WO2018162191A1 - Système régulateur et procédé de régulation d'un entraînement par définition d'une valeur de couple d'entraînement - Google Patents

Système régulateur et procédé de régulation d'un entraînement par définition d'une valeur de couple d'entraînement Download PDF

Info

Publication number
WO2018162191A1
WO2018162191A1 PCT/EP2018/053648 EP2018053648W WO2018162191A1 WO 2018162191 A1 WO2018162191 A1 WO 2018162191A1 EP 2018053648 W EP2018053648 W EP 2018053648W WO 2018162191 A1 WO2018162191 A1 WO 2018162191A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive
torque
speed
correction value
value
Prior art date
Application number
PCT/EP2018/053648
Other languages
German (de)
English (en)
Inventor
Andreas Erban
Original Assignee
Robert Bosch 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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2018162191A1 publication Critical patent/WO2018162191A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/50—Reduction of harmonics
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • a governing system and a method for controlling a drive by specifying a driving torque value will be described, preferably for an engine and more preferably for an electric motor of a motor vehicle.
  • a control system for controlling a drive according to the independent claim 1 a correspondingly arranged motor vehicle, a method for controlling a drive, a computer program and a machine-readable storage medium according to the further independent
  • a solution of the problem described above is in particular by a control system for controlling a drive by specifying a
  • the controller system determines a speed difference between an actual speed of the drive and a target speed of the drive. Based on the speed difference determines the
  • Controller system a torque correction value. In addition, that corrects
  • Controller system adds a drive torque value by adding the torque correction value to the torque setpoint.
  • a vehicle with such a controller system typically has one
  • Reference speed module for determining a reference speed and a speed module.
  • the reference speed module determines a desired reference speed and transmits it to the
  • Speed module which determines a target speed based on the determined reference speed.
  • the engine control for determining the actual speed of the drive is set up by means of a Drehiereermittlers.
  • controller system is communicatively connected to the Drehiereermittler and the engine control.
  • the controller system is further adapted to determine the vibrations by means of the speed difference by the controller system, the difference between
  • Target and actual speed determined, analyzed the time course of the difference and determines the oscillations in frequency and / or amplitude and / or phase and their time course. These determined oscillations between target and actual speed are the unwanted vibrations in the drive train of the vehicle.
  • the controller system is set up to calculate the torque correction value.
  • the torque correction value is based on a calculated counter torque, which is opposite to the phases of the determined vibrations.
  • the controller system prevents or dampens
  • the drive torque value can be regulated or corrected in an attenuation controller, and preferably in a PDTI controller, in order to control the
  • Such a corrected drive torque value is then supplied to a current regulator of an inverter, which is further electrically connected on the one hand to a voltage / current source and on the other hand to an electric drive, and in response to the supplied
  • the electric drive provides an electrical current or voltage.
  • the drive torque generated by the drive is corrected so that the drive torque minimizes or at least reduces undesirable vibrations in the drive train.
  • the driving comfort is increased by the present controller system and also prevents damage to the drive or the drive train by occurring vibrations are almost completely damped out.
  • At least two drives are regulated by means of the controller system.
  • Regulator system provides a drive-specific torque specification or Torque correction with external torque control ready for each of the drives.
  • torque correction values are suitable reaction torques to respective vibrations of a drive train of an engine, a swinging of the entire system can be prevented. In this way, with the present controller system by a drive-specific torque specification or Torque correction with external torque control ready for each of the drives.
  • the controller system may additionally include the torque correction value based on a control mode signal or based on information regarding the control mode signal
  • the control mode signal indicates in which driving state the motor vehicle is currently located. This is a free rolling when no driving or braking of the vehicle takes place and typically all Radregelsysteme an electronic stability program (ESP) are passive.
  • ESP electronic stability program
  • Radregelsystemen include the known anti-lock braking system (ABS), a
  • Traction Control System (TCS) and so on.
  • wheel slip is small and reference can be made directly to the vehicle speed or the single wheel reference speed of the motor vehicle. This can be done, for example, in the speed module, which may be part of the ESP, for determining the respective desired speed.
  • the speed module which may be part of the ESP, for determining the respective desired speed.
