WO2004106102A1 - Motor vehicle drive device - Google Patents

Motor vehicle drive device Download PDF

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Publication number
WO2004106102A1
WO2004106102A1 PCT/EP2004/004651 EP2004004651W WO2004106102A1 WO 2004106102 A1 WO2004106102 A1 WO 2004106102A1 EP 2004004651 W EP2004004651 W EP 2004004651W WO 2004106102 A1 WO2004106102 A1 WO 2004106102A1
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WO
WIPO (PCT)
Prior art keywords
torque
electrical machine
vehicle
electrical
control device
Prior art date
Application number
PCT/EP2004/004651
Other languages
German (de)
French (fr)
Inventor
Harald Braun
Norbert Ebner
Michael Fischer
Michael Schopper
Original Assignee
Daimlerchrysler 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 Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Publication of WO2004106102A1 publication Critical patent/WO2004106102A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • 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
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

Definitions

  • the invention relates to a motor vehicle drive device according to the preamble of claim 1.
  • a motor vehicle drive device of this type is known from DE 100 46 631 AI. It discloses a method for regulating a generator in a motor vehicle, wherein a generator feeds an electrical system with consumers and at least one battery. In a recuperation standby mode, the setpoint of the generator output voltage is specified as a function of driving state variables in such a way that electrical energy is fed into the vehicle electrical system when the vehicle is braked or coasting. The generator voltage determines the direction and the size of the electrical charge flow on the battery, so that there are charging and discharging cycles.
  • the object of the invention is to solve these disadvantages.
  • the object of the invention is to solve the problem of applying as much braking energy as possible to the braking request by recuperation operation of one or more generators which can be operated as electrical machines, instead of using the braking system without impairing the driving stability of the motor vehicle, in the event of a braking request to the motor vehicle.
  • the solution consists of functions in an engine control unit of the internal combustion engine, in the vehicle electrical system and in the brake system. From the electrical system and generator information of the electrical machine, the engine control unit calculates the maximum possible recuperation torque that is still within the permitted voltage and current limits of the electrical system and the battery. This recuperation torque is continuously sent to an automatic brake coordinator, so that as soon as braking is initiated by the driver or a technical device, a recuperation torque is requested and at the same time a braking request reduced by this value is given to the drive wheels. The engine control now controls the generator in torque mode to the required torque.
  • the term electrical machine is used instead of a generator, since an electrical machine is preferably used, which can alternatively be operated as a generator or as an electric motor.
  • the distribution of the control functions between the engine control unit and the brake coordinator is only mentioned here as an example.
  • this simplification of the description does not mean that the engine control unit and the brake coordinator need to be integrated in a single control device.
  • the functions of the electronic control device described above and below can be carried out by a single device or by a large number of devices.
  • the recuperation according to the invention with a torque control makes it possible for the driver to always build up the torque in a similar and therefore predictable manner.
  • a brake coordinator which belongs to the electronic control device, can ensure that, regardless of the realizable recuperation torque on the drive axle, there is always an optimal torque distribution is achieved on all vehicle wheels, so that disadvantages with regard to driving stability are excluded.
  • a diagram can be stored for an electrical machine or a generator with an excitation coil, which contains the generator speeds on one axis, the excitation current on the other axis and a large number of torque curves between these diagram axes, so that the control device for each torque depends on can determine the associated excitation current at a certain speed.
  • the respective third size of the diagram can be read or calculated by the control device from two sizes.
  • a diagram can be stored which plots the rotational speeds of the generator on one diagram axis and the torques of the generator on another diagram axis.
  • the torques can be determined, for example, by current measurements using current sensors and corresponding torque calculation.
  • the respective speed of the electrical machine can either be measured by sensors or taken from the engine control unit, since the firing sequences of the internal combustion engine are related to the speed of the electrical machine.
  • a possible translation or reduction in the drive connection between the electrical machine and the drive train can be taken into account by the control device using a translation or reduction factor. If the electrical machine is not arranged between the internal combustion engine and a gear change transmission, but between a gear change transmission and driven ones Vehicle wheels, the respective translation can also be taken into account by the control device.
  • Fig. 1 shows schematically a motor vehicle drive device with an electronic control device according to the invention.
  • FIG. 1 shows a motor vehicle drive device with an internal combustion engine 2, a travel drive train 4 with an automatically or manually switchable transmission 6 from the internal combustion engine 2 to a drivable vehicle axle 8 from vehicle wheels 10.
  • Another vehicle axle 12 from further vehicle wheels 14 is a non-driven axle , but could also be a driven axle.
  • An electrical machine 16 is connected (or connectable) in terms of drive by a drive connection 18 to the drive train 4, preferably to its section 20 between the internal combustion engine 2 and the transmission 6.
  • the drive connection 18 can be a step-up or step-down ratio.
  • a translation is normally provided such that the electrical machine 16 rotates about three times faster than the strand section 20.
  • the electrical machine 16 can be operated as a generator and can be driven by the internal combustion engine 2 to generate electricity for an electrical system 22 with a battery 24 and electrical consumers 26 (vehicle interior lighting, vehicle exterior lighting, air conditioning, radio, etc.).
  • the generator 26 can be driven instead of the engine 2 by the vehicle wheels 10 of the drivable vehicle axle 8 to generate electricity for the vehicle electrical system 22.
  • the latter operating mode, in which the generator 16 is driven by the vehicle wheels 10, is also called recuperation mode, since the vehicle's dynamic energy is converted into electrical energy.
  • the electrical machine 16 can preferably be operated not only as a generator but also as an electric motor.
  • As an electric motor it can be used as a starter motor for starting the internal combustion engine 2 and / or for delivering torque to the drivable vehicle wheels 10.
  • a brake system 28 of the motor vehicle includes brakes 30 on the vehicle wheels 10 and 14 and a brake force distributor 32.
  • 1 also shows a brake pedal 34, an accelerator pedal 36 and a steering wheel 38.
  • an electronic control device 40 is provided for controlling the internal combustion engine 2, the electric machine 16 and the brake system 28.
  • the control device 40 shown schematically thus represents an electronic motor control for the internal combustion engine 2, an electronic control for Control of the electrical machine 16, and an electronic control device (brake coordinator) for controlling the brake system 28.
  • the control device 40 also includes control measures for driving stability, e.g. B. Criteria for preventing one or more vehicle wheels 10 and / or 14 from blocking or spinning, and / or for generating anti-skid moments on the vehicle wheels 10 and / or 14. At least one such driving stability criterion is stored. However, several such and / or other driving stability criteria are preferably stored and can be executed by computer programs.
  • An acceleration request to the motor vehicle can be made by the driver by actuating the accelerator pedal 16 or by an automatic Matic drive control takes place, for example by a so-called cruise control, by means of which the vehicle speed is automatically kept constant, regardless of the driving resistance of the vehicle on the road.
