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DE102007036402A1 - Method for operating an electric machine, control unit and vehicle - Google Patents

Method for operating an electric machine, control unit and vehicle Download PDF

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Publication number
DE102007036402A1
DE102007036402A1 DE102007036402A DE102007036402A DE102007036402A1 DE 102007036402 A1 DE102007036402 A1 DE 102007036402A1 DE 102007036402 A DE102007036402 A DE 102007036402A DE 102007036402 A DE102007036402 A DE 102007036402A DE 102007036402 A1 DE102007036402 A1 DE 102007036402A1
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Germany
Prior art keywords
vehicle
electric machine
driving
generator
dynamic
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DE102007036402A
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German (de)
Inventor
Robert Ferger-Andrews
Michael Glatz
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Dr Ing HCF Porsche AG
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Dr Ing HCF Porsche AG
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Priority to DE102007036402A priority Critical patent/DE102007036402A1/en
Priority to PCT/EP2008/004507 priority patent/WO2009015721A1/en
Priority to JP2008190925A priority patent/JP2009029413A/en
Publication of DE102007036402A1 publication Critical patent/DE102007036402A1/en
Ceased legal-status Critical Current

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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
    • 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
    • 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 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 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
    • 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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0013—Optimal controllers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • B60W2050/065—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot by reducing the computational load on the digital processor of the control computer
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Ein Verfahren zum Betrieb einer Elektromaschine in einem Fahrzeug, insbesondere in einem Hybridfahrzeug, wobei die Elektromaschine abhängig von fahrzustandsbezogenen Messgrößen als Generator betrieben wird (Rekuperation), ist dadurch gekennzeichnet, dass anhand der fahrzustandsbezogenen Messgrößen berechnet wird, ob sich das Fahrzeug in einem fahrdynamischen Grenzbereich befindet, wobei für diesen Fall ein fahrdynamischer Regeleingriff unter Verwendung des Moments der als Generator betriebenen Elektromaschine vorgesehen ist.A method for operating an electric machine in a vehicle, in particular in a hybrid vehicle, wherein the electric machine is operated as a generator depending on driving state-related measured variables (recuperation), is characterized in that is calculated based on the driving state related measured variables, whether the vehicle in a dynamic driving boundary area is located, wherein in this case a driving dynamic control intervention is provided using the torque of the electric machine operated as a generator.

Description

Die Erfindung betrifft ein Verfahren zum Betrieb einer Elektromaschine nach dem Oberbegriff des Anspruchs 1, sowie ein entsprechendes Steuergerät bzw. Fahrzeug.The The invention relates to a method for operating an electric machine according to the preamble of claim 1, and a corresponding control device or vehicle.

Aus der US 6070953 ist ein Bremssystem für ein Hybridfahrzeug bekannt, wobei eine Elektromaschine des Hybridfahrzeugs, abhängig von fahrzustandsbezogenen Messgrößen, als Generator angesteuert wird (Rekuperation).From the US 6070953 a braking system for a hybrid vehicle is known, wherein an electric machine of the hybrid vehicle, depending on driving state-related parameters, is controlled as a generator (recuperation).

Die Erfindung stellt sich die Aufgabe, das gattungsgemäße Verfahren weiter zu verbessern.The Invention sets itself the task of the generic Process continues to improve.

Die Aufgabe wird gelöst durch die Merkmale des Patentanspruchs 1. Die Unteransprüche betreffen vorteilhafte Aus- und Weiterbildung der Erfindung.The Problem is solved by the features of the claim 1. The dependent claims relate to advantageous education and training the invention.