  • driving or braking or one or more active Radregelsystemen a respectively appropriate desired wheel speed and a corresponding desired wheel slip is calculated.
  • a corresponding desired wheel slip is calculated.
  • the ABS, DTC, TCS or similar is active
  • Control mode signal generated and transmitted to the controller system.
  • Acceleration, yaw rate, etc. of the motor vehicle can be determined and based on the respective speeds of the drives driven by the / drives and drive and braking torques of the ESP in a reference speed module, the vehicle speed than Reference speed determined. Based on the reference speed and the respective determined wheel slip or the respectively determined
  • nMotE_target 30 / ⁇ ⁇ (i D ⁇ ⁇ / 1 ⁇ 1 ' v whltar
  • nMotE_target is the nominal engine speed
  • iD is the ratio of a differential between the engine and the driven wheels
  • iG is the gear ratio
  • rwhl the radius of the driven wheels
  • Vwhltar the mean desired wheel speed of the driven wheels.
  • the corresponding control mode signal is included in the determination of the torque correction value by the control system and there is a situational
  • Roadway condition information that may be provided by sensors or other external systems (eg, GPS information) into which
  • control mode signal By taking into account the control mode signal and / or from
  • the determined drive torque value is then supplied to a current regulator, which provides the drive with a corresponding current or voltage.
  • the current regulator can be part of an inverter.
  • the control of the drive, so the electric motor, takes place in the comparatively fast control system in the form of a current regulator of the inverter of a motor vehicle.
  • the corrected by means of the torque correction value drive torque is supplied as a command variable to the current regulator of the inverter (control system), which provides a DC voltage or a corresponding current to the electrical supply of the drive, eg the electric motor, in a suitable voltage for the drive (z. B.
  • Three-phase AC voltage for a permanent-magnet synchronous motor (PSM) or asynchronous motor (ASM) and the like) converts.
  • the current regulator can also supply the provided electrical power via one of the
  • Power source provided electrical power.
  • control system described above can be used in a motor vehicle with at least one electric motor in an advantageous manner.
  • the drive or the drive train can be almost freed from unwanted vibrations.
  • this increases ride comfort and, on the other hand, simultaneously reduces the load and wear of the drive train.
  • the method relates to a control of a drive by presetting a drive torque based on a torque setpoint, preferably for an electric motor and particularly preferably for an electric motor of a motor vehicle, in particular by means of a
  • the method comprises the steps:
  • a reference speed eg of the vehicle
  • the determined reference speed is transmitted to a speed module which determines a desired speed of the drive based on the reference speed.
  • a motor control a current actual speed of the drive is determined. The vibrations of the
  • Drivetrain are determined by means of the speed difference between the actual and the target speed.
  • the controller system analyzes the time course of the speed difference and determines from it the oscillations in frequency and / or amplitude and / or phase and their time course.
  • a torque correction value is subsequently determined, which is directed counter to the phase of a determined oscillation.
  • This torque correction value is superimposed on the torque setpoint, that is, the torque correction value is added to the torque setpoint, thereby determining a corrected torque value.
  • This corrected torque value is the drive torque and is provided to a current regulator that provides electrical power to the drive based on the corrected torque value to dampen the detected powertrain vibrations.
  • Correcting or regulating the driving torque of the drive thus takes place by superimposing the torque setpoint and the torque correction value.
  • This method thus effectively prevents the drive or the drive train from rocking by determining vibrations in the drive or the drive train based on the speed difference between the setpoint rotational speed and the actual rotational speed of the drive and correspondingly deriving or determining a torque correction value that becomes that
  • Correcting or regulating the drive torque can be achieved by damping by means of a damping controller and preferably by
  • Multiply by one factor, temporal differentiation and delay eg. be done by means of a PDTl controller to dampen the vibrations in the drive or in the drive train particularly effective.
  • two drives of a motor vehicle with a respective associated control system can be controlled.
  • the present method provides a
  • the present method with individual torque command / correction for each drive of a motor vehicle may also include
  • the torque correction value may additionally be based on a control mode signal or control mode signal
  • Roadway condition information can be determined.
  • the control mode signal indicates in which driving state the motor vehicle is currently located. A so-called free rolling is present when the
  • Torque correction value is included and the drive torque or the target speed is related to the situation.
  • roadway condition information which can be provided, for example, by sensors or other external systems (eg GPS), can also be included in the determination of the torque correction value.
  • control mode signal By taking into account the control mode signal and / or from