  • a braking request to the motor vehicle can be made, for example, by the driver by actuating the brake pedal 34, or automatically, for example by the aforementioned cruise control, when the vehicle begins to accelerate when driving downhill, or by a spacer for automatically maintaining a minimum distance from an obstacle in front of the motor vehicle.
  • one or more such or other measures can be provided to influence the driving behavior of the motor vehicle.
  • the electronic control device 40 is designed such that it determines with a predetermined clock frequency in each case how much braking torque on the at least one vehicle axle 8, to which the electrical machine 16 is connected in terms of drive, as a function of at least one predetermined driving stability criterion when a braking request is made is permissible.
  • the control device also determines which is the currently maximum available recuperation torque of the electrical machine 16 as a generator.
  • the maximum available recuperation torque of the electrical machine 16 is calculated by the control device 40 in each case from the difference between the current charging torque of the electrical machine 16 when the battery 24 is in charging mode and at a predetermined torque of the electrical machine at a predetermined maximum permissible electrical system voltage in the case of recuperation mode.
  • the control device 40 distributes the braking request to the vehicle axles 8 and 12 in a way that is optimized for recuperation, so that this results in a resulting braking request torque on the vehicle axle 8 to which the electrical machine 16 is connected in terms of drive.
  • This means that the recuperation torque that can be generated by the electrical machine 16 as a generator on the drivable axle 8 has the greatest possible value taking into account at least one driving stability criterion and taking into account the fact that the electric machine 16 only acts on the drivable axle 8, but the braking system 28 acts on the brakes 30 of all vehicle wheels 10 and 14.
  • the vehicle wheels 10 of the driven vehicle axle 8 receive the entire braking torque from the electrical machine 16 in generator mode, insofar as this is sufficient to cover the braking torque requirement of these vehicle wheels 10.
  • a possibly insufficient torque component is generated on these vehicle wheels 10 by the brake system 28.
  • the vehicle wheels 14 of the non-drivable vehicle axle 12 are only subjected to the remaining portion of the total braking torque required by the brake system 28.
  • the braking torque is distributed to all wheels 10 and 14 by the control device 40 as a function of driving stability criteria.
  • the control device 40 is designed to carry out a comparison between the maximum available recuperation torque of the electrical machine 16 as a generator and the resulting braking request torque to the braking system. Furthermore, the control device 40 is designed such that if the maximum available recuperation torque is smaller than the resulting braking request torque on the vehicle axle 8, which is drivingly connected to the electrical machine 16, it requests the maximum available torque of the electrical machine from this electrical machine and the missing torque component requests from the brake system 28 up to the resulting braking request torque.
  • the control device 40 only requests the resulting braking request torque from the electrical machine and from that Brake system for this vehicle axle 8 no braking torque requested.
  • control device 40 is designed in such a way that, when the braking request torque is distributed to the vehicle axles 8 and 12 in a manner that is optimized for recuperation, this distribution is also carried out as a function of at least one predetermined driving stability criterion. This can be one of the aforementioned driving stability criteria or another.
  • the electronic control device 40 is designed to calculate the respectively current maximum available recuperation torque of the electrical machine 16 as a function of a predetermined permissible maximum voltage limit value of the vehicle electrical system 22, as a function of a predetermined permissible minimum voltage limit value of the vehicle electrical system , depending on the current battery charge voltage value, depending on the electrical currents of the vehicle electrical system and the battery, which result from the three voltage values mentioned, and depending on generator information of the electrical machines 16, which are stored in the control device 40 and in relation to each other the control device provide the relationship between the speed of the electrical machine 16, the electrical current of the electrical system 22 and the resulting torque of the electrical machine 16 as a generator in the three different operating points, which are given for the maximum voltage limit, the minimum voltage limit and the current charging voltage.
  • the resulting maximum available recuperation torque of the electrical machine 16 which can be calculated by the control device 40, is the difference between the current torque of the electrical machine at the current charging voltage value and the torque of the electrical machine the maximum voltage value mentioned in the recuperation mode of the electrical machine 16 in the generator mode.

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

Abstract

The invention relates to a motor vehicle drive device comprising an internal combustion engine (2) and at least one electrical machine (16), which can be operated as a generator for recuperating electric current from dynamic traveling energy of the motor vehicle. An electronic control device (40) is designed for determining how much braking torque is permitted on the vehicle axle (8), to which the electrical machine is drive-connected or can be drive-connected, according to at least one predetermined driving stability criterion. The electronic control device is also designed for determining the maximally available recuperation torque of the electrical machine serving as the generator that is established based on the difference between the vehicle electric system demands and battery demands placed on the electrical machine and the maximally producible recuperation torque of the electrical machine during the operation of the generator.

Description

DaimlerChrysler AGDaimlerChrysler AG
Kraftfahrzeug-AntriebsvorrichtungMotor vehicle drive device
Die Erfindung betrifft eine Kraftfahrzeug-Antriebsvorrichtung gemäß dem Oberbegriff von Anspruch 1.The invention relates to a motor vehicle drive device according to the preamble of claim 1.
Eine Kraftfahrezug-Antriebsvorrichtung dieser Art ist aus der DE 100 46 631 AI bekannt. Sie offenbart ein Verfahren zur Regelung eines Generators in einem Kraftfahrzeug, wobei ein Generator ein Bordnetz mit Verbrauchern und mindestens einer Batterie speist. In einem Rekuperationsbereitschaftsmodus wird der Sollwert der GeneratorausgangsSpannung in Abhängigkeit von Fahrzustandsgrößen so vorgegeben, dass beim Abbremsen oder im Schubbetrieb des Fahrzeugs elektrische Energie in das Bordnetz eingespeist wird. Die Generatorspannung bestimmt die Richtung und die Größe des elektrischen Ladungsflusses an der Batterie, so dass sich Ladezyklen und Entladezyklen ergeben. Ferner wird in der DE 43 07 907 AI vorgeschlagen, die Generatorspannung beim Beschleunigen des Kraftfahrzeuges zu erniedrigen, um den Verbrennungsmotor zu entlasten, und beim Abbremsen des Kraftfahrzeuges die Generatorspannung zu erhöhen, damit der Generator zur Aufladung der Batterie durch Re- kuperation von Bremsenergie mehr Leistung aufnehmen kann. Durch die an den Fahrzustand des Kraftfahrzeuges angepasste Sollwertvorgabe der Generatorspannung wird der Leistungsfluss zwischen Batterie, Generator und Verbraucher gesteuert.A motor vehicle drive device of this type is known from DE 100 46 631 AI. It discloses a method for regulating a generator in a motor vehicle, wherein a generator feeds an electrical system with consumers and at least one battery. In a recuperation standby mode, the setpoint of the generator output voltage is specified as a function of driving state variables in such a way that electrical energy is fed into the vehicle electrical system when the vehicle is braked or coasting. The generator voltage determines the direction and the size of the electrical charge flow on the battery, so that there are charging and discharging cycles. Furthermore, it is proposed in DE 43 07 907 AI to lower the generator voltage when accelerating the motor vehicle in order to relieve the load on the internal combustion engine, and to increase the generator voltage when braking the motor vehicle so that the generator for charging the battery by recuperating braking energy does more Power can take up. The power flow between the battery, generator and consumer is controlled by the setpoint specification of the generator voltage which is adapted to the driving state of the motor vehicle.
