WO2023111318A1 - Procédé de commande d'un système de freinage, unité de commande permettant de commander un système de freinage et véhicule équipé d'une telle unité de commande - Google Patents

Procédé de commande d'un système de freinage, unité de commande permettant de commander un système de freinage et véhicule équipé d'une telle unité de commande Download PDF

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Publication number
WO2023111318A1
WO2023111318A1 PCT/EP2022/086461 EP2022086461W WO2023111318A1 WO 2023111318 A1 WO2023111318 A1 WO 2023111318A1 EP 2022086461 W EP2022086461 W EP 2022086461W WO 2023111318 A1 WO2023111318 A1 WO 2023111318A1
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WO
WIPO (PCT)
Prior art keywords
braking
brake
vehicle
battery
power
Prior art date
Application number
PCT/EP2022/086461
Other languages
German (de)
English (en)
Inventor
Konrad Zaugg
Lukas Blaser
Roger Miauton
Marius Bachofen
Johannes Lohmeier
Original Assignee
Emining Ag
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 Emining Ag filed Critical Emining Ag
Publication of WO2023111318A1 publication Critical patent/WO2023111318A1/fr

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Classifications

    • 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
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/04—Hill descent control
    • 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
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/02—Vehicle mass
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/60—Regenerative braking
    • B60T2270/604—Merging friction therewith; Adjusting their repartition

Definitions

  • control unit for controlling a braking system Method for controlling a braking system, control unit for controlling a braking system and vehicle with such a control unit
  • the invention relates to a method for controlling a braking system, a control unit for controlling a braking system and a vehicle with such a control unit.
  • One disadvantage is that the battery is usually supplied with energy via a public power grid, so that battery-electric vehicles without the appropriate charging options are not suitable.
  • Another disadvantage is that the charging process is usually very time-consuming due to the lack of quick charging options, which leads to limited use of the vehicle. Both aspects are more important the higher the weight of the vehicle, since the weight of a vehicle correlates with the electrical energy required to operate the vehicle.
  • Dumpers or dump trucks used in mining with a payload of 60 tons or more usually use conventional diesel engines to realize the propulsion power.
  • the braking power of the diesel engine is usually used together with additional mechanical brakes, e.g. B. disc brakes, or electric resistance brakes used.
  • US 20040225435 A1 discloses a driving system consisting of a drive vehicle, which is a dump truck, and an energy supply part, which is an auxiliary vehicle that can be coupled to or decoupled from the drive vehicle and thus supports the drive vehicle with additional energy in heavy-duty operation.
  • US Pat. No. 9,744,872 B1 shows a self-propelled working machine in the form of a truck with an electric drive, a generator that can be driven by an internal combustion engine, and a braking device for braking the working machine.
  • the braking device consists of a regenerative and a mechanical brake.
  • a brake control mechanism turns a mechanical brake on or off.
  • EP 3 659 851 A1 discloses a control device for controlling the distribution of the braking power between an electric, regenerative brake and a mechanical brake, with different physical parameters being taken into account for controlling the distribution of the braking power. For example, the steeper the road the vehicle is driving down, the greater the mechanical braking power.
  • US 2017/129493 A1 relates to a system and a method for controlling a gear shifting process during a braking process in a vehicle with an electric motor and a friction brake, both of which serve to brake the vehicle.
  • the electric motor is used for regenerative braking.
  • Electric braking capability can be a function of battery limits, particularly when a battery has a low state of charge (SOC), regenerative braking capability can be higher than when the SOC is already very close to its upper limit.
  • SOC state of charge
  • US 2016/362006 A1 discloses a braking system with an electric motor for driving wheels or braking a vehicle in order to recover energy and reduce wear on the mechanical brakes.
  • the duty cycle of the electric motor can depend on the payload and the inclination of the machine.
  • An operator station may include automatic retarder adjustments, such as braking on a grade or braking within predetermined speed ranges.
  • This system is intended to overcome the problem that very high torque peaks are produced when both braking means are fully applied and the problem that torque shocks can be generated at the axle when both braking means are fully applied.
  • Both the mechanical and the electrical braking means are designed in such a way that they alone can bring the vehicle to a standstill with a full load on an incline.
  • DE 102011 005 000 A1 discloses a method for speed regulation in order to prevent a motor vehicle from exceeding a maximum speed.
  • the inclination of the motor vehicle and its speed are determined and it is then determined to what extent the actual speed differs from a specified maximum speed.
  • the speed or the torque of the motor vehicle is then adjusted by the distance from the maximum speed, taking into account the inclination.
  • the object of the present invention is to provide a system that is suitable for controlling a vehicle with a mechanical brake and an electric, regenerative brake in an energy-optimized manner.
  • a first aspect of the invention relates to a method for controlling a braking system of a vehicle, which has a first braking means, which is designed as a generator for electrical braking and is connected to a battery for charging the same in order to brake recuperatively, and a second braking means, which has a mechanical brake is designed for mechanical braking.
  • the braking system When driving downhill on a sloping roadway, the braking system is controlled in such a way that a predetermined speed is not exceeded, the speed being controlled with a closed control loop and the predetermined speed being used as the reference variable of the control loop and the entire braking power being used as the manipulated variable and the Inclination of the roadway is determined as a disturbance variable and is taken into account by a disturbance variable surcharge in the closed control loop, with the entire braking power being distributed between the electric brake and the mechanical brake in such a way that the maximum possible electrical power is stored in the battery.
