WO2014095565A2 - Verfahren zur regelung eines elektromotors eines antriebsstranges eines hybridfahrzeuges - Google Patents
Verfahren zur regelung eines elektromotors eines antriebsstranges eines hybridfahrzeuges Download PDFInfo
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- WO2014095565A2 WO2014095565A2 PCT/EP2013/076381 EP2013076381W WO2014095565A2 WO 2014095565 A2 WO2014095565 A2 WO 2014095565A2 EP 2013076381 W EP2013076381 W EP 2013076381W WO 2014095565 A2 WO2014095565 A2 WO 2014095565A2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
- B60W20/17—Control strategies specially adapted for achieving a particular effect for noise reduction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/20—Reducing vibrations in the driveline
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/20—Reducing vibrations in the driveline
- B60W2030/206—Reducing vibrations in the driveline related or induced by the engine
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0012—Feedforward or open loop systems
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0042—Transfer function lag; delays
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0657—Engine torque
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- 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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- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/904—Component specially adapted for hev
- Y10S903/906—Motor or generator
Definitions
- the subject invention relates to a method for controlling an electric motor of a drive train of a hybrid vehicle, wherein the electric motor via a drive shaft with the drive wheels and via a motor shaft with an internal combustion engine, the ununiformities in the driveline introduces Dreben, is connected to a drive controller of the electric motor, a setting torque is given.
- a well-known powertrain concept of a modern hybrid vehicle includes an electric motor that drives the drive wheels of the vehicle, possibly and a transmission, a differential gear and side shafts via a drive shaft.
- the electric motor is additionally connected via a clutch and connecting shafts with an internal combustion engine in order to increase the range of the hybrid vehicle.
- smaller combustion engines such as 2- or 3-cylinder engines, used because the engine is used only to support the electric motor.
- an internal combustion engine has due to the combustion surges on a cyclically fluctuating torque, whereby on the output shaft (or flywheel) of the internal combustion engine rotational irregularities arise that propagate through the electric machine in the drive train and are perceived there as vibrations, which improves the ride comfort of the hybrid vehicle reduced.
- This object is achieved in that the shaft torque of the motor shaft of the current working cycle of the internal combustion engine is detected and supplied to a Kompensati- onsregler, in the compensation controller, the shaft torque of a previous working cycle of the engine is stored and from the shaft torque of the current cycle, the shaft torque of a previous cycle and compensating for the shaft torque of a previous work cycle shifted by a system delay, a compensated shaft torque is associated with the desired torque command given by a superordinate control unit to compensate the rotational nonuniformities of the internal combustion engine by the electric motor for determining the actuating torque.
- the adjusting torque contains a component that has been cleared of the system delay (and thus lies in the future), which allows the drive controller of the electric motor to react in good time and fast enough to rotational irregularities of the motor shaft through this anticipation, and especially without additional intervention in the drive control, to correct.
- rotational nonuniformities are compensated by the electric motor of the drive train, thereby preventing them from propagating into the drive train.
- control is used to attenuate resonances occurring at the connecting shaft in a dynamometer and electric load machine test stand assembly when the resonant frequency is in the range of the operating frequency of the internal combustion engine falls in order to realize a high dynamics in the test bench.
- control is used to follow the rotational irregularities of the internal combustion engine with the loading machine as accurately as possible in order to avoid a swinging.
- the loading machine is thus regulated so that it follows the speed of the internal combustion engine as well as possible, so that the loading machine rotates with the same rotational uniformity as the internal combustion engine.
- the electric motor rotates with the same rotational nonuniformity, since otherwise it would be transmitted directly into the drive train.
- the powertrain of a hybrid vehicle is usually mechanically designed so that no resonances can occur, since that would only cause problems in real operation of the hybrid vehicle. Thus, the same control concept is used completely differently.
- the shaft torque at the motor shaft can be easily determined if the speed of the internal combustion engine and the speed of the electric motor are detected and fed to a torque estimator who estimates therefrom a current shaft torque of the motor shaft.
- torque estimators are known per se and can easily process the measured values of the rotational speeds that are present in the drive train in any case.
- a wave torque adjusted by the DC component is determined. The reason for this is that only the alternating part of the transmitted torque from the combustion engine to the electric motor is responsible for the rotational irregularities. Thus, it is expedient to determine only the alternating component of the shaft torque.
- a transient wave moment is calculated from the wave moment of the current cycle and the wave moment of a previous cycle by subtracting the current wave moment from the stored previous wave moment, determining a predictive wave moment by compensating for and compensating for the system delay in the stored previous wave moment Shaft torque is determined as the sum of the predictive shaft torque and the transient shaft torque.
- 1 is a block diagram of the control of the drive train of a hybrid vehicle
- FIG. 2 shows a block diagram of the compensation controller.
- FIG. 1 shows a drive train 1 of a hybrid vehicle consisting of an electric motor 2, which is connected via a transmission shaft 4 with a transmission 5.
- the transmission 5 drives via a drive shaft 7, e.g. in the form of a propeller shaft, a differential gear 6 at. From differential gear 6, two vehicle wheels 9 are in turn driven via two side shafts 8.