Eine Änderung der Spannungsvorgabe am Generator erzeugt immer einen nicht vorhersehbaren Drehmomentenverlauf. Dadurch sind spürbare Rucke im Kraftfahrzeug unvermeidbar. Es wurde auch bereits vorgeschlagen, zur Reduzierung der Ruckstärke das Re- kuperationspotenzial durch Rampen und enge Begrenzungen zu beschneiden. Bei kleinen Verzögerungsanforderungen an das Kraftfahrzeug ist es jedoch nicht möglich, einen schnellen und gleichzeitig nicht spürbaren Momentenaufbau über eine Spannungsrampe zu erzielen.A change in the voltage specification on the generator always creates an unpredictable torque curve. As a result, noticeable jerks in the motor vehicle are unavoidable. It was too already proposed to reduce the recuperation potential by means of ramps and narrow limits to reduce the jerk strength. With small deceleration requirements for the motor vehicle, however, it is not possible to achieve a rapid and at the same time imperceptible torque build-up via a voltage ramp.
Durch die Erfindung soll die Aufgabe gelöst werden, diese Nachteile zu vermeiden. Durch die Erfindung soll insbesondere die Aufgabe gelöst werden, bei einer Bremsanforderung an das Kraftfahrzeug möglichst viel Bremsenergie der Bremsanforderung durch Rekuperationsbetrieb einer oder mehrerer als e- lektrische Maschinen betreibbaren Generatoren aufzubringen, anstatt durch die Bremsanlage, ohne die Fahrstabilität des Kraftfahrzeuges zu beeinträchtigen.The object of the invention is to solve these disadvantages. In particular, the object of the invention is to solve the problem of applying as much braking energy as possible to the braking request by recuperation operation of one or more generators which can be operated as electrical machines, instead of using the braking system without impairing the driving stability of the motor vehicle, in the event of a braking request to the motor vehicle.
Diese Aufgabe wird gemäß der Erfindung durch die Merkmale von Anspruch 1 gelöst .This object is achieved according to the invention by the features of claim 1.
Weitere Merkmale der Erfindung sind in den Unteransprüchen enthalten.Further features of the invention are contained in the subclaims.
Die Lösung besteht gemäß der Erfindung aus Funktionen in einem Motorsteuergerät des Verbrennungsmotors, im Bordnetz und in der Bremsanlage. Aus den Bordnetz- und Generatorinformationen der elektrischen Maschine errechnet das Motorsteuergerät das maximal mögliche Rekuperationsmoment, das noch innerhalb von erlaubten Spannungs- und Stromgrenzen des Bordnetzes und der Batterie liegt. Dieses Rekuperationsmoment wird kontinuierlich an einen automatischen Bremskoordinator gesendet, so dass dort, sobald eine Bremsung durch den Fahrer oder eine technische Einrichtung eingeleitet wird, ein Rekuperationsmoment angefordert wird und gleichzeitig ein um diesen Wert verminderter Bremswunsch an die Antriebsräder gegeben wird. Die Motorsteuerung steuert jetzt den Generator im Momentenmodus auf das geforderte Moment . Im Rahmen der vorliegenden Beschreibung wird jeweils der Begriff elektrische Maschine anstatt Generator verwendet, da vorzugsweise eine elektrische Maschine verwendet wird, welche alternativ als Generator oder als Elektromotor betreibbar ist. Die Aufteilung der Steuerfunktionen auf das Motorsteuergerät und der Bremskoordinator ist hier nur beispielhaft erwähnt. Im Rahmen der folgenden Beschreibung wird jeweils nur auf eine elektronische Steuereinrichtung Bezug genommen, welche die betreffenden Funktionen ausführt. Diese Vereinfachung der Beschreibung bedeutet jedoch nicht, dass das Motorsteuergerät und der Bremskoordinator in eine einzige Steuereinrichtung integriert zu sein brauchen. Die vorstehend und nachfolgend noch beschriebenen Funktionen der elektronischen Steuereinrichtung können von einem einzigen Gerät oder von einer Vielzahl von Geräten ausgeführt werden.According to the invention, the solution consists of functions in an engine control unit of the internal combustion engine, in the vehicle electrical system and in the brake system. From the electrical system and generator information of the electrical machine, the engine control unit calculates the maximum possible recuperation torque that is still within the permitted voltage and current limits of the electrical system and the battery. This recuperation torque is continuously sent to an automatic brake coordinator, so that as soon as braking is initiated by the driver or a technical device, a recuperation torque is requested and at the same time a braking request reduced by this value is given to the drive wheels. The engine control now controls the generator in torque mode to the required torque. In the context of the present description, the term electrical machine is used instead of a generator, since an electrical machine is preferably used, which can alternatively be operated as a generator or as an electric motor. The distribution of the control functions between the engine control unit and the brake coordinator is only mentioned here as an example. In the context of the following description, reference is only made to an electronic control device which carries out the relevant functions. However, this simplification of the description does not mean that the engine control unit and the brake coordinator need to be integrated in a single control device. The functions of the electronic control device described above and below can be carried out by a single device or by a large number of devices.
Durch die erfindungsgemäße Momentenführung ist eine vorherberechenbare und damit vorhersehbare Wiederholbarkeit von Reku- perationsvorgängen erzielbar.Due to the torque control according to the invention, a predictable and thus predictable repeatability of recuperation processes can be achieved.
Durch die Bremskoordination können beliebig große Rekuperati- onsmomente auf die betreffende Fahrzeugachse aufgeschaltet werden, ohne dass ein Einfluss auf die Fahrstabilität gegeben ist .Thanks to the brake coordination, it is possible to apply recuperation torques of any size to the vehicle axle in question, without having an impact on driving stability.
Es sind alle Verzögerungen, die in einem Kraftfahrzeug durchzuführen sind, geeignet, als Rekuperationsbetrieb ausgeführt zu werden.All delays which are to be carried out in a motor vehicle are suitable for being carried out as a recuperation operation.