  • the available regenerative braking power is smaller than the mechanically available braking power. This not only saves costs, but also weight, since a small battery is correspondingly lighter. Basically, you want to absorb as much braking energy as possible with the electric brake recuperatively. Without taking into account the inclination as a disturbance variable, there would be large deflections in the braking power when braking, which would have to be absorbed by the mechanical brake, since the recuperative electrical braking power is limited. By considering the inclination as a disturbance variable in the control loop, such peaks are reduced in the overall braking power, which is why more electrical braking energy can be absorbed with regenerative braking. As a result, the energy yield can be significantly increased compared to a control that does not consider the incline of the roadway as a disturbance variable when driving downhill, or the maximum available recuperative braking power can be limited, whereby weight and costs can be saved.
  • the total vehicle weight is determined and the total vehicle weight is taken into account when determining the disturbance variable surcharge.
  • the total vehicle weight can be determined on the one hand by means of scales provided in the vehicle, with which the load on the vehicle is measured and added to the empty weight of the vehicle.
  • the total vehicle weight can also be determined by means of an external scale, with the corresponding weight value being automatically transmitted to a control unit, which is used to control the brake system, preferably by means of a data connection.
  • a large vehicle such as a truck can be braked safely and reliably even on an incline, even if the charge capacity of the battery to be charged is limited and as a result the recuperative braking power is limited.
  • the need for braking power is known and can be optimized by recuperative and mechanical braking power. Braking peaks can be kept low, so that even large and heavy motor vehicles can be braked reliably.
  • the braking power to be recuperated can be optimized since the braking power is very evenly distributed.
  • the maximum power that can be supplied to the battery can be determined primarily by a free charge capacity of the battery and is all the lower the smaller the free charge capacity of the battery. Avoid overcharging the battery as this could damage it. However, the maximum power that can be supplied to the battery can be limited by other parameters, such as the battery temperature.
  • an electrical braking resistor can be connected in parallel to the battery to increase the electrical braking power. As a result, the electrical braking power can be significantly increased. However, the heat generated in this way is usually dissipated to the environment and the corresponding energy is lost for further use. It is therefore preferred if the electrical braking is carried out exclusively in a recuperative manner.
  • An electrical braking resistor can typically convert electrical power of up to 100 kW or more into heat. Such electrical braking resistors are usually forced-ventilated PTC resistors.
  • an electrical heating device for the passenger compartment also converts electricity into heat, it does not qualify as an electrical braking resistor due to the comparatively low electrical output.
  • the maximum available regenerative braking power is preferably less than the mechanically available braking power.
  • Mechanically available braking power can be provided much more simply and cost-effectively than recuperating electrical braking power, even if this can mean considerable effort and expense in the case of trucks with a large payload.
  • the mechanical braking power is usually measured in such a way that the vehicle can be reliably brought to a standstill even when fully loaded and on an incline.
  • the electrical braking power can be smaller, so that full braking with the electrical braking power is not always possible.
  • the predetermined speed can be entered, for example, by means of an input device and is then a static value that serves as a reference variable for the control loop.
  • the specified speed can also be determined using a brake pedal position.
  • the brake pedal position then corresponds to a specific speed value or a specific speed difference by which the current speed is to be reduced. If the predetermined speed is determined using the brake pedal position, then it can change dynamically while driving.
  • the maximum permissible rate of change or deceleration can be limited during normal operation and only when emergency braking is detected, for example from a certain angular position of the brake pedal, the maximum available braking power without limiting the deceleration rate to be executed. Limiting the rate of deceleration in this way during normal operation leads to smooth and efficient control.
  • the method according to the invention is particularly advantageous when the reference variable is a statically predetermined speed, since this can be controlled very evenly without control oscillations.
  • the closed loop control preferably uses a PI or a PID controller.
  • a PI controller has a proportional controller and an integral controller.
  • a PID controller also has a differential controller.
  • Such a differential controller leads to a fast control response.
  • this can be disadvantageous when controlling a braking system of a heavy vehicle, since this can result in control oscillations.
  • a differential controller can be provided, but its influence on the controller as a whole is small in order to avoid control oscillations.
  • the proportions of the proportional controller and the integral controller are generally larger compared to the differential controller in order to achieve smooth and smooth control.
  • the closed control loop is preferably designed in such a way that the disturbance variable impact acts on the reference variable. It has been shown that this is advantageous in particular in combination with a controller which is primarily characterized by a proportional controller, since a deviation in the reference variable due to the disturbance variable surcharge is immediately corrected by the proportional controller. In this way, on the one hand, a fast control reaction is achieved and, on the other hand, it is ensured that there are no overshoots which would cause control oscillations.
  • the disturbance variable it is also possible for the disturbance variable to act on the manipulated variable, i.e. the entire braking power.
  • the total braking power can be distributed between the electric brake and the mechanical brake in such a way that the total braking power, insofar as it is not greater than a specified maximum available electric braking power, is supplied to the electric braking device and the proportion of the total braking power that exceeds the maximum available electrical braking power is supplied to the mechanical brake, the maximum available electrical braking power being determined according to one or more physical parameters.
  • the maximum available electrical braking power thus forms a threshold value, with the entire braking power, insofar as it is not greater than this threshold value, exclusively being supplied to the electrical brake and only that portion of the total braking power which is above the threshold value being supplied to the mechanical brake. This ensures that the maximum available electrical braking power is fully utilized in every braking situation.
