WO2018177647A1 - Procédé et dispositif pour compenser les vibrations d'un couple de rotation appliqué à un arbre - Google Patents

Procédé et dispositif pour compenser les vibrations d'un couple de rotation appliqué à un arbre Download PDF

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Publication number
WO2018177647A1
WO2018177647A1 PCT/EP2018/053679 EP2018053679W WO2018177647A1 WO 2018177647 A1 WO2018177647 A1 WO 2018177647A1 EP 2018053679 W EP2018053679 W EP 2018053679W WO 2018177647 A1 WO2018177647 A1 WO 2018177647A1
Authority
WO
WIPO (PCT)
Prior art keywords
torque
electric machine
internal combustion
combustion engine
shaft
Prior art date
Application number
PCT/EP2018/053679
Other languages
German (de)
English (en)
Inventor
Markus Kretschmer
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 WO2018177647A1 publication Critical patent/WO2018177647A1/fr

Links

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
    • 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
    • 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
    • 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
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • 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
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • B60W2050/0054—Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
    • 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
    • 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
    • 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

Definitions

  • the invention relates to a method and a device for vibration compensation of a torque acting on a shaft. Furthermore, the invention relates to a component arrangement with a corresponding device and a vehicle with a component arrangement, as well as a computer program and a machine-readable storage medium.
  • a hybrid drive train of a vehicle comprises at least two drive units, which can drive the vehicle individually or jointly.
  • a first drive unit is an internal combustion engine.
  • an electric machine or a hydraulic motor can be used by way of example. Due to the design, a hydraulic motor outputs drive torque more uniformly than an electric machine and more evenly than an internal combustion engine, in particular with a small number of cylinders, for example less than 5 cylinders.
  • a hydraulic motor outputs drive torque more uniformly than an electric machine and more evenly than an internal combustion engine, in particular with a small number of cylinders, for example less than 5 cylinders.
  • the at least two drive units can cooperate.
  • the method comprises the steps of receiving and / or preselecting a desired torque for the operation of the electric machine, determining a damping torque for vibration compensation as a function of the torque output by the fired internal combustion engine and determining a desired torque to be preset for the electric machine as a function of the desired torque and the determined damping torque.
  • a method for vibration compensation of a torque acting on a shaft results from the coupling of this shaft on the one hand with a crankshaft of an internal combustion engine and on the other hand with a rotor of an electric machine.
  • These couplings of the shaft can be done mechanically rigid, gear or damping means.
  • the crankshaft, the shaft and the rotor of the electric machine can be made in one piece. Due to the coupling of this shaft, on the one hand with an internal combustion engine and the other with an electric machine act on this wave, the unevenly emitted torque of the fired internal combustion engine on the one hand and the uniform output torque of the electric machine on the other.
  • the aim of the method is to minimize the uneven torque acting on the shaft by means of a corresponding counteracting control of the electric machine.
  • the method for this includes, as a first step, receiving and / or anticipating ben of a desired torque for the operation of the electric machine.
  • This desired torque may be a positive torque of the electric machine in the event that the internal combustion engine and the electric machine cooperate and, for example, drive a vehicle.
  • the desired torque can be received by another control unit, for example as a function of an accelerator pedal position and other torque requirements of a vehicle (air conditioner, steering, ..) or directly specified, also in particular depending on, for example, the above sizes.
  • This desired torque may be a negative torque for the case that the electric machine is operated as a generator for generating electrical energy from the rotational energy of the fired internal combustion engine.
  • a damping torque is determined, which is suitable for vibration compensation of the torque acting on the shaft, as a function of the torque delivered by the fired internal combustion engine.
  • a desired torque to be preset for the electric machine is determined.
  • a method for vibration compensation is advantageously provided in which a setpoint torque to be preset for the electric machine is determined as a function of a desired torque and a determined damping torque.
  • the determination of the damping torque in dependence on the speed of the electric machine in another embodiment of the invention, the determination of the damping torque in dependence on the speed of the electric machine.
  • the determination of the damping torque takes place as a function of the rotational speed of the electric machine.
  • sensors in particular rotational speed sensors or encoder wheel sensors, or by means of an evaluation of the measured phase voltages or phase currents of an electrical machine, the rotational speed and / or the angular position of the electrical machine can be determined very accurately.
  • the uneven torque output of the internal combustion engine can be deduced by means of the rotational speed of the electric machine and therefore the damping torque for the oscillation compensation as a function of the rotational speed of the electric machine. be determined.
  • a possibility for determining the damping torque is provided.
  • a vibration component of the rotational speed of the electric machine is determined to determine the damping torque as a function of the rotational speed of the electric machine.
  • a vibration component of the rotational speed of the electric machine is determined and from this the damping torque for vibration compensation of a torque acting on the shaft is determined.
  • the uneven output of the torque of the fired internal combustion engine is the cause of the vibration component of the rotational speed of the electric machine.
  • This vibration component is the basis for determining a damping torque for vibration compensation.
  • a possibility for determining the damping torque is provided.
  • the vibration component of the rotational speed of the electric machine is determined by means of a bandpass filter.
  • the rotational speed of the electric machine is filtered while the vibration component of the rotational speed of the electric machine is determined.
  • the bandpass filter extracts a specific frequency spectrum from the rotational speed of the electric machine. Vibrations with frequencies that occur below or above the cutoff frequencies of a bandpass filter are filtered out. This ensures that the vibration component of the rotational speed of the electric machine contains only the information or frequency components relevant for vibration compensation.
  • a method for determining the vibration component of the rotational speed of the electric machine is provided.
  • the corner frequencies of the bandpass filter are determined as a function of an operating point, in particular of the internal combustion engine and / or the electric machine.
  • An operating point, in particular of the internal combustion engine and / or the electric machine, is determined, and in dependence thereon the corner frequencies of the bandpass filter are determined.
  • different corner frequencies are determined and used for the bandpass filter to determine the vibration component of the speed of the electric machine.
  • the frequency ranges relevant for the vibration compensation change as a function of the operating point of the internal combustion engine. Therefore, for an efficient determination of the oscillation component of the rotational speed of the electrical machine, the corner frequencies of the bandpass filter are determined as a function of the operating point.