Durch die erfindungsgemäße Rekuperation mit einer Momentenführung (Führung des Drehmoments der elektrischen Maschine) wird ermöglicht, dass der Momentenaufbau für den Fahrer immer gleichartig und damit vorhersehbar stattfindet. Über eine variable Bremskraft-Verteilung kann ein Brems-Koordinator, welcher zur elektronischen Steuereinrichtung gehört, sicherstellen, dass unabhängig vom realisierbaren Rekuperationsmoment an der Antriebsachse immer eine optimale Momentenverteilung auf alle Fahrzeugräder erreicht wird, so dass Nachteile bezüglich der Fahrstabilität ausgeschlossen sind.The recuperation according to the invention with a torque control (control of the torque of the electrical machine) makes it possible for the driver to always build up the torque in a similar and therefore predictable manner. Via a variable brake force distribution, a brake coordinator, which belongs to the electronic control device, can ensure that, regardless of the realizable recuperation torque on the drive axle, there is always an optimal torque distribution is achieved on all vehicle wheels, so that disadvantages with regard to driving stability are excluded.
Für die Erfindung eignen sich sowohl elektrische Maschinen bzw. Generatoren mit Erregerspule als auch elektrische Maschinen, welche permanenterregt sind. Für eine elektrische Maschine bzw. einen Generator mit Erregerspule kann beispielsweise ein Diagramm gespeichert sein, welches auf einer Achse die Generatordrehzahlen, auf der anderen Achse den Erregerstrom und zwischen diesen Diagrammachsen eine Vielzahl von Drehmomentkurven enthält, so dass die Steuereinrichtung für jedes Drehmoment in Abhängigkeit von einer bestimmten Drehzahl den zugehörigen Erregerstrom ermitteln kann. Aus jeweils zwei Größen kann die betreffende dritte Größe des Diagramms von der Steuereinrichtung gelesen oder errechnet werden.Both electrical machines and generators with an excitation coil and electrical machines which are permanently excited are suitable for the invention. For example, a diagram can be stored for an electrical machine or a generator with an excitation coil, which contains the generator speeds on one axis, the excitation current on the other axis and a large number of torque curves between these diagram axes, so that the control device for each torque depends on can determine the associated excitation current at a certain speed. The respective third size of the diagram can be read or calculated by the control device from two sizes.
Im Falle von permanenterregten elektrischen Maschinen kann ein Diagramm gespeichert sein, welches jeweils auf einer Diagrammachse die Drehzahlen des Generators und auf einer anderen Diagrammachse Drehmomente des Generators aufgetragen hat . Die Drehmomente können beispielsweise durch Strommessungen mittels Stromsensoren und entsprechende Drehmomentberechnung ermittelt werden.In the case of permanently excited electrical machines, a diagram can be stored which plots the rotational speeds of the generator on one diagram axis and the torques of the generator on another diagram axis. The torques can be determined, for example, by current measurements using current sensors and corresponding torque calculation.
Die jeweilige Drehzahl der elektrischen Maschine kann entweder durch Sensoren gemessen oder dem Motorsteuergerät entnommen werden, da die Zündfolgen des Verbrennungsmotors in Relation zur Drehzahl der elektrischen Maschine stehen. Eine gegebenenfalls vorhandene Übersetzung oder Untersetzung in der Antriebsverbindung zwischen der elektrischen Maschine und dem Fahrantriebsstrang kann durch einen Übersetzungs- oder Untersetzungsfaktor von der Steuereinrichtung berücksichtigt werden. Falls die elektrische Maschine nicht zwischen Verbrennungsmotor und einem Gangwechselgetriebe angeordnet ist, sondern zwischen einem Gangwechselgetriebe und angetriebenen Fahrzeugrädern, kann die jeweilige Übersetzung von der Steuereinrichtung ebenfalls berücksichtigt werden.The respective speed of the electrical machine can either be measured by sensors or taken from the engine control unit, since the firing sequences of the internal combustion engine are related to the speed of the electrical machine. A possible translation or reduction in the drive connection between the electrical machine and the drive train can be taken into account by the control device using a translation or reduction factor. If the electrical machine is not arranged between the internal combustion engine and a gear change transmission, but between a gear change transmission and driven ones Vehicle wheels, the respective translation can also be taken into account by the control device.
Die Erfindung wird im folgenden anhand einer bevorzugten Aus- führungsform als Beispiel mit Bezug auf die beiliegende Zeichnung beschrieben. Die Zeichnung zeigt inThe invention is described below using a preferred embodiment as an example with reference to the accompanying drawings. The drawing shows in
Fig. 1 schematisch eine Kraftfahrzeug-Antriebsvorrichtung mit einer elektronischen Steuereinrichtung nach der Erfindung.Fig. 1 shows schematically a motor vehicle drive device with an electronic control device according to the invention.
Fig. 1 zeigt eine Kraftfahrzeug-Antriebsvorrichtung mit einem Verbrennungsmotor 2, einem Fahrantriebsstrang 4 mit einem automatisch oder manuell schaltbaren Getriebe 6 vom Verbrennungsmotor 2 zu einer antreibbaren Fahrzeugachse 8 von Fahrzeugrädern 10. Eine weitere Fahrzeugachse 12 von weiteren Fahrzeugrädern 14 ist eine nicht-angetriebene Achse, könnte aber auch eine angetriebene Achse sein.1 shows a motor vehicle drive device with an internal combustion engine 2, a travel drive train 4 with an automatically or manually switchable transmission 6 from the internal combustion engine 2 to a drivable vehicle axle 8 from vehicle wheels 10. Another vehicle axle 12 from further vehicle wheels 14 is a non-driven axle , but could also be a driven axle.
Eine elektrische Maschine 16 ist durch eine Antriebsverbindung 18 mit dem Fahrantriebsstrang 4 antriebsmäßig verbunden (oder verbindbar) , vorzugsweise mit dessen Strangabschnitt 20 zwischen dem Verbrennungsmotor 2 und dem Getriebe 6. Die Antriebsverbindung 18 kann eine Übersetzung oder Untersetzung sein. Normalerweise ist eine Übersetzung derart vorgesehen, dass die elektrische Maschine 16 etwa dreimal schneller dreht als der Strangabschnitt 20.An electrical machine 16 is connected (or connectable) in terms of drive by a drive connection 18 to the drive train 4, preferably to its section 20 between the internal combustion engine 2 and the transmission 6. The drive connection 18 can be a step-up or step-down ratio. A translation is normally provided such that the electrical machine 16 rotates about three times faster than the strand section 20.