  • the drive is actuated based on the determined drive torque.
  • the corrected torque setpoint i. the drive torque
  • a comparatively fast control system for example.
  • the torque setpoint corrected by means of the torque correction value is therefore fed to the current regulator of the inverter (control system) as drive torque and as reference variable.
  • the user may set the torque setpoint via an accelerator pedal, for example
  • the torque setpoint reflects a desired acceleration or deceleration, ie typically the driver of the motor vehicle controls the speed and / or an acceleration via the actuation of the gas relationship of the brake pedal.
  • a drive torque is determined as an addition of these two values.
  • the drive is then controlled and regulated based on the drive torque, wherein a DC voltage provided by a power source (eg battery) for the electrical supply of the drive, for example the electric motor, into a voltage suitable for the drive (eg.
  • the inverter can have a current regulator for controlling the current.
  • the inverter generates with the current controller from the provided
  • the communication effort between the controller system and the current controller of the inverter limited to the transmission of the drive torque. This increases the efficiency of the damping of vibrations in the drive or drive train of a motor vehicle. Furthermore, the system allows almost instantaneous control, i. almost without a control technology unwanted dead time.
  • the method described above may be implemented in a computer program configured to execute the method as described above, which may be stored on a machine-readable storage medium.
  • Fig. 1 shows a schematic of the functional blocks of the above-described
  • the controller system can be used in an electrically driven motor vehicle become.
  • the sensors for determining the actual speed of the motor 2 and the wheel speed of a driven wheel are not shown.
  • Speed difference 5 formed.
  • the actual speed 3 can have vibrations, but typically not necessarily in a frequency range of 5 to 50 hertz. Consequently, the determined speed difference can also
  • Speed difference 5 is a torque correction value 6 in one
  • Torque module 7 determined. From a torque command value 8 and the torque correction value 6, a drive torque value 9 is calculated. The drive torque value 9 is supplied to a current controller 10. Of the
  • Current controller 10 converts depending on the drive torque value 9 a broad DC voltage 11 of a battery 12 for supplying the electric electric motor 2 with electrical power in a suitable
  • An electronic stability program (ESP) 14 provides a control mode signal 15 to a damping control module 17 via a control mode module 16.
  • Attenuation control module 17 provides a control mode correction value 18 to torque module 7, wherein control mode correction value 18 is set to
  • Control mode signal based.
  • the control mode correction value 18 flows into the determination of the torque correction value 6 in the torque module 7.
  • the ESP 14 includes several control modules 19 such. As ABS, DTC, TCS and the like.
  • the control modules 19 can actively intervene in the driving behavior of a vehicle in a conventional manner. Whichever one
  • Control module is active and in which driving state (driving, coasting or braking), a correspondingly adapted control mode signal 15 is passed to the damping control module 17.
  • a speed module 20 of the ESP 14 provides the desired speed 4 ready. Based on the determined actual speed and the target speed 4, the difference between these is determined as a speed difference 5 by means of an adder, which in this case the negative actual speed is supplied.
  • the ESP 14 further comprises a reference speed module 21, in which a reference speed of the vehicle can be determined.
  • the target speed 4 is determined based on the reference speed, wherein the reference speed is determined by the reference speed module 21.
  • the desired target torque 8 is a user or
  • the user can specify via an input device, such as an accelerator pedal, for example, that the vehicle should accelerate or not decelerate.
  • an input device such as an accelerator pedal
  • the driver can set a delay of the motor vehicle by pressing a brake pedal or slow down or prevent acceleration, for example, when the vehicle is driving downhill.
  • the desired acceleration is converted to a corresponding torque command value 8 by means of a module 23.
  • the vehicle can be any type of driving vehicle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un système et un procédé correspondant de régulation d'un entraînement par définition d'une valeur de couple d'entraînement. Une valeur de correction de couple est déterminée à partir d'une différence de vitesse entre une vitesse réelle et une vitesse théorique de l'entraînement. Une valeur théorique de couple est corrigée de la valeur de correction de couple, de sorte qu'une valeur de couple d'entraînement corrigée est déterminée. Sur la base de la valeur de couple d'entraînement corrigée, un régulateur de courant régule le courant amené au moteur électrique.
PCT/EP2018/053648 2017-03-07 2018-02-14 Système régulateur et procédé de régulation d'un entraînement par définition d'une valeur de couple d'entraînement WO2018162191A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017203670.2A DE102017203670A1 (de) 2017-03-07 2017-03-07 Reglersystem und Verfahren zur Regelung eines Antriebs durch Vorgabe eines Antriebsdrehmomentwerts
DE102017203670.2 2017-03-07