  • a method is provided for determining the corner frequencies of the bandpass filter.
  • the operating point is determined as a function of the rotational speed of the electric machine, in particular depending on the speed of the electric machine filtered by means of a low-pass filter.
  • the operating point in particular of the internal combustion engine, is determined.
  • the operating point is determined as a function of the speed of the electric machine filtered by means of a low-pass filter.
  • Internal combustion engine, shaft and rotor of the electric machine can be closed depending on the speed of the electric machine to the operating point, in particular of the fired internal combustion engine.
  • a possibility for determining the operating point is provided.
  • the invention relates to a computer program that is configured to carry out the methods described so far.
  • the invention relates to a machine-readable storage medium on which the computer program described is stored.
  • the invention relates to a device for vibration compensation of a torque acting on a shaft.
  • the shaft is in this case on the one hand operatively connected to a crankshaft of an internal combustion engine and on the other hand with a rotor of an electric machine.
  • the connection is for example rigid, geared or damped.
  • the device further comprises means for predetermining or receiving a desired torque for the operation of the electric machine, determining a damping moment for vibration compensation as a function of the torque delivered by the fired internal combustion engine, and determining a desired torque to be preset for the electric machine as a function of the desired torque and the determined damping torque ,
  • a device for vibration compensation of a torque acting on a shaft.
  • the torque acting on the shaft results from the coupling of this shaft on the one hand with a crankshaft of an internal combustion engine and on the other hand with a rotor of an electric machine.
  • These couplings of the shaft can be done mechanically rigid, gear or damping means.
  • the crankshaft, the shaft and the rotor of the electric machine can be made in one piece. Due to the coupling of this shaft, on the one hand with an internal combustion engine and the other with an electric machine act on this wave, the unevenly emitted torque of the fired internal combustion engine on the one hand and the uniform output torque of the electric machine on the other.
  • the aim of the method is to minimize the uneven torque acting on the shaft by means of a corresponding counteracting control of the electric machine.
  • means are provided which allow predetermining and / or receiving a desired torque for the operation of the electrical machine.
  • the desired torque can be received by another control device, for example as a function of an accelerator pedal position and further torque requirements of a vehicle (air conditioning unit, steering, etc.) from a means or be specified directly in the means, also in particular depending on, for example, the variables mentioned.
  • a means which determines a damping moment is suitable for vibration compensation of the torque acting on the shaft, as a function of the torque output by the fired internal combustion engine.
  • a means is provided for determining a setpoint torque to be preset for the electric machine as a function of the desired torque and the determined damping torque.
  • a Direction for vibration compensation provided for determining a predetermined electrical torque of the machine torque in dependence on a desired torque and a determined damping torque.
  • the invention relates to a component arrangement with an electric machine and an internal combustion engine and a described device.
  • the component arrangement comprises power electronics and a battery.
  • Such a component arrangement comprises, for example, a hybrid drive train or in particular a drive train of a range extender.
  • a drive train of a range extender is characterized in that the internal combustion engine can not be coupled to drive wheels of the vehicle but can only be coupled to an electric machine.
  • the electric machine is driven by the internal combustion engine and generates electrical energy.
  • the electrical energy is either initially stored in a battery or used directly for the electric drive, for example, a vehicle.
  • the invention relates to a vehicle with a described component arrangement.
  • a vehicle is thus provided which provides a device for vibration compensation of a torque acting on a shaft.
  • FIG. 1 A first figure.
  • 1 is a schematically illustrated flow diagram for a method for vibration compensation of a torque acting on a shaft
  • FIG. 1 shows a component arrangement 100 with a device 40 for vibration compensation of a torque acting on a shaft 30.
  • the shaft 30 connects a crankshaft 12 of an internal combustion engine 10 to a rotor 22 of an electric machine 20.
  • the shaft 30 can be rigidly connected to the crankshaft 12 and the rotor 22.
  • the shaft 30 may be connected to the crankshaft 12 or the rotor 22 of the electric machine 20 via a transmission (not shown) or by means of damping means.
  • a pulse inverter 50 which is configured to convert regeneratively generated electrical energy of the electric machine 20 into a DC voltage and to feed it into a battery 60 or vice versa to operate the electric machine 20 by a motor and for this purpose electrical energy from the Battery 60 in an AC voltage to supply the electric machine 20 to convert.
  • the device 40 for vibration compensation of a torque acting on the shaft 30 comprises means, not shown, for selecting a desired torque M_W for the operation of the electrical machine 20, for example, to receive from another control device or pretend for the operation of the electrical machine.
  • the device 40 comprises means for determining a damping moment M_D for vibration compensation as a function of the torque M_V output by the fired internal combustion engine 10 and determining a desired torque M_E_Soll depending on the desired torque M_W and the determined damping torque M_D and for the pulse inverter 50 for to transmit the control of the electric machine 20.
  • FIG. 2 shows a vehicle 200 with a component arrangement 100 which serves as a drive train, for example for at least one of the drive wheels 210 of the vehicle 200.
  • step 410 a desired torque M_W for the operation of the electric machine 20 is received or predetermined.
  • step 420 a damping torque M_D for vibration compensation is determined as a function of the torque M_V output by the fired internal combustion engine 10.
  • step 430 one of the setpoint torque M_E_Soll to be preset for the electric machine 20 is determined as a function of the desired torque M_W and the determined damping torque M_D. This determined setpoint torque M_E_Soll is in particular transmitted to a pulse-controlled inverter 50 for controlling the electric machine 20.
  • step 435 the process ends.
  • FIG. 4 shows a signal flow diagram for determining a setpoint torque M_E_Soll which is given to an electric machine for vibration compensation of a torque acting on a shaft 30.
  • the setpoint torque M_E_Soll is determined in a logic device E_3.
  • the rotational speed of the electric machine M_E is filtered by means of a bandpass filter F_B for generating a vibration component N_S of the rotational speed N_E of the electric machine 20.
  • the damping torque M_D is determined by means of a logic unit E_2, which, for example, is stored in a characteristic map.
  • the speed N_E of the electric machine 20 is filtered by means of a low-pass filter F_T. From this signal, the operating point in particular of the fired internal combustion engine and / or the electric machine 20 can be determined. This information about the operating point is fed to a logic device E_l.
  • the logic unit E_1 for example based on map data, outputs the corner frequencies F_B_E1 and F_B_E2 for the bandpass filter F_B.
  • a possibility is provided for determining a setpoint torque M_E_Soll to be preset for the electric machine 20 for vibration compensation of a torque acting on a shaft.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