Die elektrische Maschine 16 ist als Generator betreibbar und hierfür vom Verbrennungsmotor 2 antreibbar zur Stromerzeugung für ein Bordnetz 22 mit einer Batterie 24 und elektrischen Verbrauchern 26 (Fahrzeuginnenbeleuchtung, Fahrzeugaußenbeleuchtung, Klimaanlage, Radio usw.). Der Generator 26 kann anstatt vom Motor 2 von den Fahrzeugrädern 10 der antreibbaren Fahrzeugachse 8 angetrieben werden zur Stromerzeugung für das Bordnetz 22. Der letztgenannte Betriebsmodus, bei welchem der Generator 16 von den Fahrzeugrädern 10 angetrieben wird, wird auch Rekuperations-Modus genannt, da die dynamische E- nergie des Fahrzeuges in elektrische Energie umgewandelt wird.The electrical machine 16 can be operated as a generator and can be driven by the internal combustion engine 2 to generate electricity for an electrical system 22 with a battery 24 and electrical consumers 26 (vehicle interior lighting, vehicle exterior lighting, air conditioning, radio, etc.). The generator 26 can be driven instead of the engine 2 by the vehicle wheels 10 of the drivable vehicle axle 8 to generate electricity for the vehicle electrical system 22. The latter operating mode, in which the generator 16 is driven by the vehicle wheels 10, is also called recuperation mode, since the vehicle's dynamic energy is converted into electrical energy.
Die elektrische Maschine 16 ist vorzugsweise nicht nur als Generator, sondern auch als Elektromotor betreibbar. Als e- lektrischer Motor kann er als Starter-Motor zum Starten des Verbrennungsmotors 2 und/oder zur Drehmomentabgäbe an die antreibbaren Fahrzeugräder 10 verwendet werden.The electrical machine 16 can preferably be operated not only as a generator but also as an electric motor. As an electric motor, it can be used as a starter motor for starting the internal combustion engine 2 and / or for delivering torque to the drivable vehicle wheels 10.
Eine Bremsanlage 28 des Kraftfahrzeuges beinhaltet Bremsen 30 an den Fahrzeugrädern 10 und 14 und einen Bremskraftverteiler 32.A brake system 28 of the motor vehicle includes brakes 30 on the vehicle wheels 10 and 14 and a brake force distributor 32.
Ferner zeigt Fig. 1 ein Bremspedal 34, ein Gaspedal 36 und ein Lenkrad 38.1 also shows a brake pedal 34, an accelerator pedal 36 and a steering wheel 38.
Als ein einziges Gerät oder als eine Vielzahl von Geräten ist eine elektronische Steuereinrichtung 40 vorgesehen zur Steuerung des Verbrennungsmotors 2, der elektrischen Maschine 16 und der Bremsanlage 28. Die schematisch dargestellte Steuereinrichtung 40 repräsentiert somit eine elektronische Motorsteuerung für den Verbrennungsmotor 2, eine elektronische Steuerung zur Steuerung der elektrischen Maschine 16, und eine elektronische Steuereinrichtung (Bremskoordinator) zur Steuerung der Bremsanlage 28. Die Steuereinrichtung 40 beinhaltet auch Steuer- oder Regelmaßnahmen zur Fahrstabilität, z. B. Kriterien zur Verhinderung, dass eines oder mehrere Fahrzeugräder 10 und/oder 14 blockieren oder durchdrehen, und/oder zur Erzeugung von Antischleudermomenten an den Fahrzeugrädern 10 und/oder 14. Es ist mindestens ein solches Fahrstabilitätskriterium gespeichert. Vorzugsweise sind jedoch mehrere solcher und/oder andere Fahrstabilitätskriterien gespeichert und durch Computerprogramme ausführbar.As a single device or as a plurality of devices, an electronic control device 40 is provided for controlling the internal combustion engine 2, the electric machine 16 and the brake system 28. The control device 40 shown schematically thus represents an electronic motor control for the internal combustion engine 2, an electronic control for Control of the electrical machine 16, and an electronic control device (brake coordinator) for controlling the brake system 28. The control device 40 also includes control measures for driving stability, e.g. B. Criteria for preventing one or more vehicle wheels 10 and / or 14 from blocking or spinning, and / or for generating anti-skid moments on the vehicle wheels 10 and / or 14. At least one such driving stability criterion is stored. However, several such and / or other driving stability criteria are preferably stored and can be executed by computer programs.
Eine Beschleunigungsanforderung an das Kraftfahrzeug kann vom Fahrer durch Betätigen des Gaspedals 16 oder durch eine auto- matische Fahrantriebssteuerung erfolgen, beispielsweise durch einen sogenannten Tempomat, durch welche die Fahrzeuggeschwindigkeit automatisch konstant gehalten wird, unabhängig vom Fahrwiderstand des Fahrzeuges auf der Straße. Eine Brems- anforderung an das Kraftfahrzeug kann beispielsweise durch den Fahrer durch Betätigen des Bremspedals 34 gestellt werden, oder automatisch, beispielsweise durch den vorgenannten Tempomat, wenn das Fahrzeug bei Bergabfahrt zu beschleunigen beginnt, oder durch einen Distanzhalter zur automatischen Einhaltung eines Mindestabstandes zu einem Hindernis vor dem Kraftfahrzeug. Je nach Fahrzeugtyp können einzelne oder mehrere solche oder andere Maßnahmen vorgesehen sein zur Beeinflussung des Fahrverhaltens des Kraftfahrzeuges.An acceleration request to the motor vehicle can be made by the driver by actuating the accelerator pedal 16 or by an automatic Matic drive control takes place, for example by a so-called cruise control, by means of which the vehicle speed is automatically kept constant, regardless of the driving resistance of the vehicle on the road. A braking request to the motor vehicle can be made, for example, by the driver by actuating the brake pedal 34, or automatically, for example by the aforementioned cruise control, when the vehicle begins to accelerate when driving downhill, or by a spacer for automatically maintaining a minimum distance from an obstacle in front of the motor vehicle. Depending on the type of vehicle, one or more such or other measures can be provided to influence the driving behavior of the motor vehicle.
Gemäß der Erfindung ist die elektronische Steuereinrichtung 40 derart ausgebildet, dass sie mit einer vorbestimmten Taktfrequenz jeweils ermittelt, wieviel Bremsmoment auf der mindestens einen Fahrzeugachse 8, mit welcher die elektrische Maschine 16 antriebsmäßig verbunden ist, in Abhängigkeit von mindestens einem vorbestimmten Fahrstabilitätskriterium bei einer Bremsanforderung jeweils zulässig ist. Die Steuereinrichtung ermittelt außerdem, welches das jeweils aktuell maximal verfügbare Rekuperationsmoment der elektrischen Maschine 16 als Generator ist. Das maximal verfügbare Rekuperationsmoment der elektrischen Maschine 16 wird von der Steuereinrichtung 40 jeweils aus dem Unterschied zwischen dem jeweils aktuellen Lademoment der elektrischen Maschine 16 bei Ladebetrieb der Batterie 24 und bei einem vorbestimmten Drehmoment der elektrischen Maschine bei einer vorbestimmten maximal zulässigen Bordnetzspannung bei Rekuperationsbetrieb berechnet .According to the invention, the electronic control device 40 is designed such that it determines with a predetermined clock frequency in each case how much braking torque on the at least one vehicle axle 8, to which the electrical machine 16 is connected in terms of drive, as a function of at least one predetermined driving stability criterion when a braking request is made is permissible. The control device also determines which is the currently maximum available recuperation torque of the electrical machine 16 as a generator. The maximum available recuperation torque of the electrical machine 16 is calculated by the control device 40 in each case from the difference between the current charging torque of the electrical machine 16 when the battery 24 is in charging mode and at a predetermined torque of the electrical machine at a predetermined maximum permissible electrical system voltage in the case of recuperation mode.