Publications (1)

Publication Number Publication Date
WO2018162191A1 true WO2018162191A1 (fr) 2018-09-13

Family

ID=61231259

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/053648 WO2018162191A1 (fr) 2017-03-07 2018-02-14 Système régulateur et procédé de régulation d'un entraînement par définition d'une valeur de couple d'entraînement

Country Status (2)

Country Link
DE (1) DE102017203670A1 (fr)
WO (1) WO2018162191A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111376737A (zh) * 2018-12-29 2020-07-07 北京宝沃汽车有限公司 驱动电机的抖动控制方法、装置和车辆
CN112930277A (zh) * 2019-01-08 2021-06-08 宝马股份公司 用于在双车轴的机动车中对两个布置在一个车轴上的电动马达进行校准的装置
CN115402120A (zh) * 2022-10-31 2022-11-29 北京京深深向科技有限公司 分布式驱动车辆的驱动系统扭矩误差修正方法、装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112606700A (zh) * 2020-12-17 2021-04-06 武汉格罗夫氢能汽车有限公司 一种氢能汽车无直流电流传感器电机系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070225887A1 (en) * 2006-03-22 2007-09-27 Morris Robert L Method and apparatus for multivariate active driveline damping
US20070225886A1 (en) * 2006-03-22 2007-09-27 Morris Robert L Parameter state estimation
EP1939704A2 (fr) * 2006-12-29 2008-07-02 Robert Bosch Gmbh Procédé et dispositif destinés à l'estimation du moment de charge lors d'entraînements électriques réglés selon la vitesse ou la position
US20110112709A1 (en) * 2009-11-06 2011-05-12 Hyundai Motor Company Anti-jerk control apparatus and method for hybrid electric vehicle
US20120059538A1 (en) * 2010-09-07 2012-03-08 GM Global Technology Operations LLC Closed-loop speed and torque damping control for hybrid and electric vehicles
DE102013208329A1 (de) * 2013-05-07 2014-11-13 Robert Bosch Gmbh Verfahren und Vorrichtung zum betreiben eines Kraftfahrzeugs

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070225887A1 (en) * 2006-03-22 2007-09-27 Morris Robert L Method and apparatus for multivariate active driveline damping
US20070225886A1 (en) * 2006-03-22 2007-09-27 Morris Robert L Parameter state estimation
EP1939704A2 (fr) * 2006-12-29 2008-07-02 Robert Bosch Gmbh Procédé et dispositif destinés à l'estimation du moment de charge lors d'entraînements électriques réglés selon la vitesse ou la position
US20110112709A1 (en) * 2009-11-06 2011-05-12 Hyundai Motor Company Anti-jerk control apparatus and method for hybrid electric vehicle
US20120059538A1 (en) * 2010-09-07 2012-03-08 GM Global Technology Operations LLC Closed-loop speed and torque damping control for hybrid and electric vehicles
DE102013208329A1 (de) * 2013-05-07 2014-11-13 Robert Bosch Gmbh Verfahren und Vorrichtung zum betreiben eines Kraftfahrzeugs