  • the physical parameters for determining the maximum available braking power preferably include at least two of the parameters free charge capacity of the battery, battery temperature, temperature of the generator, temperature of an inverter and/or power reserves of the generator.
  • a value of the maximum available braking power is calculated based on each of the physical parameters that are used, and the smallest of these calculated values is taken into account as the maximum available braking power in the distribution of the total braking power between the electric brake and the mechanical brake. The weakest component from the battery, alternator and inverter group thus determines the maximum available electrical braking power.
  • This maximum available electrical braking power is preferably the maximum available electrical recuperative braking power.
  • the power reserves of the generator are preferably calculated using the limit load integral, which is also referred to as the melting integral or as the I 2 t value. This is a criterion for the short-term resilience of electronic components.
  • a further aspect of the invention relates to a control unit for controlling a braking system for carrying out the method explained above.
  • the control unit is designed to control the two braking means automatically, which means that no further external inputs are required apart from the specified speed. This does not preclude the control unit from using maximum and/or minimum values as well as setpoint values for the speed, which are specified for the controller by the driver or operator, for example.
  • Total braking power is the power required to hold or slow a vehicle's speed.
  • the kinetic energy of the vehicle is generally converted by a braking system into mechanical energy, e.g. B. heat converted when it is a mechanical brake.
  • the total braking power is defined as the sum of the braking power of the two braking means when only the mechanical brake and the recuperator generator are provided as the braking means of the respective vehicle.
  • a recuperative generator is also known as a regenerative brake.
  • the generator converts mechanical energy, e.g. resulting from the kinetic energy of a vehicle driving downhill, into electrical energy that can be used to charge an energy store such as a battery or to supply other units.
  • the generator when braking, the generator has a braking effect and slows down the speed.
  • the generator can also be used in electric motor mode when motive power is needed instead of braking.
  • the first braking means can be implemented by a permanent synchronous machine, for example.
  • the second braking means is at least one mechanical brake.
  • Wear-free mechanical brakes are advantageously used.
  • the mechanical brake can, for example, be a wet multi-disk brake.
  • friction brakes such as disc brakes are fundamentally less suitable due to their high level of wear.
  • Wear-free mechanical brakes cause a so-called drag load, i.e. they always generate braking resistance, which must be counteracted even when the vehicle is driven by the engine.
  • the two brakes can work in parallel if necessary.
  • the control unit also regulates the proportional distribution of the braking power between the two braking means, the control unit being designed in such a way that both braking means are controlled in such a way that the electrical energy yield is maximized and at the same time the vehicle components are protected from damage by at least one physical parameter. Preferably multiple parameters are used for control.
  • the control unit prevents the speed from exceeding a predetermined maximum speed value beyond permissible tolerances. This means, for example, that the control unit automatically increases the braking power of the mechanical brake and reduces the braking power of the recuperator generator when the vehicle battery is fully charged.
  • the control unit reduces the braking power of the mechanical brake to almost zero, so that the braking effect is implemented almost entirely by the generator and the energy yield is increased.
  • the recuperative brakes are used initially, provided their braking power is sufficient.
  • the control can intervene quickly in the event of an incline without control oscillations occurring.
  • the mechanical brake is used less frequently and more electrical energy can be recuperated overall. Only on inclines that require a total braking power that is greater than the maximum braking power of the recuperative brake does the mechanical brake intervene and/or an electrical braking resistor arranged parallel to the generator is switched on, with which electrical energy is converted into heat.
  • the control unit can also be designed in such a way that the mechanical brake is preferred even if the battery is not fully charged if one or more physical parameters, such as physical parameters of a future driving situation, require this type of operation of the braking means.
  • the consideration of the total vehicle weight or the total vehicle mass is based on the knowledge that a higher vehicle mass leads to a higher kinetic energy at a predetermined speed or to a higher downhill force while the vehicle is driving downhill. A higher kinetic energy or a higher downhill force results in a higher total braking power required to maintain or reduce vehicle speed.
  • the total mass of the vehicle is the sum of the mass of the vehicle itself and the mass of the current load.
  • the mass of the current load can be measured by internal scales of the vehicle itself. It is also possible that the mass is measured by external devices and made available to the control unit, e.g. B. by manual entry.
  • the gradient of the roadway in the current driving situation can be measured with inclination or angle measuring devices such as inclinometers, which can be vehicle-specific devices.
  • inclination or angle measuring devices such as inclinometers, which can be vehicle-specific devices.
  • the steeper the incline the greater the acceleration and therefore the overall braking power required.
  • the expected or future driving situation is to be understood as meaning the expected or expected driving situation in the near future.
  • the probable driving situation can be integrated into the brake force control, for example, by means of roadway profiles that are stored digitally for use in the control unit, for example.
  • a disturbance variable surcharge is determined, which is taken into account in the closed control loop.
  • the disturbance variable surcharge is calculated in such a way that non-recuperative braking, such as mechanical braking, is minimized and regenerative braking is maximized.
  • the profiles can contain additional information about the route to be traveled depending on the position on the route, such as surface adhesion properties, curve radii, curve slope and others. This embodiment is particularly preferred when the same route must be traveled several times, as z. B. is common in mining. It is also possible to use data from navigation systems and/or geographic information systems. The use of information about the probable driving situation as a disturbance variable in the closed control loop has the advantage that the control process is predictive and therefore precise and safe. In addition, in the case of anticipatory braking before steeply sloping roads, the speed is preferably reduced by recuperative braking, so that less non-recuperative braking power is required on the sloping roadway.