Die Steuereinrichtung 40 verteilt die Bremsanforderung reku- perationsoptimiert auf die Fahrzeugachsen 8 und 12, so dass sich daraus ein resultierendes Bremsanforderungsmoment auf der Fahrzeugachse 8 ergibt, mit welcher die elektrische Maschine 16 antriebsmäßig verbunden ist. Dies bedeutet, dass das von der elektrischen Maschine 16 als Generator an der antreibbaren Achse 8 erzeugbare Rekuperations-Drehmoment den größtmöglichen Wert hat unter Berücksichtigung von mindestens einem Fahrstabilitätskriterium und unter Berücksichtigung der Tatsache, dass die elektrische Maschine 16 nur auf die antreibbare Achse 8 wirkt, jedoch die Bremsanlage 28 auf die Bremsen 30 von allen Fahrzeugrädern 10 und 14 wirkt. Die Fahrzeugräder 10 der angetriebenen Fahrzeugachse 8 erhalten das gesamte Bremsmoment von der elektrischen Maschine 16 im Generatorbetrieb, soweit dies zur Deckung des Bremsmomentbedarfs dieser Fahrzeugräder 10 ausreicht. Ein gegebenenfalls nicht ausreichender Momentenanteil wird an diesen Fahrzeugrädern 10 von der Bremsanlage 28 erzeugt. Die Fahrzeugräder 14 der nicht antreibbaren Fahrzeugachse 12 werden nur mit dem restlichen Anteil des gesamten geforderten Bremsmoments von der Bremsanlage 28 beaufschlagt. Die Bremsmomentenverteilung auf alle Räder 10 und 14 erfolgt in Abhängigkeit von Fahrstabilitätskriterien durch die Steuereinrichtung 40.The control device 40 distributes the braking request to the vehicle axles 8 and 12 in a way that is optimized for recuperation, so that this results in a resulting braking request torque on the vehicle axle 8 to which the electrical machine 16 is connected in terms of drive. This means that the recuperation torque that can be generated by the electrical machine 16 as a generator on the drivable axle 8 has the greatest possible value taking into account at least one driving stability criterion and taking into account the fact that the electric machine 16 only acts on the drivable axle 8, but the braking system 28 acts on the brakes 30 of all vehicle wheels 10 and 14. The vehicle wheels 10 of the driven vehicle axle 8 receive the entire braking torque from the electrical machine 16 in generator mode, insofar as this is sufficient to cover the braking torque requirement of these vehicle wheels 10. A possibly insufficient torque component is generated on these vehicle wheels 10 by the brake system 28. The vehicle wheels 14 of the non-drivable vehicle axle 12 are only subjected to the remaining portion of the total braking torque required by the brake system 28. The braking torque is distributed to all wheels 10 and 14 by the control device 40 as a function of driving stability criteria.
Die Steuereinrichtung 40 ist zur Durchführung eines Vergleiches zwischen dem maximal verfügbaren Rekuperationsmoment der elektrischen Maschine 16 als Generator und dem resultierenden Bremsanforderungsmoment an die Bremsanlage ausgebildet . Ferner ist die Steuereinrichtung 40 derart ausgebildet, dass sie, wenn das maximal verfügbare Rekuperationsmoment kleiner ist als das resultierende Bremsanforderungsmoment an die mit der elektrischen Maschine 16 antriebsmäßig verbundene Fahrzeugachse 8, das maximal verfügbare Moment der elektrischen Maschine von dieser elektrischen Maschine anfordert und den fehlenden Momentenanteil bis zum resultierenden Bremsanforderungsmoment von der Bremsanlage 28 anfordert. Wenn jedoch das maximal verfügbare Rekuperationsmoment der elektrischen Maschine 16 gleich oder größer ist als das resultierende Bremsanforderungsmoment an die mit der elektrischen Maschine 16 antriebsmäßig verbundene Fahrzeugachse, dann wird von der Steuereinrichtung 40 nur das resultierende Bremsanforderungsmoment von der elektrischen Maschine angefordert und von der Bremsanlage für diese Fahrzeugachse 8 kein Bremsmoment angefordert .The control device 40 is designed to carry out a comparison between the maximum available recuperation torque of the electrical machine 16 as a generator and the resulting braking request torque to the braking system. Furthermore, the control device 40 is designed such that if the maximum available recuperation torque is smaller than the resulting braking request torque on the vehicle axle 8, which is drivingly connected to the electrical machine 16, it requests the maximum available torque of the electrical machine from this electrical machine and the missing torque component requests from the brake system 28 up to the resulting braking request torque. However, if the maximum available recuperation torque of the electrical machine 16 is equal to or greater than the resulting braking request torque to the vehicle axle which is drivingly connected to the electrical machine 16, then the control device 40 only requests the resulting braking request torque from the electrical machine and from that Brake system for this vehicle axle 8 no braking torque requested.
Gemäß bevorzugter Ausführungsform der Erfindung ist die Steuereinrichtung 40 derart ausgebildet, dass sie bei der rekupe- rationsoptimierten Verteilung des Bremsanforderungsmoments auf die Fahrzeugachsen 8 und 12 diese Verteilung auch in Abhängigkeit von mindestens einem vorbestimmten Fahrstabilitätskriterium vornimmt. Dies kann eines der vorgenannten Fahrstabilitätskriterien sein oder ein anderes.According to a preferred embodiment of the invention, the control device 40 is designed in such a way that, when the braking request torque is distributed to the vehicle axles 8 and 12 in a manner that is optimized for recuperation, this distribution is also carried out as a function of at least one predetermined driving stability criterion. This can be one of the aforementioned driving stability criteria or another.