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111376737A (zh) * 2018-12-29 2020-07-07 北京宝沃汽车有限公司 驱动电机的抖动控制方法、装置和车辆
CN112930277A (zh) * 2019-01-08 2021-06-08 宝马股份公司 用于在双车轴的机动车中对两个布置在一个车轴上的电动马达进行校准的装置
US11850949B2 (en) 2019-01-08 2023-12-26 Bayerische Motoren Werke Aktiengesellschaft Device for calibrating two electric motors mounted on one axle in two-axle motor vehicles
CN112930277B (zh) * 2019-01-08 2024-04-12 宝马股份公司 用于校准两个电动马达的装置和方法
CN115402120A (zh) * 2022-10-31 2022-11-29 北京京深深向科技有限公司 分布式驱动车辆的驱动系统扭矩误差修正方法、装置
CN115402120B (zh) * 2022-10-31 2023-02-10 北京京深深向科技有限公司 分布式驱动车辆的驱动系统扭矩误差修正方法、装置

Also Published As

Publication number Publication date
DE102017203670A1 (de) 2018-09-13

Similar Documents

Publication Publication Date Title
DE102011116924B4 (de) Verfahren zum Steuern von Drehmoment an einem oder mehreren Rädern eines Fahrzeugs
DE102016123071B4 (de) Antriebskraftsteuersystem für ein Fahrzeug
DE10341676B4 (de) Regelverfahren und System zum Bremsen und zur Steuerbarkeit eines Fahrzeuges mit Nutzbremsung
DE102019105252A1 (de) Systeme und verfahren zur fahrzeugraddrehmomentsteuerung
WO2018162191A1 (fr) Système régulateur et procédé de régulation d'un entraînement par définition d'une valeur de couple d'entraînement
DE112011105803B4 (de) Fahrzeug und Verfahren zur Steuerung eines Fahrzeugs
CN106915278A (zh) 一种纯电动汽车急加速抖动的自适应抑制方法
DE102014220668A1 (de) Nutzbremsung bei vorliegen eines antiblockierbremssystemsteuerereignisses
DE102005033354A1 (de) Verfahren zur Abdämpfung von Schwingungen im Antriebsstrang eines Elektrofahrzeugs
DE102014217023A1 (de) Geschwindigkeitsregelung im eco-modus
DE102009000044A1 (de) Verfahren und Vorrichtung zum Betreiben eines Fahrzeuges, insbesondere eines Hybridfahrzeuges
EP2681091A1 (fr) Détermination d'un couple aux roues et/ou d'un couple aux essieux prédéfini dans un véhicule automobile
WO2011076534A1 (fr) Procédé et dispositif pour la répartition d'un couple moteur sur les roues d'un axe entraîné électriquement d'un véhicule automobile
DE102021124822A1 (de) Einpedalantriebsfilter und Ratengrenzen des Antriebsdrehmoments
EP2379390A1 (fr) Procédé et dispositif pour le fonctionnement d'un véhicule hybride
DE112012004898T5 (de) Elektrofahrzeug
WO2014029548A1 (fr) Dispositif de commande d'un système de freinage rhéostatique d'un véhicule et procédé d'exploitation d'un système de freinage rhéostatique d'un véhicule
DE102019219041A1 (de) System zum steuern einer drehmomentverteilung für antriebsräder eines hybrid-elektrofahrzeugs mit vierradantriebstechnik
DE102009033953B4 (de) Fahrzeuggeschwindigkeitsregelung unter Verwendung von Fahrzeugbremsen in einem Fahrgeschwindigkeitsregelungsmodus
DE102014210537A1 (de) Verfahren zum Betreiben eines Hybridfahrzeugs
WO2012072316A1 (fr) Procédé et dispositif pour entraîner un véhicule à moteur
DE102013113658B4 (de) Verfahren zum Betreiben eines Triebstranges
DE102009039614A1 (de) Verfahren zur Steuerung eines rekuperativen Verzögerungssystems für ein Kraftfahrzeug
DE102009020794A1 (de) Verfahren zur Koordination des Triebstranges eines Kraftfahrzeuges
EP1458587B1 (fr) Procede et dispositif de regulation du couple moteur apres un changement de charge sur des vehicules hybrides

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18705614

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18705614

Country of ref document: EP

Kind code of ref document: A1