Erfindungsgemäß wird anhand der fahrzustandsbezogenen Messgrößen berechnet, ob sich das Fahrzeug in einem fahrdynamischen Grenzbereich befindet, wobei für diesen Fall ein fahrdynamischer Regeleingriff unter Verwendung des Moments der als Generator betriebenen Elektromaschine vorgesehen ist. Anders ausgedrückt ist in fahrdynamischen Grenzsituationen nicht eine Rekuperation unter energetischen Gesichtspunkten vorgesehen, sondern eine solche unter fahrdynamischen Gesichtspunkten. Damit wird das Moment der Elektromaschine als Stellgröße zur Fahrdynamikregelung verwendet. Über die Anpassung der Rekuperation werden also die Fahrstabilität und das Fahrverhalten des Fahrzeugs beeinflusst. Dies kann sowohl im Bremsbetrieb als auch im Schleppbetrieb erfolgen, d. h. sowohl bei laufendem Verbrennungsmotor als auch dann, wenn dieser ausgeschaltet ist. Insbesondere ermöglicht die Erfindung also einen fahrdynamischen Regeleingriff bei ausgeschaltetem Verbrennungsmotor.According to the invention calculated on the basis of the driving state-related measured variables, whether the vehicle is in a dynamic driving range, in which case a dynamic driving control intervention using the torque of the electric machine operated as a generator is provided. In other words, in driving dynamics Boundary situations not a recuperation from an energetic point of view provided, but such from a dynamic driving point. Thus, the moment of the electric machine as a manipulated variable used for vehicle dynamics control. About the adaptation of Recuperation so the driving stability and handling of the vehicle. This can be both in braking mode as also in tow mode, d. H. both with the internal combustion engine running as well as when it is off. In particular, allows the invention thus a driving dynamic control intervention when switched off Combustion engine.

Es erfolgt also keine starre Steuerung der Rekuperation, sondern eine individuelle fahrdynamische Regelung. Dies bietet zum einen die Möglichkeit, eine herkömmliche, energetische Rekuperationsstrategie so lange wie möglich bzw. gewünscht weiter zu verfolgen. Ein Eingriff in diese Rekuperationsstrategie erfolgt also nur zeitweise, nämlich dann wenn sich das Fahrzeug im fahrdynamischen Grenzbereich befindet. In einem derartigen fahrdynamischen Grenzbereich, beispielsweise bei einer Kurvenfahrt, können durch die Rekuperation eingebrachte Schleppmomente zu einem instabilen Fahrverhalten führen. Dies ist jedoch stets abhängig von den aktuellen Gegebenheiten, welche durch die fahrzustandsbezogenen Messgrößen berücksichtigt werden. Damit wird eine starre Steuerung, die z. B. nur den Kurvenradius und nicht die Fahrbahneigenschaften usw. berücksichtigt, vermieden. Zum anderen ergibt sich durch die Erfindung die Möglichkeit eines zusätzlichen Regeleingriffs in die Fahrdynamik. Indem das Elektromaschinenmoment als weitere Stellgröße genutzt wird, ergeben sich mithin neue Möglichkeiten und Strategien bei der Fahrdynamikregelung.It So there is no rigid control of recuperation, but one individual driving dynamics control. This offers on the one hand the Possibility of a conventional, energetic recuperation strategy as long as possible or desired to continue follow. An intervention in this recuperation strategy takes place So only temporarily, namely when the vehicle located in the dynamic driving limit area. In such a dynamic driving Border area, for example when cornering, can caused by the recuperation drag torque to an unstable Driving behavior. However, this is always dependent from the current conditions, which are due to the driving condition-related Measured variables are taken into account. In order to is a rigid control, the z. B. only the radius of curvature and not the track properties, etc. taken into account, avoided. On the other hand results from the invention, the possibility an additional control intervention in the driving dynamics. By doing the electric machine torque as another manipulated variable is used, thus resulting in new opportunities and Strategies for vehicle dynamics control.

Bevorzugt ist vorgesehen, das Moment der als Generator betriebenen Elektromaschine, d. h. die Rekuperation, im fahrdynamischen Grenzbereich auszusetzen bzw. zu vermindern, zur Spurstabilisierung des Fahrzeugs durch höhere Seitenkräfte. Die bei der Rekuperation an den Antriebsachsen aufgebauten Längskräfte, die das Schleppmoment eines Verbrennungsmotors weiter verstärken, werden dadurch reduziert.Prefers is provided, the moment of powered as a generator electric machine, d. H. the recuperation, to suspend in the dynamic range of the vehicle or reduce, for the toe stabilization of the vehicle by higher Lateral forces. The recuperation on the drive axles constructed longitudinal forces, the drag torque of an internal combustion engine further amplify it reduced.