  • the degree of elastic deformation of a vehicle spring and/or the stroke or pressure values of a vehicle shock absorber which are related to the vertical movement of the moving vehicle relative to the roadway, can also be used as a disturbance variable.
  • the total braking power required may also depend on the characteristics and conditions of the road surface. This is particularly important in difficult driving environments, i.e. e.g. driving surfaces with large and/or deep potholes. In these difficult environments, it is advantageous to integrate direct or indirect measurement data from springs and/or shock absorbers of the moving vehicle into the control process in order to avoid damage to vehicle components.
  • Another physical variable that is included in the control process as a disturbance variable can be the longitudinal slippage of at least one tire of the vehicle on the road.
  • Longitudinal slip is typically measured as the difference between the surface speed of a vehicle tire and the road surface and is generally expressed as a percentage. The higher the slip, the lower the adhesive force between the vehicle tires and the road. The required total braking force and the proportional distribution of the total braking power between the two braking means can be adjusted to the slip rate.
  • An inventive odometer first counts the number of times the vehicle has traveled uphill and downhill. It is also possible that the counter measures the total distance traveled in a certain period of time or provides similar information. In another embodiment, the current remaining capacity of the vehicle battery is the physical variable that is included in the control process for determining the mechanical electrical braking power.
  • the remaining or residual capacity of a battery indicates how much electricity a battery can still store until it is fully charged.
  • the state of charge can be used as a corresponding value in the controller.
  • This control behavior can also be implemented by a defined residual capacity value.
  • the advantage of using the remaining capacity to control the braking power distribution between the two braking means is that overcharging of the battery or the battery system connected to the generator is avoided. Overcharging can shorten the life of a battery and/or reduce the overall capacity of the battery. The lower the general capacity of the battery, the less energy can be stored while driving the vehicle downhill. In an electric dump truck, the battery is one of the most expensive components and therefore needs to be carefully monitored and operated.
  • the electrical energy converted by the recuperation generator can be stored in at least one battery that is integrated in the vehicle. It is also possible that the vehicle has a battery management system that controls multiple batteries and thus the state of charge of multiple batteries. In this case, the control unit can be connected to the battery management system in a control-related manner.
  • the temperature of the mechanical brake, the recuperation generator and/or the vehicle battery is the physical variable that is included in the control process for determining the maximum available electrical braking power.
  • the control unit can use the temperature information to coordinate the use of the two braking means.
  • the controller can be suitable for reducing the proportion of the braking power realized by the mechanical brake when the temperature of the mechanical brake has reached a predetermined value.
  • the controller can be set up to reduce the proportion of the braking power realized by the recuperation generator when the temperature of the recuperation generator has reached a predetermined value. This means that both control behaviors can also be realized by defined maximum temperature values for the mechanical brake and/or the recuperator generator. Both regulatory mechanisms are not mutually exclusive.
  • the braking power of the regenerative generator should be reduced by the control method in order to avoid a so-called thermal runaway, an effect that leads to uncontrolled overheating of the battery, which can permanently damage the battery harms.
  • control unit also controls a heating and cooling system for the battery or the battery system in order to achieve an optimal and uniform temperature.
  • a heating and cooling system for the battery or the battery system in order to achieve an optimal and uniform temperature.
  • several temperature values can be included in the control process at the same time.
  • the control unit can control the total braking power so that a certain maximum vehicle speed is not exceeded.
  • the control unit can be set up to control the overall braking power in such a way that the deviation between the current vehicle speed and a defined vehicle speed is less than 15%, in particular less than 10%, of the defined maximum vehicle speed.
  • the maximum speed of the vehicle can be 20 km/h. It is also possible to reach a maximum speed of 40 km/h.
  • the maximum speed of the vehicle can be a fixed value that is independent of time and position. It is also possible that the defined maximum speed value depends on the current position of the vehicle and thus on a maximum speed function or a maximum speed profile, which can be connected to the roadway profile. The advantage is that the vehicle controlled by the control unit will reach its destination on time due to the minimal speed deviation.
  • the maximum speed value is set by an external operator who is not the driver but controls the vehicle via a remote control panel.
  • the maximum speed value can be supplied to the control unit, for example via an interface integrated in the vehicle, which is connected to the control unit in a data-transmittable manner.
  • control unit is suitable for controlling the drive power of at least one drive assembly such as an electric motor and/or an internal combustion engine.
  • control unit can also control the drive power.
  • the drive unit of a vehicle can be, for example, an electric motor and/or an internal combustion engine. By controlling the drive power and thus the kinetic energy, the control unit also indirectly controls the braking power provided by this unit.
  • control unit can also control secondary prime movers that operate the vehicle's working equipment, such as: B. raising the bed of a dump truck.
  • control unit is designed in such a way that it controls a charging and/or discharging process, the vehicle battery being charged and/or discharging by using a power grid.
  • control unit may be adapted to control a control operation in which a battery or a battery system of a first vehicle is charged through the use of a battery or a battery system of a second vehicle.
  • the advantage of this embodiment is that in the absence of a power grid, which can be the case in mining, for example, electrical energy can be transmitted between a number of vehicles.
  • the control unit may also be able to control the pre-charging of an inverter.
  • An inverter is an electronic component that is placed in the current path between the recuperator generator (AC) and the battery (DC) and/or the electric motor (AC) and the battery (DC).