L'invention concerne un procédé (400) pour compenser les vibrations d'un couple de rotation appliqué à un arbre (30), faisant intervenir un moteur à combustion interne (10) alimenté et un moteur électrique (20). L'arbre (30) coopère d'une part avec le vilebrequin (12) du moteur à combustion interne (10) et d'autre part avec le rotor (22) du moteur électrique (20). Le procédé selon l'invention comprend les étapes qui consistent : à prédéfinir (410) un couple de rotation souhaité (M_W) pour le fonctionnement du moteur électrique (20); à déterminer (420) un couple d'amortissement (M_D) pour compenser les vibrations en fonction du couple de rotation (M_V) généré par le moteur à combustion interne (10) alimenté et à générer (430) un couple de rotation théorique (M_E_Soll) à prédéfinir pour le moteur électrique (20) en fonction du couple de rotation souhaité (M_W) et du couple d'amortissement (M_D) déterminé.
PCT/EP2018/053679 2017-03-31 2018-02-14 Procédé et dispositif pour compenser les vibrations d'un couple de rotation appliqué à un arbre WO2018177647A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017205489.1 2017-03-31
DE102017205489.1A DE102017205489A1 (de) 2017-03-31 2017-03-31 Verfahren und Vorrichtung zur Schwingungskompensation eines an einer Welle wirkenden Drehmomentes