- the electric motor 2 is further connected via motor shafts 1 1 and a clutch 10 with an internal combustion engine s. About the clutch 10, the engine 3 can be switched on as needed.
- Other required and per se well known electrical components such as e.g. a battery, a battery management system, inverter, etc., are not shown in Figure 1 for reasons of clarity.
- a compensation controller K determines a compensation torque T comp , with which the target torque T so n for determining the actuating torque T ste ii for the drive controller 14 (essentially motor control and inverter) of the electric motor 2 is corrected.
- is for example given by a higher-level control unit 15, for example a hybrid control unit.
- the shaft torque T w of the motor shaft 1 1 is used here (when the clutch 10 is closed, a shaft can be assumed).
- the shaft torque T w can be measured directly or, as here, can be estimated by means of a control torque estimator 13 from the rotational speed ni C E of the internal combustion engine 3 and the rotational speed n E M of the electric motor 2.
- a control torque estimator 13 from the rotational speed ni C E of the internal combustion engine 3 and the rotational speed n E M of the electric motor 2.
- Such torque estimators 13, for example in the form of an extended Kalman filter, are well known, which is why will not be discussed here.
- CE, n E M can be detected by suitable speed sensors 12 (which are generally installed in the drive train 1 anyway).
- the DC component of the shaft torque T w can also be filtered out, so that in the compensation controller K only the dynamic component of the shaft torque T w , dyn containing the rotational nonuniformities is processed.
- the DC component can also be removed in the compensation controller K, for example by a filter at the input of the compensation controller K.
- T w and w.dyn Through the speed measurement and the processing of the measured speeds RiicE. n E M in the torque estimator 13, the shaft torque T w or T w , dyn is always available only with a time delay. In addition, the regulation and responsiveness of the actuators themselves introduces a time delay.
- system delay The processing, control and plant-specific delays and dead times are referred to below as system delay.
- the system delay can be determined in advance, for example on a powertrain test bench, and must be regarded as known. If necessary, the system delay can also be estimated. Due to the system delay can be reacted by the drive controller 14 of the electric motor 2 always delayed and too slow to rotational irregularities of the motor shaft 1 1. In order to be able to compensate for this nonuniformity of rotation, future (predictive) system-delay-free actual values of the shaft torque T w , dyn are now determined and used for the control, as described below with reference to FIG described.
- a duty cycle eg a complete combustion cycle of all cylinders in an internal combustion engine (eg 720 ° crank angle in a gasoline engine) occurs recurrently.
- a memory unit M is provided in the compensation controller K in which the shaft torques T w , dyn (n-1) of at least one working cycle (n-1) preceding the current work cycle (n) of the internal combustion engine 3 are stored.
- the memory unit M thus always stores the values of a past, preferably immediately preceding, working cycle.
- the storage is preferably carried out angularly or time-resolved in discrete steps, for example a value of the shaft torque T w , dyn per degree crank angle or per millisecond.
- the memory M is preferably designed as a cyclic memory (as indicated in FIG. 2), ie the triggered values are triggered by the selected angle or time resolution in a resolution-triggered manner until they fall out of the memory M again. If, for example, a resolution of one value per crank angle is selected, the memory M has 720 memory locations for a duty cycle to be stored.
- the shaft moments of the previous duty cycle T w , dyn (n-1) are now supplied from the memory M time synchronous (or angle synchronous) a calculation unit S, ie the current time (or angle) - related to the duty cycle - each at the same time (or angle) stored value of the previous cycle (n-1) into the calculation tion unit S is supplied.
- the current shaft torques T w , dyn (n) of the calculation unit S are supplied.
- the current shaft torques T w , dyn (n) change from one duty cycle (n-1) to the next duty cycle (n) by a possibly existing transient component. If the shaft torque T w , dyn does not change over a work cycle, then the powertrain is in a quasi steady state operation that repeats per work cycle, this fraction being called the iterative part. In this case the transient share would be zero.
- the dynamics of the transient component is less than the dynamics of the iterative component.
- the stored values of the shaft torque T w , dyn (n-1) of the previous work cycle (n-1) are now used to determine predictive (future) shaft torques and thereby to compensate for the system delay.
- a transient component in the form of the transient wave moments T w , dyn_trans is first calculated in the calculation unit S, in that the actual shaft moments T w , dyn (n) are synchronous (or angle-synchronous) with the stored preceding shaft moments T w , dyn ( n-1).
- the system delay is still contained in this transient component T w , dyn_trans.
- a correction unit V now predictive wave moments T w , dyn_kom are further determined by the system delay in the stored previous wave moments Tw, dyn (n-1) is compensated. This is done, for example, by not transmitting the associated stored value of the shaft torque T w , dyn (n-1) to the current crank angle (or time), but the time further forward by the known system delay, ie a future value.
- the correction unit V for example, itself a memory unit for past wave moments T w , dyn (n-1) included in order to determine the correct values and can pass on.
- the compensated wave torque T komp is thus a mixture of a predictive component without system delay and a transient component with system delay.
- the information with the high dynamics which is necessary for a phase-correct regulation.