Gemäß einer bevorzugten Ausführungsform der Erfindung ist die elektronische Steuereinrichtung 40 ausgebildet, um das jeweils aktuelle maximal verfügbare Rekuperationsmoment der e- lektrischen Maschine 16 zu berechnen in Abhängigkeit von einem vorbestimmten zulässigen maximalen Spannungsgrenzwert des Bordnetzes 22, in Abhängigkeit von einem vorbestimmten zulässigen minimalen Spannungsgrenzwert des Bordnetzes, in Abhängigkeit von dem jeweils aktuellen Batterieladespannungswert , in Abhängigkeit von den elektrischen Strömen des Bordnetzes und der Batterie, die sich bei den genannten drei Spannungswerten ergeben, und in Abhängigkeit von Generatorinformationen der elektrischen Maschinen 16, welche in der Steuereinrichtung 40 gespeichert sind und in Relation zueinander der Steuereinrichtung den Zusammenhang liefern zwischen Drehzahl der elektrischen Maschine 16, elektrischem Strom des Bordnetzes 22 und daraus resultierendem Drehmoment der elektrischen Maschine 16 als Generator in den drei unterschiedlichen Betriebspunkten, welche bei dem genannten maximalen Spannungs- grenzwert, bei dem genannten minimalen Spannungsgrenzwert und bei dem jeweils aktuellen Ladespannungswert gegeben sind. Das daraus resultierende, von der Steuereinrichtung 40 errechenbare maximal verfügbare Rekuperationsmoment der elektrischen Maschine 16 ist der Unterschied zwischen dem aktuellen Drehmoment der elektrischen Maschine bei dem aktuellen Ladespannungswert und dem Drehmoment der elektrischen Maschine bei dem genannten maximalen Spannungswert bei Rekuperations- betrieb der elektrischen Maschine 16 im Generatorbetrieb. According to a preferred embodiment of the invention, the electronic control device 40 is designed to calculate the respectively current maximum available recuperation torque of the electrical machine 16 as a function of a predetermined permissible maximum voltage limit value of the vehicle electrical system 22, as a function of a predetermined permissible minimum voltage limit value of the vehicle electrical system , depending on the current battery charge voltage value, depending on the electrical currents of the vehicle electrical system and the battery, which result from the three voltage values mentioned, and depending on generator information of the electrical machines 16, which are stored in the control device 40 and in relation to each other the control device provide the relationship between the speed of the electrical machine 16, the electrical current of the electrical system 22 and the resulting torque of the electrical machine 16 as a generator in the three different operating points, which are given for the maximum voltage limit, the minimum voltage limit and the current charging voltage. The resulting maximum available recuperation torque of the electrical machine 16, which can be calculated by the control device 40, is the difference between the current torque of the electrical machine at the current charging voltage value and the torque of the electrical machine the maximum voltage value mentioned in the recuperation mode of the electrical machine 16 in the generator mode.

Claims

DaimlerChrysler AGDaimlerChrysler AG
Patentansprücheclaims
Kraftfahrzeug-Antriebsvorrichtung, enthaltend eine Verbrennungsmotor (2) , einen Fahrantriebsstrang (4) vom Verbrennungsmotor (2) zu den Fahrzeugrädern (10) von mindestens einer antreibbaren Fahrzeugachse (8) ; mindestens eine elektrische Maschine (16) , welche zur Rekuperation von elektrischer Energie aus dynamischer Fahrzeugenergie als Generator betreibbar ist und mit der antreibbaren Fahrzeugachse (8) antriebsmäßig verbunden oder verbindbar ist; eine Bremsanlage (28) zum Bremsen der Fahrzeugräder (10,14) von mindestens zwei Fahrzeugachsen (8,12), von welchen mindestens eine eine antreibbare Fahrzeugachse (8) ist; ein Bordnetz (22) mit elektrischen Verbrauchern (26) und mit mindestens einer Batterie (24) , welche von der elektrischen Maschine (16) aufladbar ist; eine elektronische Steuereinrichtung (40) , welche eine Motorsteuerung für den Verbrennungsmotor (2) aufweist; d a d u r c h g e k e n n z e i c h n e t , dass, um bei einer Bremsanforderung an das Kraftfahrzeug möglichst viel Bremsenergie der Bremsanforderung durch die mindestens eine elektrische Maschine (16) anstatt durch die Bremsanlage (28) aufzubringen, die Steuereinrichtung (40) auch zur Steuerung oder Regelung der elektrischen Maschine (16) und der Bremsanlage (28) ausgebildet ist; wobei die Steuereinrichtung (40) ausgebildet ist, um zu ermitteln, wieviel Bremsmoment auf der mindestens einen Fahrzeugachse (8) , mit welcher die elektrische Maschine (16) antriebsmäßig verbunden ist, in Abhängig- keit von mindestens einem vorbestimmten Fahrstabilitäts- kriterium bei einer Bremsanforderung jeweils zulässig ist, und um zu ermitteln, welches das jeweils aktuell maximal verfügbare Rekuperationsmoment der elektrischen Maschine (16) ist, wobei dieses maximal verfügbare Rekuperationsmoment von der Steuereinrichtung (40) aus dem Unterschied zwischen dem jeweils aktuell erforderlichen Lademoment der elektrischen Maschine (16) zum Laden der Batterie (24) und einem vorbestimmten Drehmoment der e- lektrischen Maschine (16) bei einer vorbestimmten maximal zulässigen Bordnetzspannung bei Rekuperationsbetrieb errechenbar ist; dass die Steuereinrichtung (40) das Moment der Bremsanforderung rekuperationsoptimiert auf die Fahrzeugachsen (8,12) verteilt, so dass sich daraus ein resultierendes Bremsanforderungsmoment für die Fahrzeugachse (8) ergibt, mit welcher die elektrische Maschine (16) antriebsmäßig verbunden oder verbindbar ist; dass die Steuereinrichtung (40) zur Durchführung eines Vergleiches zwischen dem maximal verfügbaren Rekuperationsmoment und dem resultierenden Bremsanforderungsmoment ausgebildet ist, und ferner derart ausgebildet ist, dass von ihr, wenn das maximal verfügbare Rekuperationsmoment kleiner ist als das resultierende Bremsanforderungsmoment an die mit der elektrischen Maschine antriebsmäßig verbundene o- der verbindbare Fahrzeugachse (8) , das maximal verfügbare Moment von der elektrischen Maschine (16) angefordert wird und der fehlende Momentenanteil bis zum resultierenden Bremsanforderungsmoment von der Bremsanlage (28) angefordert wird, jedoch, wenn das maximal verfügbare Rekuperationsmoment gleich oder größer ist als das resultierende Bremsanforderungsmoment an die mit der elektrischen Maschine (16) antriebsmäßig verbundene oder verbindbare Fahrzeugachse (8) , nur das resultierende Bremsanforderungsmoment von der elektrischen Maschine (16) angefordert wird und von der Bremsanlage (28) für diese Fahrzeugachse kein Bremsmoment angefordert wird. Kraftfahrzeug-Antriebsvorrichtung nach Anspruch 1, d a d u r c h g e k e n n z e i c h n e t , dass die Steuereinrichtung (40) auch derart ausgebildet ist, dass sie bei der rekuperationsoptimierten Verteilung des Bremsanforderungsmoments auf die Fahrzeugachsen (8,12) diese Verteilung auch in Abhängigkeit von mindestens einem vorbestimmten Fahrstabilitätskriterium vornimmt .Motor vehicle drive device, comprising an internal combustion engine (2), a travel drive train (4) from the internal combustion engine (2) to the vehicle wheels (10) of at least one drivable vehicle axle (8); at least one electrical machine (16) which can be operated as a generator for recuperation of electrical energy from dynamic vehicle energy and which is connected or can be connected to the drivable vehicle axle (8); a braking system (28) for braking the vehicle wheels (10, 14) of at least two vehicle axles (8, 12), at least one of which is a drivable vehicle axle (8); an electrical system (22) with electrical consumers (26) and with at least one battery (24) which can be