  • An inverter is a device that conditions or converts electrical energy for use and/or storage, specifically by converting direct current (DC) to alternating current (AC) and vice versa.
  • a further aspect of the invention is a vehicle, in particular a truck or dump truck for loading and transporting dump material.
  • the vehicle includes a control unit according to at least one of the described embodiments and a first braking means, which is designed as a generator in order to implement recuperation operation of the driving vehicle to convert mechanical energy into electrical energy and to implement braking power using the recuperation generator.
  • the vehicle also includes a second braking device, which is designed as a mechanical brake in order to implement additional braking power, and at least one battery in order to at least partially store the recuperated electrical energy converted by the first braking device.
  • the vehicle can consist of a 5-ton battery with a maximum electrical charging power of 634 kW.
  • the total weight of such a vehicle can be up to 123 tons.
  • the curb weight is 58 tons and the maximum payload is 65 tons.
  • 77 MWh of CCh-free electrical energy can be generated per year by recuperation when driving downhill.
  • An advantage of this vehicle is that by using recuperated energy to operate the vehicle, 50,000 liters of diesel and thus 130 tons of CO2 can be saved per year. Another advantage is that maintenance costs are reduced compared to tippers with diesel engines. In addition, such a vehicle is much quieter than conventional tippers with diesel engines. This makes the vehicle an ecological and economical machine, especially in mining, where it may be necessary to negotiate gradients of up to 15% under adverse conditions with a full load.
  • this vehicle comprises at least one drive unit which is connected to the control unit in terms of control and can be controlled by the control unit.
  • control unit controls not only the distribution of the braking power between the braking means in a deceleration mode, but also the power required to operate the vehicle in an acceleration mode.
  • the drive unit to be controlled can be either an electric motor or an internal combustion engine.
  • the drive unit is an electric motor and that the electric motor is the same unit as the recuperative brake, only functioning the other way around.
  • Another aspect of the invention is a method of operating said vehicle.
  • the vehicle drives uphill, picks up a load in a first position and drives downhill with an increased mass into a second position, which is lower than the first position.
  • the kinetic energy of the vehicle on the way down is at least partially converted into electrical energy by the regenerative effect when the vehicle is braked by means of the regenerative generator, and the electrical energy is at least partially stored in the battery of the vehicle.
  • the control unit controls the braking power of the regeneration generator and the mechanical brake.
  • control unit controls the effective use of the kinetic energy of a loaded and therefore heavy vehicle when e.g. B. loaded with tipping material drives down a hill.
  • the vehicle Due to the load of the truck, the vehicle has a higher potential energy in the first position than in the second position, where the vehicle has a lower potential energy.
  • the potential energy is converted into kinetic energy.
  • the vehicle at least partially uses the recuperated electrical energy from a previous downhill run to drive uphill.
  • the recovered energy can be used to propel the vehicle uphill, which is not necessarily, but typically unloaded or less loaded and therefore lighter. This way of driving is typical for the transport of mining goods or stockpile material, but also for the construction sector. Depending on the overall capacity of the battery or battery system and the specific driving situation, the amount of stored recuperated electrical energy can be as high as or even higher than the energy required to drive the unloaded vehicle uphill.
  • the recuperated electrical energy from driving downhill is fed into a power grid.
  • the energy that is not required for driving the vehicle is preferably fed into a power grid. It is also possible for the energy to be fed into another vehicle's battery or into an external energy storage device that can function like an electric energy filling station on a mining or construction site without being connected to a mains electricity network. In another embodiment, it is also possible for the vehicle to be operated without a driver.
  • Driverless means that the operation of the vehicle is so automated that no driver needs to be in the vehicle.
  • an application such as mining, where a dump truck travels the same route multiple times under the same or nearly the same conditions, the use of multiple physical parameters allows for fully automated operation.
  • a further aspect of the invention is the use of the control unit according to the invention for controlling the braking of a vehicle, in particular a truck or dump truck for loading and transporting dump material.
  • Another aspect of the invention is a computer program, in particular an app, which can be uploaded to the internal, in particular non-volatile, memory of a digital computer, in particular a smartphone or a tablet computer, and which comprises a computer program code which, when executed on the digital Computer performs the steps of the method according to the invention.
  • Fig. 1 a schematic view of a vehicle that is braked exclusively by means of a recuperation generator
  • Figure 4 a schematic view of a vehicle powered by a generator/motor
  • Fig. 5 a closed control loop in a block diagram for controlling the speed of the vehicle.
  • FIG. 1 shows a schematic view of a vehicle 30 that operates exclusively in recuperation mode.
  • the kinetic energy 11 of the vehicle 30 is transmitted from the vehicle wheels 6 to a mechanical transmission 10 arranged on an axle and further via an axle body 7, a shaft 16 and a powershift transmission 9 to a first braking means 3, which is shown in the figure here
  • Embodiment is a generator working in recuperation mode.
  • the generator converts mechanical energy 12 into electrical energy 13, which is transmitted via an inverter 8 to a battery 5, in which the recuperated electrical energy 13 is stored.
  • the control unit 1 is connected to the first braking means 3 and the second braking means 4 in order to increase and/or decrease the braking power of these two means.
  • the connection between the braking means 3, 4 and the control unit 1 enables the transmission of data from control-relevant physical parameters such as temperature data from the braking means 3, 4 to the control unit 1.