Bevorzugt ist vorgesehen, das Moment der als Generator betriebenen Elektromaschine, zur Steigerung der Fahragilität zu erhöhen. Damit werden aktiv Längskräfte ins Fahrzeug eingebracht und so die Seitenkraft verringert, zur Steigerung der Fahragilität.Prefers is provided, the moment of powered as a generator electric machine, to increase the driving agility. In order to Active forces are actively introduced into the vehicle and thus reduces the lateral force, to increase the driving agility.

Zur zeitnahen Reaktion der fahrdynamischen Regelung ist eine laufende Wiederberechnung vorgesehen. In dem beispielsweise alle 50 Millisekunden erneut bestimmt wird, ob sich das Fahrzeug im fahrdynamischen Grenzbereich befindet, ist eine schnelle Erkennung sowie ein entsprechender Regeleingriff durch das Moment der als Generator betriebenen Elektromaschine (Rekuperation) möglich.to Timely reaction of the dynamic control is a running Recalculation provided. For example, every 50 milliseconds it is determined again whether the vehicle is in the dynamic range of the vehicle is a quick detection and a corresponding control intervention by the moment of the electric machine operated as a generator (recuperation) possible.

Bevorzugt erfolgt die Bestimmung, ob der fahrdynamische Grenzbereich vorliegt, unter Verwendung eines Beobachters, insbesondere eines Kalmanfilters. Dies stellt ein bewährtes Werkzeug dar, um aus verschiedenen Messgrößen eine Bewertung des aktuellen Fahrzustandes vorzunehmen.Prefers the determination is made as to whether the dynamic driving limit exists, using an observer, in particular a Kalman filter. This is a proven tool to choose from Measured variables an evaluation of the current driving condition make.

Mit Vorteil wird vorgeschlagen, den fahrdynamischen Grenzbereich einstellbar vorzusehen, insbesondere abhängig von der Stellung eines Sport/Economy- bzw. Onroad/Offroad-Wahlelements. Dies ermöglicht eine individuelle Anpassung der Regelstrategie, ohne dass der Fahrer mit zusätzlichen Bedienelementen konfrontiert wird.With Advantage is proposed, the driving dynamic range adjustable depending, in particular, on the position of a Sport / Economy or on-road / off-road option. This allows a individual adaptation of the control strategy without the driver is confronted with additional controls.

Als Messgrößen zur Bestimmung, ob das Fahrzeug sich im fahrdynamischen Grenzbereich befindet, werden bevorzugt Querbeschleunigung, Geschwindigkeit, Lenkwinkel und/oder Gierrate des Fahrzeugs verwendet. Diese Messwerte sind üblicherweise bereits im Fahrzeug vorhanden, beispielsweise auf einem CAN-Bus abrufbar, und somit einfach für das erfindungsgemäße Verfahren nutzbar.When Measurands for determining whether the vehicle is itself is located in the dynamic range of the vehicle, preferably lateral acceleration, Speed, steering angle and / or yaw rate of the vehicle used. These measured values are usually already in the vehicle present, for example, on a CAN bus available, and thus easy for the inventive method available.

