (EMI, EM2) is to be arranged on an axle journal (AI, A2) of a non-driven wheel (VR, VL) of the motor vehicle.
5. Anordnung nach Anspruch 1, wobei die elektronische Steuereinheit (ECU)5. Arrangement according to claim 1, wherein the electronic control unit (ECU)
- wenigstens einen Signal-Eingang aufweist, der zum Empfang eines einen Fahrer-Bremswunsch wiedergebenden Brems-Signals (BP) eingerichtet ist.- Has at least one signal input which is set up to receive a brake signal (BP) representing a driver's braking request.
6. Anordnung nach Anspruch 1, wobei die elektronische Steuereinheit (ECU)6. Arrangement according to claim 1, wherein the electronic control unit (ECU)
- wenigstens einen Signal-Eingang aufweist, der zum Empfang eines das Drehverhalten eines Rades wiedergebenden Dreh- Signals (SVR, SVL, SHR, SHL) eingerichtet ist.- Has at least one signal input, which is set up to receive a rotary signal (SVR, SVL, SHR, SHL) reflecting the turning behavior of a wheel.
7. Anordnung nach Anspruch 1, wobei die elektronische Steuereinheit (ECU) - wenigstens einen Signal-Eingang aufweist, der zum Empfang eines das Gier-Verhalten des Kraft ahrzeuges wiedergebenden Gierraten-Signals (GS) eingerichtet ist.7. The arrangement according to claim 1, wherein the electronic control unit (ECU) - has at least one signal input which is set up to receive a yaw rate signal (GS) which reproduces the yaw behavior of the motor vehicle.
8. Anordnung nach einem oder mehreren der Ansprüche 4 bis 7, wobei die elektronische Steuereinheit (ECU)8. Arrangement according to one or more of claims 4 to 7, wherein the electronic control unit (ECU)
- mit den elektrischen Maschinen (EMI .. EM4) über Ansteuer- Anschlüsse verbunden ist um auf das Drehverhalten eines oder mehrerer Räder (VR, VL, HR, HL) in Abhängigkeit von wenigstens einem an einem der Signal-Eingänge anliegenden Signale (SVR, SVL, SHR, SHL, BP, GS) im Sinne einer- Is connected to the electrical machines (EMI .. EM4) via control connections in order to determine the rotational behavior of one or more wheels (VR, VL, HR, HL) as a function of at least one signal present at one of the signal inputs (SVR, SVL, SHR, SHL, BP, GS) in the sense of a
Beschleunigung oder Verzögerung und/oder Blockade des jeweiligen Rades (VR, VL, HR, HL) Einfluß zu nehmen. Acceleration or deceleration and / or blockage of the respective wheel (VR, VL, HR, HL).
9. Anordnung nach einem der vorhergehenden Ansprüche, wobei die elektronische Steuereinheit (ECU)9. Arrangement according to one of the preceding claims, wherein the electronic control unit (ECU)
- eine Signal-Eingangsstufe (SES) für die an jedem der Signal-Eingänge anliegenden Signale (SVR, SVL, SHR, SHL, BP, GS) ,a signal input stage (SES) for the signals present at each of the signal inputs (SVR, SVL, SHR, SHL, BP, GS),
- eine Signal-Verarbeitungsstufe (SVS) für die von der Signal-Eingangsstufe kommenden Signale (SVR, SVL, SHR, SHL, BP, GS) , und- A signal processing stage (SVS) for the signals coming from the signal input stage (SVR, SVL, SHR, SHL, BP, GS), and
- eine Ansteuerstufe (LAS) für den motorischen oder generatorischen Betrieb der elektrischen Maschinen (EMI .. EM4) in Abhängigkeit von von der Signal-Verarbeitungsstufe (SVS) erzeugten Ansteuersignalen aufweist.- Has a control stage (LAS) for the motor or generator operation of the electrical machines (EMI .. EM4) depending on the control signals generated by the signal processing stage (SVS).
10. Anordnung nach Anspruch 9, wobei die Ansteuerstufe (LAS) wenigstens eine Wechselrichterstu e (WRS) aufweist, die dazu eingerichtet ist, eine mit ihr verbundene elektrische Maschine (EMI .. EM4) mit elektrischer Energie im motorischen Betrieb zu beaufschlagen bzw. von dieser im generatorischen Betrieb Energie zu entnehmen.10. The arrangement according to claim 9, wherein the control stage (LAS) has at least one inverter stage (WRS), which is set up to apply an electrical machine (EMI .. EM4) connected to it with electrical energy in motor operation or from to take energy from this in generator mode.
11. Anordnung nach Anspruch 1, wobei die elektronische Steuereinheit (ECU) dazu eingerichtet ist, aus einer der elektrischen Maschinen (EMI .. EM4) im generatorisehen Betrieb entnommene Energie zumindest teilweise in eine andere der elektrischen Maschinen (EMI .. EM4) im motorischen Betrieb einzuspeisen. 11. The arrangement according to claim 1, wherein the electronic control unit (ECU) is set up, at least partially from one of the electrical machines (EMI .. EM4) in generator operation energy into another of the electrical machines (EMI .. EM4) in the motor Feed in operation.
12. Anordnung nach Anspruch 1, wobei die elektronische Steuereinheit (ECU) dazu eingerichtet ist, aus einer der elektrischen Maschinen (EMI .. EM4) im generatorisehen Betrieb entnommene Energie zumindest teilweise in einen Energiespeicher (ES) einzuspeisen. 12. The arrangement according to claim 1, wherein the electronic control unit (ECU) is set up to at least partially feed energy drawn from one of the electrical machines (EMI .. EM4) in generator operation into an energy store (ES).
PCT/EP2001/004003 2000-04-10 2001-04-06 System of electrical machines whose rotors are each connected to a wheel of a motor vehicle WO2001076902A1 (en)

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DE10017786A DE10017786B4 (en) 2000-04-10 2000-04-10 Arrangement of electrical machines whose rotors are each to be connected to a wheel of a motor vehicle
DE10017786.7 2000-04-10

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US7819210B2 (en) 2005-12-14 2010-10-26 Fondazione Torino Wireless Electromechanical driving and braking module for a wheeled vehicle and a wheeled vehicle equipped with such an electromechanical module
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WO2007107570A1 (en) * 2006-03-23 2007-09-27 Michelin Recherche Et Technique S.A. Ground interface for a vehicle
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US8037957B2 (en) 2006-03-23 2011-10-18 Michelin Recherche Et Technique S.A. Ground interface for a vehicle
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WO2009060090A1 (en) 2007-11-09 2009-05-14 Societe De Technologie Michelin System for controlling a vehicle with determination of the speed thereof relative to the ground
US8370013B2 (en) 2007-11-09 2013-02-05 Compagnie Generale Des Establissements Michelin System for generating an estimation of the ground speed of a vehicle from measures of the rotation speed of at least one wheel
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CN108791270A (en) * 2018-06-20 2018-11-13 北京理工大学 A kind of power part operating point regulation and control method that hybrid vehicle is predicted based on operating mode
CN108791270B (en) * 2018-06-20 2021-10-29 北京理工大学 Power component working point regulation and control method of hybrid power vehicle based on working condition prediction

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AU2001254792A1 (en) 2001-10-23
DE10017786B4 (en) 2005-04-21
DE10017786A1 (en) 2001-10-18

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