  • the control unit 1 is also connected to the battery 5 to transmit information about the remaining battery capacity or other battery-related physical parameters. It is not shown that the control unit 1 is also connected to other systems and components of the vehicle 30, such as B. Speed measurement and internal scales.
  • FIG. 2 shows a schematic view of a vehicle 30 which is braked exclusively with the aid of the second braking device 4, the mechanical brake.
  • This mode of operation can be the case when the battery 5 is fully charged or the battery temperature is too high.
  • no energy is transmitted from the mechanical transmission 10 to the battery 5 via the axle body 7, the shaft 16 of the powershift transmission 9, the first braking means 3 and the inverter 8.
  • the kinetic energy 11 of the vehicle 30 is converted into heat 14, which can no longer be used for the drive and/or braking mechanism.
  • the dashed lines show that this process is also controlled by the control unit 1.
  • the reference number 6 refers to the wheels.
  • FIG. 3 shows mixed braking, in which the vehicle 30 is braked simultaneously by a recuperative electric brake and a mechanical brake, ie the first and second brake means 3, 4. Both mechanisms work in parallel.
  • the control unit 1 regulates the proportional distribution of the total braking power required between the first and the second braking means 3, 4.
  • the transmission of the kinetic energy 11 from the wheels or tires 6 via the mechanical transmission 10, the axle body 7, the shaft 16 and the powershift transmission 9 to the generator 3 and the transmission of the generated electrical energy 13 to the inverter 8 and the battery 5 are shown.
  • FIG. 3 shows that at the same time the mechanical energy 12 is partially absorbed by the second braking means 4, ie the mechanical brakes, and converted into heat 14.
  • FIG. 4 shows a schematic view of a vehicle 30 that is driven by a unit 15 .
  • the drive unit 15 is driven by the electrical energy 13 which is transmitted from the battery 5 of the vehicle 30 via the inverter 8 .
  • the unit 15 converts the electrical energy 13 into mechanical energy 12, which is transmitted via the power shift generator 9, the shaft 16, the axle body 7 and the mechanical transmission 10 and drives the wheels 6.
  • the control unit 1 controls the drive power required to increase the vehicle speed.
  • the second braking means 4 the mechanical brake, is not in use.
  • the vehicle 30 has a closed control loop 20 (FIG. 5) in which an actual speed Vjst is controlled using a predefined setpoint speed v S0 n.
  • the closed control loop 20 has a PI controller 21 which is connected on its input side to a subtractor 22 which calculates the difference between the target speed v S0 n and the actual speed Vjst and feeds it to the PI controller 21 as reference variable Av.
  • the PI controller 21 outputs the total braking power P t that is fed to the controlled system as a manipulated variable.
  • the controlled system includes motor vehicle 30 with its drive and deceleration components.
  • FIG. 5 shows only one braking power distribution module 23 and the entire braking device 24 with the electrical brake 3 and the mechanical brake 4 .
  • the braking power distribution module 23 is connected to a regenerative capability module 25 which determines the maximum available electrical braking power P ev and forwards it to the braking power distribution module 23 .
  • a secondary control loop 27 which has a disturbance module 28, with which at least one disturbance variable acting on the controlled system is detected and from this a disturbance variable surcharge Vk is determined.
  • the disturbance variable surcharge is fed to the subtractor 22 and added there to the differential speed Av.
  • the gradient of the roadway and the total weight of the vehicle are detected as disturbance variables.
  • the jamming module 28 measures the current inclination a of the longitudinal direction of the vehicle relative to the horizontal and the payload of the vehicle.
  • the vehicle has an air-bearing or gas/oil-bearing chassis.
  • the payload can be determined based on the pressure of the chassis.
  • the payload is then added to the curb weight, which is known, and thus results in the total vehicle weight or the total vehicle mass M t .
  • the disturbance variable surcharge Vk is calculated using the following formula:
  • Vk M t (a + b sin a) where the component M t a is a change in the kinetic energy and the component M t sin a is caused by the downhill slope force, where a, b are each parameters that can be determined empirically.
  • the regeneration capability module 25 measures the parameters free charge capacity of the battery, temperature of the battery, temperature of the generator, temperature of the inverter and power reserve of the generator and from this calculates a separate value for the maximum available electrical braking power.
  • the smallest value of these multiple values of the maximum available electrical braking power is the maximum available electrical braking power P ev , which is forwarded to the braking power distribution module 23 .
  • the power reserve of the generator is calculated using the limit load integral, in which the square of the current multiplied by time is integrated over time.
  • the limit load integral provides information about the possible overloading of the generator beyond nominal operation. This can be used to estimate how long the generator can continue to be used above nominal operation without damage occurring.
  • the braking power distribution module 23 uses the maximum available electrical braking power P ev provided by the regeneration capability module 25 as a threshold value, with the proportion of the total braking power P t that is not greater than this threshold value being supplied to the electrical braking device 3 as electrical braking power P e , whereas the proportion of total braking power P t that is above this threshold value, the mechanical brake 4 is supplied. If the total braking power P t is less than the threshold value, only the electric brake 3 is used for braking.
  • a driver assistance module 29 is optionally arranged between the braking power distribution module 23 and the entire braking device 24 and is connected to wheel speed sensors (not shown) which measure the wheel speed of the individual wheels 6, in particular all wheels.
  • the electric braking device 3 brakes the rear axle 7 as a whole, i.e. the braking power is divided between the two wheels 6 of the rear axle by means of a differential.