Publications (1)

Publication Number Publication Date
WO2018177647A1 true WO2018177647A1 (fr) 2018-10-04

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PCT/EP2018/053679 WO2018177647A1 (fr) 2017-03-31 2018-02-14 Procédé et dispositif pour compenser les vibrations d'un couple de rotation appliqué à un arbre

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DE (1) DE102017205489A1 (fr)
WO (1) WO2018177647A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112896141A (zh) * 2021-03-31 2021-06-04 吉林大学 增程器控制方法、装置、存储介质、电子设备、车辆

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* Cited by examiner, † Cited by third party
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CN111660835A (zh) * 2020-06-22 2020-09-15 安徽江淮汽车集团股份有限公司 电动汽车增程器控制方法、设备、存储介质及装置

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WO2001063122A1 (fr) 2000-02-22 2001-08-30 Robert Bosch Gmbh Transmission pour vehicule motorise
US20100156333A1 (en) * 2008-12-24 2010-06-24 Aisin Aw Co., Ltd. Motor control device and drive device for hybrid vehicle
US20100235063A1 (en) * 2008-01-21 2010-09-16 Toyota Jidosha Kabushiki Kaisha Vehicle controller and vehicle provided with the controller
US20130297109A1 (en) * 2012-05-07 2013-11-07 Ford Global Technologies, Llc Method and system to manage driveline oscillations with motor torque adjustment
US20150088355A1 (en) * 2013-09-20 2015-03-26 Robert Bosch Gmbh Method for shutting off an internal combustion engine
WO2015087132A1 (fr) * 2013-12-12 2015-06-18 Toyota Jidosha Kabushiki Kaisha Dispositif de commande d'un véhicule hybride
FR3019790A1 (fr) * 2014-04-11 2015-10-16 Motorisations Aeronautiques Procede de controle d'un systeme propulseur hybride

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US9446757B2 (en) * 2014-03-05 2016-09-20 Ford Global Technologies, Llc Active motor damping control of a hybrid electric vehicle powertrain
DE102014222779A1 (de) * 2014-11-07 2016-05-12 Schaeffler Technologies AG & Co. KG Verfahren zur Schwingungsdämpfung eines Antriebsstrangs mittels einer Elektromaschine
DE202015004898U1 (de) * 2015-07-08 2016-10-13 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Hybridantriebssystem mit Regelung zur Kompensation der Motordrehzahlschwingungen

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Publication number Priority date Publication date Assignee Title
WO2001063122A1 (fr) 2000-02-22 2001-08-30 Robert Bosch Gmbh Transmission pour vehicule motorise
US20100235063A1 (en) * 2008-01-21 2010-09-16 Toyota Jidosha Kabushiki Kaisha Vehicle controller and vehicle provided with the controller
US20100156333A1 (en) * 2008-12-24 2010-06-24 Aisin Aw Co., Ltd. Motor control device and drive device for hybrid vehicle
US20130297109A1 (en) * 2012-05-07 2013-11-07 Ford Global Technologies, Llc Method and system to manage driveline oscillations with motor torque adjustment
US20150088355A1 (en) * 2013-09-20 2015-03-26 Robert Bosch Gmbh Method for shutting off an internal combustion engine
WO2015087132A1 (fr) * 2013-12-12 2015-06-18 Toyota Jidosha Kabushiki Kaisha Dispositif de commande d'un véhicule hybride
FR3019790A1 (fr) * 2014-04-11 2015-10-16 Motorisations Aeronautiques Procede de controle d'un systeme propulseur hybride

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112896141A (zh) * 2021-03-31 2021-06-04 吉林大学 增程器控制方法、装置、存储介质、电子设备、车辆
CN112896141B (zh) * 2021-03-31 2024-04-16 吉林大学 增程器控制方法、装置、存储介质、电子设备、车辆

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