Wenn das Fahrzeug sich nicht im fahrdynamischen Grenzbereich befindet, wird bevorzugt soviel Moment an der Elektromaschine (Rekuperation) vorgesehen, wie für den Betrieb des Bordnetzes und/oder die Ladung des elektrischen Energiespeichers, z. B. der Fahrzeugbatterie, notwendig ist. Dabei kann auch vorgesehen sein, einen Pufferbereich für die Ladung des elektrischen Energiespeichers vorzusehen, der freigehalten wird um im Bedarfsfalle einen Regeleingriff durch das Moment der Elektromaschine vornehmen zu können. Die beim Regeleingriff anfallende elektrische Energie wird dann in diesem Pufferbereich gespeichert. Dabei kann der Pufferbereich auch variabel gehalten werden, beispielsweise abhängig davon ob das Fahrzeug sich gerade in der Stadt oder auf einer Autobahn befindet.If the vehicle is not in the dynamic range, preferably so much torque on the electric machine (recuperation) provided as for the operation of the electrical system and / or the charge of the electrical energy storage, z. B. the vehicle battery, is necessary. It can also be provided to provide a buffer area for the charge of the electrical energy store, which is kept free in order to make a control intervention by the moment of the electric machine in case of need. The electrical energy resulting from the control intervention is then stored in this buffer area. In this case, the buffer area can also be kept variable, for example, depending on whether the vehicle is currently in the city or on a highway.

Besonders bevorzugt eingesetzt wird das Verfahren bei einem Parallelhybrid. Hierbei weist das Hybridfahrzeug insbesondere eine Elektromaschine auf, die im Antriebsstrang zwischen dem Verbrennungsmotor und dem Getriebe angeordnet ist. Bei dieser Auslegung ergibt sich eine besonders einfache Möglichkeit, im fahrdynamischen Grenzbereich einen fahrdynamischen Regeleingriff unter Verwendung des Moments der als Generator betriebenen Elektromaschine vorzusehen. Denn in dieser Konstellation ist die Elektromaschine üblicherweise ausreichend dimensioniert, um eine entsprechende Wirkung des Regeleingriffs zu erzielen. Zum anderen ist eine relativ einfache Regelung möglich, da nur eine Elektromaschine betrachtet werden muss die zudem im Antriebsstrang selbst vorgesehen ist.Especially The method is preferably used in a parallel hybrid. In this case, the hybrid vehicle has in particular an electric machine, in the drive train between the engine and the transmission is arranged. In this interpretation, there is a special easy way, in the dynamic driving limit one Dynamic control intervention using the moment of as To provide generator operated electric machine. Because in this Constellation, the electric machine is usually sufficient dimensioned to a corresponding effect of the control intervention to achieve. On the other hand, a relatively simple regulation is possible because only one electric machine must be considered in the Drive train itself is provided.

Die Erfindung wird nun anhand einer Zeichnung beschrieben. Dabei zeigt die Fig. schematisch den Ablauf des erfindungsgemäßen Verfahrens.The Invention will now be described with reference to a drawing. It shows the figure shows schematically the sequence of the invention Process.

Dargestellt ist eine Ansteuerlogik für die Elektromaschine eines Hybridfahrzeugs. Hierbei wird das Moment der Elektromaschine eingestellt, beim Betrieb der Elektromaschine als Generator zur Gewinnung elektrischer Energie aus der Fahrzeugbewegung. Das einzustellende Moment resultiert aus der Und-Verknüpfung zweier Regelstrategien, nämlich einer energetischen Rekuperationsstrategie 1 und einer fahrdynamischen Rekuperationsstrategie 2. Die energetische Rekuperationsstrategie ist in herkömmlicher Weise ausgeführt, indem die Nutzung der Elektromaschine als Generator abhängig z. B. von den Erfordernissen des elektrischen Energiespeichers und/oder des Bordnetzes vorgesehen sind. Damit wird der Betrieb des Moments der Elektromaschine als Generator durch Messgrößen A gesteuert.Shown is a drive logic for the electric machine of a hybrid vehicle. Here, the moment of the electric machine is set when operating the electric machine as a generator for obtaining electrical energy from the vehicle movement. The moment to be set results from the AND connection of two control strategies, namely an energetic recuperation strategy 1 and a dynamic driving recuperation strategy 2 , The energetic Rekuperationsstrategie is carried out in a conventional manner by the use of the electric machine as a generator depends on z. B. are provided by the requirements of the electrical energy storage and / or the electrical system. Thus, the operation of the moment of the electric machine as a generator is controlled by measured variables A.