charged by the electrical machine (16); an electronic control device (40) which has an engine control for the internal combustion engine (2); characterized in that, in order to apply as much braking energy as possible to the braking request by the at least one electrical machine (16) instead of by the braking system (28) when a braking request is made to the motor vehicle, the control device (40) also for controlling or regulating the electrical machine (16) and the brake system (28) is designed; The control device (40) is designed to determine how much braking torque on the at least one vehicle axle (8) to which the electrical machine (16) is connected in terms of drive, depending on speed of at least one predetermined driving stability criterion is permitted in each case when a braking request is made, and in order to determine which is the currently maximum available recuperation torque of the electrical machine (16), this maximum available recuperation torque being determined by the control device (40) from the difference between the currently required charging torque of the electrical machine (16) for charging the battery (24) and a predetermined torque of the electrical machine (16) can be calculated at a predetermined maximum permissible on-board electrical system voltage in recuperation mode; that the control device (40) distributes the torque of the braking request in a recuperation-optimized manner to the vehicle axles (8, 12), so that this results in a resulting braking request torque for the vehicle axle (8) to which the electrical machine (16) is connected or can be connected in terms of drive; that the control device (40) is designed to carry out a comparison between the maximum available recuperation torque and the resulting braking request torque, and is also designed such that when the maximum available recuperation torque is less than the resulting braking request torque for the drive with the electric machine connected or connectable vehicle axle (8), the maximum available torque is requested by the electrical machine (16) and the missing torque component up to the resulting braking request torque is requested by the braking system (28), but if the maximum available recuperation torque is equal to or greater is as the resulting braking request torque to the vehicle axle (8) which is connected or connectable by drive to the electric machine (16), only the resulting braking request torque is requested by the electric machine (16) and by the Bremsa system (28) no braking torque is requested for this vehicle axle. Motor vehicle drive device according to Claim 1, characterized in that the control device (40) is also designed in such a way that, when the braking request torque is distributed to the vehicle axles (8, 12) in an optimized manner for recuperation, this distribution is also carried out as a function of at least one predetermined driving stability criterion.
Kraftfahrzeug-Antriebsvorrichtung nach Anspruch 1 oder 2, d a d u r c h g e k e n n z e i c h n e t , dass die Steuereinrichtung (40) ausgebildet ist, um das jeweils aktuelle maximal verfügbare Rekuperationsmoment der elektrischen Maschine (16) zu berechnen in Abhängigkeit von einem vorbestimmten zulässigen maximalen Spannungsgrenzwert des Bordnetzes (22) , von einem vorbestimmten zulässigen minimalen Spannungsgrenzwert des Bordnetzes, von dem jeweils aktuellen Batterieladespannungswert , von den elektrischen Strömen des Bordnetzes und der Batterie, die sich bei den genannten drei Spannungswerten ergeben, und in Abhängigkeit von Generatorinformationen der elektrischen Maschinen (16) , welche in der Steuereinrichtung (40) gespeichert sind und in Relation zueinander der Steuereinrichtung den Zusammenhang liefern zwischen Drehzahl der elektrischen Maschine (16) , elektrischem Strom des Bordnetzes (22) und daraus resultierendem Drehmoment der elektrischen Maschine (16) als Generator in den drei unterschiedlichen Betriebspunkten, welche bei dem genannten maximalen Spannungsgrenzwert, bei dem genannten minimalen Spannungsgrenzwert und bei dem jeweils aktuellen Ladespannungswert gegeben sind, wobei das daraus resultierende, von der Steuereinrichtung errechenbare maximal verfügbare Rekuperationsmoment der elektrischen Maschine (16) der Unterschied zwischen dem aktuellen Drehmoment der elektrischen Maschine bei dem aktuellen Ladespannungswert und dem Drehmoment der elektrischen Maschine bei dem genannten maximalen Spannungswert bei Re- kuperationsbetrieb der elektrischen Maschine als Generator ist.Motor vehicle drive device according to claim 1 or 2, characterized in that the control device (40) is designed to calculate the respectively current maximum available recuperation torque of the electrical machine (16) as a function of a predetermined permissible maximum voltage limit value of the vehicle electrical system (22), a predetermined permissible minimum voltage limit value of the vehicle electrical system, the current battery charge voltage value, the electrical currents of the vehicle electrical system and the battery which result from the three voltage values mentioned, and as a function of generator information of the electrical machines (16) which are stored in the control device ( 40) are stored and in relation to each other the control device provides the relationship between the speed of the electrical machine (16), electrical current of the electrical system (22) and the resulting torque of the electrical machine (16) as generator in the three different ied operating points, which are given at said maximum voltage limit value, at said minimum voltage limit value and at the respective current charging voltage value, the resulting maximum available recuperation torque of the electrical machine (16) that can be calculated by the control device being the difference between the current torque of the electrical machine Machine at the current charging voltage value and the torque of the electrical machine at the specified maximum voltage value at Kuperationsbetrieb the electrical machine as a generator.
Kraftfahrzeug-Antriebsvorrichtung nach mindestens einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass die elektrische Maschine (16) über eine übersetzende oder untersetzende mechanische Antriebsverbindung (18) mit dem Fahrantriebsstrang (4) antriebsmäßig verbunden o- der verbindbar ist und dass die Steuereinrichtung ausgebildet ist, um bei der Berechnung der Drehmomente der e- lektrischen Maschine (16) die jeweilige Übersetzung oder Untersetzung einzukalkulieren.Motor vehicle drive device according to at least one of the preceding claims, characterized in that the electrical machine (16) via a step-up or step-down mechanical drive connection (18) with the drive train (4) is drive-connected or connectable and that the control device is designed to When calculating the torques of the electrical machine (16), take into account the respective gear ratio or reduction.
Kraftfahrzeug-Antriebsvorrichtung nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass die Steuereinrichtung (40) ausgebildet ist zum taktweisen sich wiederholenden Abfragen der genannten elektrischen Werte, der genannten Drehmomente und der jeweils aktuellen Drehzahl der elektrischen Maschine mit einer vorbestimmten Taktfrequenz. Motor vehicle drive device according to one of the preceding claims, so that the control device (40) is designed for intermittently repetitive polling of said electrical values, said torques and the respectively current speed of the electrical machine with a predetermined clock frequency.
PCT/EP2004/004651 2003-06-03 2004-05-03 Motor vehicle drive device WO2004106102A1 (en)

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