  • the mechanical braking device 4 has a plurality of brakes with which the individual wheels, including those of the non-driven axle, can be braked individually.
  • the driver assistance module 29 is designed in such a way that the braking powers P e , Pt output by the braking power distribution module 23 can be acted upon independently.
  • the braking effect of the electrical braking device 3 and the mechanical braking device 4 can be adjusted or corrected independently of one another.
  • the driving assistance module 29 is designed to limit the drive of the wheels 6 when starting off if they are slipping relative to the roadway. This is referred to as anti-spin regulation. Furthermore, the driving assistance module 29 is designed to prevent the vehicle from skidding when braking. This is referred to as the ABS system or driving stability program.
  • the driving assistance module 29 only brakes the wheel 6 that is rotating too fast by means of the mechanical brake coupled to this wheel 6 .
  • the driving assistance module 29 reduces the drive power of the drive unit 15, i. H. the electrical drive power is reduced.
  • the braking power of the mechanical braking device 4 is initially reduced. This has two reasons. On the one hand, the individual wheels 6 can be braked independently of one another with the mechanical braking device 4, so that it is possible to react to an individual locking of an individual wheel 6. On the other hand, a maximum amount of energy can be recuperated in this way. If one or both wheels of the driven axle 7 lock, although the braking power for the mechanical brake 4 has been significantly reduced or completely eliminated, then the electrical braking power is also reduced.
  • the response times of the braking devices 3, 4 are so short compared to the inertia of the moving components that, unlike what is known from passenger cars, the electrical braking power can initially be kept high. Only when one or both wheels 6 of the driven axle 7 lock, with little or no braking power being applied to the mechanical brake 4 below a predetermined threshold value, can it be expedient to reduce the braking power at the electric brake 3 immediately.
  • two generators which can also be used as electric motors, can be provided on the drive axle and each be coupled to one of the wheels 6 .
  • This allows the wheels to be braked and driven independently of one another.
  • it is also possible to control the two wheels 6 independently of one another by means of the electric braking device 3, in particular if the driver assistance system detects different speeds that are not caused by the route. But here, too, it is expedient to first reduce the mechanical braking power of the individual wheels during a braking process and only then the electrical braking power in order to optimize regenerative energy generation.
  • the actual speed Vj St is set by braking with the electric braking device 3 and, if necessary, with the mechanical braking device 4 .
  • the regulation counteracts the downhill force before the vehicle is accelerated. In this way, braking peaks can be avoided, which can only be intercepted with the mechanical brake. As a result, the mechanical brake 4 becomes less overall and the electric brake 3 is used more overall, as a result of which more electrical energy can be obtained regeneratively in comparison to a regulation which does not take into account the disturbance variables.
  • the regenerative capability module 25 and the braking power distribution module 23 determine the maximum possible regenerative braking power and use it to brake the vehicle. This allows further optimization of regenerative electrical braking energy.
  • this type of control and the determination of the maximum available electrical braking power allows a reduction in the dimensioning of the vehicle's battery and the power electronics and the inverter.
  • the battery could be reduced to a weight of 5 t with an output of 634 kW, compared to an otherwise standard design, which would have been around 11 to 2 t heavier.
  • This weight saving is a significant benefit, especially when the truck is traveling uphill.
  • the maximum electrical regenerative continuous braking power is 634 kW and the maximum mechanical continuous braking power is 785 kW.
  • the maximum electrical continuous braking power is preferably smaller than the maximum mechanical continuous braking power, which is less technically complex and can therefore be made available more cost-effectively.
  • the electrical braking power is preferably less than 90%, in particular less than 80% or less than 70% of the mechanical braking power. In individual cases, it can even be less than 50% of the mechanical continuous braking power.
  • the specified maximum speed is entered manually by the user of the motor vehicle and can be set in steps of 1/2 km/h. This is equivalent to operating a conventional truck brake cruise control.
  • the specified speed is stored in a memory and thus represents a static control variable of the control loop, which can be changed but is generally kept constant for a long time.
  • the specified speed can also be specified by the brake pedal, which is then designed as an electric brake pedal.
  • the position of the brake pedal itself can be translated directly into a specific speed value.
  • the position of the brake pedal can also mean a certain speed value by which the current fast speed is to be decelerated.
  • the specified speed can be automatically specified by a pre-stored roadway profile, with different speeds being able to be assigned to the individual roadway sections.
  • the roadway profile can also contain the incline and/or the curve radii of the roadway.
  • a wet disk brake is used as the mechanical braking device 4 .
  • Wet disc brakes have the advantage that they brake without wear. However, they generate so-called drag losses, i.e. the wet multi-disk brake always generates a certain minimum braking resistance, which must also be counteracted in drive mode.
  • a dry brake is provided instead of a wet disk brake, which only functions as an emergency brake, since dry brakes or friction brakes, such as disk brakes, are subject to wear that is significant in such heavy vehicles.
  • the electric braking device 3 is to be designed in such a way that it can brake the vehicle completely in any driving situation.
  • the limiting elements for the braking power are usually the generator and the inverter, which have to be dimensioned accordingly in order to be able to provide the desired braking power.
  • the electrical braking resistor takes over the function of the mechanical braking device 4 of the exemplary embodiment explained above and brakes the vehicle if insufficient recuperative braking power is available.
  • Such an embodiment can preferably be designed in combination with at least two or more generators, one of the generators being coupled in a torque-proof manner to only a single wheel.