In besonderen Situationen, nämlich in einem fahrdynamischen Grenzbereich, ist nun jedoch eine geänderte Regelstrategie 2 vorgesehen. Dazu werden fahrzustandsbezogene Messgrößen B ausgewertet, die die Fahrdynamik des Fahrzeugs beschreiben. Dies sind die über einen Neigungsmesser gemessene Querbeschleunigung, die Geschwindigkeit des Fahrzeugs, der Lenkwinkeleinschlag und die über einen Kreisel gemessene Gierrate des Fahrzeugs. Diese Messgrößen liegen auf dem CAN-Bussystem des Fahrzeugs vor und werden nun von einer gesonderten Programmlogik verarbeitet. Diese Programmlogik kann beispielsweise in einem Steuergerät im Fahrzeug vorgesehen sein. Die Programmlogik umfasst dabei einen Beobachter K, z. B. eine Kaiman-Filter, der den anhand der aktuellen fahrzustandsbezogenen Messgrößen B festgestellten Ist-Fahrzustand bewertet und mit einem Soll-Fahrzustand vergleicht. Wenn die Abweichung des Ist-Fahrzustandes vom Soll-Fahrzustand einen Grenzwert überschreitet, d. h. wenn das Fahrzeug sich im fahrdynamischen Grenzbereich befindet, erfolgt ein Regeleingriff anhand des Moments der Elektromaschine. In dem das Moment der Elektromaschine verringert wird, d. h. die Leistung als Generator vermindert wird, werden die an der Antriebsachse aufgebauten Längskräfte verringert. Dies verbessert die Fahrstabilität des Fahrzeugs im Schleppbetrieb, indem die Längskräfte reduziert und damit höhere Seitenkräfte ermöglicht werden. Dieser Regeleingriff ermöglicht mithin eine höhere Spurstabilität, ohne dass die Betriebsbremsen des Fahrzeugs eingesetzt werden müssten.However, in special situations, namely in a dynamic driving limit, now is a modified control strategy 2 intended. For this purpose, driving state-related measured variables B are evaluated, which describe the driving dynamics of the vehicle. These are the lateral acceleration measured via an inclinometer, the speed of the vehicle, the steering angle impact and the yaw rate of the vehicle measured via a gyro. These measured variables are available on the CAN bus system of the vehicle and are now processed by a separate program logic. This program logic can be provided for example in a control unit in the vehicle. The program logic includes an observer K, z. Example, a Kalman filter that evaluates the determined based on the current driving state-related measures B actual driving condition and compared with a target driving condition. If the deviation of the actual driving state from the target driving state exceeds a limit value, ie when the vehicle is in the dynamic driving limit range, a control intervention based on the torque of the electric machine. In that the moment of the electric machine is reduced, ie the power is reduced as a generator, the longitudinal forces built up on the drive axle are reduced. This improves the driving stability of the vehicle in towing mode by reducing the longitudinal forces and thus enabling higher lateral forces. This control intervention thus allows a higher tracking stability without the service brakes of the vehicle would have to be used.

Zudem kann vorgesehen sein, dass die herkömmliche energetische Rekuperationsstrategie 1 geändert wird, indem der fahrzeugseitige elektrische Energiespeicher nicht stets voll aufgeladen wird. Vielmehr ist ein Pufferbereich vorgesehen, um im Bedarfsfall das Moment der Elektromaschine erhöhen zu können und so aktiv Längskräfte ins Fahrzeug einzubringen. Mithin werden die Seitenkräfte des Fahrzeugs verringert und die Fahragilität gesteigert. Zur Bestimmung der notwendigen Größe des Pufferbereichs werden beispielsweise die Positionen des Fahrzeugs (Stadt oder Autobahn) bzw. das bisherige Beschleunigungsverhalten des Fahrers herangezogen.In addition, it can be provided that the conventional energy recuperation strategy 1 is changed by the vehicle-side electrical energy storage is not always fully charged. Rather, a buffer area is provided in order to increase the torque of the electric machine if necessary and thus to actively introduce longitudinal forces into the vehicle. Thus, the lateral forces of the vehicle are reduced and the driving agility increased. To determine the necessary size of the buffer area, for example, the positions of the vehicle (city or highway) or the previous acceleration behavior of the driver are used.

ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION

Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Zitierte PatentliteraturCited patent literature

  • - US 6070953 [0002] - US 6070953 [0002]

Claims (9)

Verfahren zum Betrieb einer Elektromaschine in einem Fahrzeug, insbesondere in einem Hybridfahrzeug, wobei die Elektromaschine abhängig von fahrzustandsbezogenen Messgrößen als Generator betrieben wird (Rekuperation), dadurch gekennzeichnet, dass anhand der fahrzustandsbezogenen Messgrößen berechnet wird, ob sich das Fahrzeug in einem fahrdynamischen Grenzbereich befindet, wobei für diesen Fall ein fahrdynamischer Regeleingriff unter Verwendung des Moments der als Generator betriebenen Elektromaschine vorgesehen ist.Method for operating an electric machine in a vehicle, in particular in a hybrid vehicle, wherein the electric machine is operated as a generator depending on driving state-related measured variables (recuperation), characterized in that it is calculated based on the driving state-related measured variables, whether the vehicle is in a dynamic driving boundary area, wherein in this case a dynamic driving control intervention is provided using the torque of the electric machine operated as a generator. Verfahren nach Anspruch 1, wobei vorgesehen ist, das Moment der als Generator betriebenen Elektromaschine auszusetzen bzw. zu vermindern, zur Spurstabilisierung des Fahrzeugs durch höhere Seitenkräfte.Method according to claim 1, wherein it is provided to suspend the moment of the electric machine operated as a generator or reduce, for the toe stabilization of the vehicle by higher Lateral forces. Verfahren nach Anspruch 1, wobei vorgesehen ist, das Moment der als Generator betriebenen Elektromaschine zu erhöhen, zur Steigerung der Fahragilität durch aktive Einbringung von Längskräfte ins Fahrzeug.Method according to claim 1, wherein it is provided to increase the moment of the electric machine operated as a generator, to increase the agility through active contribution of longitudinal forces in the vehicle. Verfahren nach einem der vorhergehenden Ansprüche, wobei eine laufende Wiederberechnung vorgesehen ist ob sich das Fahrzeug im fahrdynamischen Grenzbereich befindet.Method according to one of the preceding claims, wherein an ongoing recalculation is provided if the Vehicle is located in the dynamic range of the vehicle. Verfahren nach einem der vorhergehenden Ansprüche, wobei die Berechnung, ob ein fahrdynamischer Grenzbereich vorliegt, unter Verwendung eines Beobachters, insbesondere eines Kalmanfilters, vorgenommen wird.Method according to one of the preceding claims, the calculation of whether there is a dynamic driving limit, using an observer, in particular a Kalman filter made becomes. Verfahren nach einem der vorhergehenden Ansprüche, wobei der fahrdynamische Grenzbereich einstellbar vorgesehen ist, insbesondere abhängig von der Stellung eines Sport/Economy- bzw. Onroad/Offroad-Wahlelements.Method according to one of the preceding claims, wherein the dynamic driving limit range is provided adjustable, depending, in particular, on the position of a sports / economy or on-road / off-road option. Verfahren nach einem der vorhergehenden Ansprüche, wobei als fahrzustandsbezogene Messgrößen insbesondere Querbeschleunigung, Geschwindigkeit, Lenkwinkel und/oder Gierrate des Fahrzeugs verwendet werden.Method according to one of the preceding claims, in particular as driving state-related measured variables Lateral acceleration, speed, steering angle and / or yaw rate of the vehicle. Steuergerät für ein Fahrzeug, insbesondere ein Hybridfahrzeug, eingerichtet zur Ausführung eines Verfahrens nach wenigstens einem der vorhergehenden Ansprüche.Control device for a vehicle, in particular a Hybrid vehicle set up to carry out a method according to at least one of the preceding claims. Fahrzeug, insbesondere Hybridfahrzeug, umfassend ein Steuergerät nach Anspruch 8.Vehicle, in particular hybrid vehicle, comprising A control device according to claim 8.
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