- the dynamics of the transient component is much lower than that of the predictive component, which is why the system delay is easy.
- the correction unit V can also be dispensed with in the calculation unit S if, for example, the memory unit M has two outputs, wherein the shaft moments T w , dyn (n-1) associated with the current angle (or time) are output at one output and at the other output, the time lagged by the system delay wave moments T w , dyn_kom values are output, so if the correction unit V is integrated in the memory.
- two cyclic storage units can be provided in the compensation controller K, wherein in a storage unit each of the entire cycle time or angular resolution, eg 720 ° crank angle in an Otto internal combustion engine, is stored and in the other, shortened by the system delay duty cycle, eg 690 ° crank angle in a gasoline engine and a system delay of 30 °. At the second output there is always a value around the system delay "future".
- the drive controller 14 thus receives, as a setting torque T ste ii, a variable which contains a predictive component which is the system delay in the future. In this way, the drive controller 14 can compensate for the rotational irregularities of the motor shaft 1 1 with the electric motor 2.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112013006106.6T DE112013006106A5 (de) | 2012-12-21 | 2013-12-12 | Verfahren zur Regelung eines Elektromotors eines Antriebsstranges eines Hybridfahrzeuges |
US14/652,356 US9517761B2 (en) | 2012-12-21 | 2013-12-12 | Method for compensating rotational irregularities of an internal combustion engine of a drive train of a hybrid vehicle |
CN201380071038.1A CN104936809B (zh) | 2012-12-21 | 2013-12-12 | 用于调节混合动力车辆的驱动系的电动机的方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ATA50614/2012A AT511916B1 (de) | 2012-12-21 | 2012-12-21 | Verfahren zur Regelung eines Elektromotors eines Antriebsstranges eines Hybridfahrzeuges |
ATA50614/2012 | 2012-12-21 |
Publications (2)
Publication Number | Publication Date |
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WO2014095565A2 true WO2014095565A2 (de) | 2014-06-26 |
WO2014095565A3 WO2014095565A3 (de) | 2014-08-28 |
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PCT/EP2013/076381 WO2014095565A2 (de) | 2012-12-21 | 2013-12-12 | Verfahren zur regelung eines elektromotors eines antriebsstranges eines hybridfahrzeuges |
Country Status (5)
Country | Link |
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US (1) | US9517761B2 (de) |
CN (1) | CN104936809B (de) |
AT (1) | AT511916B1 (de) |
DE (1) | DE112013006106A5 (de) |
WO (1) | WO2014095565A2 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112297870A (zh) * | 2019-07-30 | 2021-02-02 | 比亚迪股份有限公司 | 车辆及其控制方法与装置 |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3019790A1 (fr) * | 2014-04-11 | 2015-10-16 | Motorisations Aeronautiques | Procede de controle d'un systeme propulseur hybride |
IT201600094657A1 (it) * | 2016-09-21 | 2018-03-21 | Same Deutz Fahr Italia S P A | Veicolo per uso agricolo con mezzi di analisi stato veicolo e comando gruppo differenziale |
AT519092B1 (de) * | 2016-11-28 | 2018-04-15 | Avl List Gmbh | Verfahren und Vorrichtung zur Regelung einer Prüfstandsanordnung |
JP6521484B2 (ja) | 2017-02-23 | 2019-05-29 | マツダ株式会社 | ハイブリッド車両の動力制御方法及び動力制御装置 |
JP6519957B2 (ja) * | 2017-02-23 | 2019-05-29 | マツダ株式会社 | ハイブリッド車両の動力制御方法及び動力制御装置 |
JP6504527B2 (ja) | 2017-02-23 | 2019-04-24 | マツダ株式会社 | ハイブリッド車両の動力制御方法及び動力制御装置 |
JP6601440B2 (ja) * | 2017-02-24 | 2019-11-06 | 株式会社アドヴィックス | 車両の制御装置 |
JP7000879B2 (ja) * | 2018-01-30 | 2022-01-19 | 株式会社アイシン | 車両の制御装置 |
CN112977394B (zh) * | 2021-02-18 | 2024-01-23 | 精进电动科技股份有限公司 | 一种抑制发动机扭矩脉动的方法和混合动力系统 |
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- 2013-12-12 DE DE112013006106.6T patent/DE112013006106A5/de not_active Withdrawn
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CN112297870A (zh) * | 2019-07-30 | 2021-02-02 | 比亚迪股份有限公司 | 车辆及其控制方法与装置 |
CN112297870B (zh) * | 2019-07-30 | 2023-03-14 | 比亚迪股份有限公司 | 车辆及其控制方法与装置 |
Also Published As
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US20150344022A1 (en) | 2015-12-03 |
WO2014095565A3 (de) | 2014-08-28 |
AT511916B1 (de) | 2018-01-15 |
DE112013006106A5 (de) | 2015-09-17 |
CN104936809B (zh) | 2017-09-22 |
US9517761B2 (en) | 2016-12-13 |
AT511916A2 (de) | 2013-03-15 |
AT511916A3 (de) | 2017-12-15 |
CN104936809A (zh) | 2015-09-23 |
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