  • the electrical braking power can be distributed to several generators. divided, which means that each individual generator does not have to provide the full electrical braking power.
  • the individual generators can also each be coupled to a separate inverter. This provides a certain level of redundancy if a generator and/or an inverter should fail.
  • the advantage achieved with the control loop according to the invention is that peaks in the overall braking power P t are avoided, and also has the advantage that the driver assistance system has to intervene less often and overall the vehicle is braked more evenly and more stably. This significantly increases safety in driving behavior.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un procédé de commande d'un système de freinage d'un véhicule (30), lequel système de freinage présente un premier moyen de freinage (3) qui est conçu sous la forme d'un générateur pour le freinage électrique et est connecté à une batterie afin de charger ladite batterie, pour le freinage par récupération, et qui présente un second moyen de freinage (4), qui est conçu comme un frein non récupératif, en particulier un frein mécanique pour le freinage mécanique. Lors d'un trajet en descente sur une chaussée en pente, le système de freinage est commandé de telle sorte qu'une vitesse prédéfinie n'est pas dépassée, la vitesse étant commandée à l'aide d'une boucle de commande fermée et la vitesse prédéfinie étant utilisée en tant que variable de guidage pour la boucle de commande et la puissance de freinage totale étant utilisée en tant que variable d'actionnement et la pente de la chaussée étant déterminée en tant que variable de perturbation et étant prise en compte par un supplément de variable de perturbation dans la boucle de commande fermée. Ici, la puissance de freinage totale est répartie entre le frein électrique et le frein non récupératif de sorte qu'une puissance électrique maximale possible est stockée dans la batterie.
PCT/EP2022/086461 2021-12-16 2022-12-16 Procédé de commande d'un système de freinage, unité de commande permettant de commander un système de freinage et véhicule équipé d'une telle unité de commande WO2023111318A1 (fr)

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DE102021133501.9A DE102021133501A1 (de) 2021-12-16 2021-12-16 Verfahren zur Steuerung eines Bremssystems, Steuereinheit zum Steuern eines Bremssystems und Fahrzeug mit einer solchen Steuereinheit
DE102021133501.9 2021-12-16

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US20170129493A1 (en) 2015-11-06 2017-05-11 Ford Global Technologies, Llc System and method for controlling a transmission gear shift
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EP3659851A1 (fr) 2018-11-27 2020-06-03 eMining AG Unité de commande pour commander un système de freinage, véhicule comprenant l'unité de commande et procédé de fonctionnement du véhicule
US20200171956A1 (en) * 2018-12-03 2020-06-04 Hyundai Motor Company Eco-friendly vehicle and hill descent control method for the same
DE102019210918A1 (de) * 2019-07-23 2021-01-28 Continental Teves Ag & Co. Ohg Verfahren zur Steuerung einer Bremsanlage und Bremsanlage
US20210070263A1 (en) * 2019-09-10 2021-03-11 Subaru Corporation Brake controlling apparatus and vehicle

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US20040225435A1 (en) 2003-03-19 2004-11-11 Komatsu Ltd. Traveling system for a driving vehicle
DE102005041071A1 (de) * 2005-08-30 2007-03-08 Lucas Automotive Gmbh System zum Kontrolle der Bergabfahrt eines Kraftfahrzeuges
DE102011005000A1 (de) 2011-03-02 2012-09-06 Bayerische Motoren Werke Aktiengesellschaft Geschwindigkeitsabregelung zur Vermeidung des Überschreitens einer Maximalgeschwindigkeit eines Kraftfahrzeugs
US9744872B2 (en) 2013-09-27 2017-08-29 Liebherr-Components Biberach Gmbh Self-propelling work machine and method for braking such a work machine
EP3100898A1 (fr) * 2014-01-30 2016-12-07 BYD Company Limited Véhicule et procédé de commande de retour de freinage associé
DE102016103888A1 (de) * 2015-03-06 2016-09-08 Ford Global Technologies, Llc Systeme und Verfahren zum Anpassen kinetischer Energie bei einem Hybridfahrzeug vor und während einer Strassenneigungsänderung
DE102016105658A1 (de) * 2015-04-09 2016-10-13 Ford Global Technologies, Llc Anhängerrücksetzhilfe durch geschwindigkeitsbegrenzung mittels bremsen
US20160362006A1 (en) 2015-06-09 2016-12-15 Caterpillar Inc. Braking Management in a Dual Braking System
US20170129493A1 (en) 2015-11-06 2017-05-11 Ford Global Technologies, Llc System and method for controlling a transmission gear shift
DE102019208422A1 (de) * 2018-06-21 2019-12-24 Deere & Company Verbessertes Bremsverfahren und -vorrichtung für Hybridmaschinen
EP3659851A1 (fr) 2018-11-27 2020-06-03 eMining AG Unité de commande pour commander un système de freinage, véhicule comprenant l'unité de commande et procédé de fonctionnement du véhicule
US20200171956A1 (en) * 2018-12-03 2020-06-04 Hyundai Motor Company Eco-friendly vehicle and hill descent control method for the same
DE102019210918A1 (de) * 2019-07-23 2021-01-28 Continental Teves Ag & Co. Ohg Verfahren zur Steuerung einer Bremsanlage und Bremsanlage
US20210070263A1 (en) * 2019-09-10 2021-03-11 Subaru Corporation Brake controlling apparatus and vehicle

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