DE102013214943A1 - Motor vehicle with electromotive independent wheel drive - Google Patents
Motor vehicle with electromotive independent wheel drive Download PDFInfo
- Publication number
- DE102013214943A1 DE102013214943A1 DE201310214943 DE102013214943A DE102013214943A1 DE 102013214943 A1 DE102013214943 A1 DE 102013214943A1 DE 201310214943 DE201310214943 DE 201310214943 DE 102013214943 A DE102013214943 A DE 102013214943A DE 102013214943 A1 DE102013214943 A1 DE 102013214943A1
- Authority
- DE
- Germany
- Prior art keywords
- soll
- control unit
- motor vehicle
- individual
- wheel
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Images
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
- 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
- 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
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
- B60L3/108—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels whilst braking, i.e. ABS
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/22—Yaw angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/429—Current
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/465—Slip
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/80—Time limits
-
- 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
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/26—Wheel slip
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/28—Wheel speed
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Das erfindungsgemäße Kraftfahrzeug ist mit elektromotorischem Einzelradantrieb zumindest an einer Achse und mit einem elektronischen Steuergerät zur Ansteuerung der einzelnen Elektromotoren mit Einzel-Drehzahlreglern für jedes Rad der Achse ausgestattet. Das Steuergerät erfasst den Fahrerleistungswunsch, insbesondere über die Betätigung eines Fahrpedals durch den Fahrer, und die Ist-Drehzahlen beider Räder als Eingangssignale. Das Steuergerät ermittelt kontinuierlich aus dem Fahrerleistungswunsch einen Soll-Schlupf zur Umsetzung des Fahrerleistungswunsches und aus dem Soll-Schlupf die zu seinem Erreichen erforderlichen Soll-Drehzahlen für jeden Einzel-Drehzahlregler. Jeder Einzel-Drehzahlregler erzeugt ein entsprechendes Ansteuersignal, insbesondere ein drehmomenterzeugendes Drehstromsignal, für den jeweils seinem Rad zugeordneten Elektromotor.The motor vehicle according to the invention is equipped with electric motor-driven independent wheel drive at least on one axis and with an electronic control unit for controlling the individual electric motors with individual speed regulators for each wheel of the axle. The control unit detects the driver's performance request, in particular via the operation of an accelerator pedal by the driver, and the actual rotational speeds of both wheels as input signals. The control unit continuously determines from the driver's power request a setpoint slip to implement the driver's power request and from the setpoint slip the setpoint speeds required for its achievement for each individual speed controller. Each individual speed controller generates a corresponding drive signal, in particular a torque-generating three-phase current signal, for the respective electric motor associated with its wheel.
Description
Die Erfindung bezieht sich auf ein Kraftfahrzeug mit elektromotorischem Einzelradantrieb.The invention relates to a motor vehicle with electric motor independent wheel drive.
Aus der
Es ist Aufgabe der Erfindung, eine umfassendere Ausschöpfung von regelungstechnischen Potenzialen bei elektromotorischen Einzelradantrieben zu schaffen.It is an object of the invention to provide a more comprehensive exploitation of control potentials in electric motor single-wheel drives.
Diese Aufgabe wird erfindungsgemäß durch den Gegenstand des Patentanspruchs 1 gelöst. Die abhängigen Patentansprüche sind vorteilhafte Weiterbildungen der Erfindung.This object is achieved by the subject of claim 1. The dependent claims are advantageous developments of the invention.
Das erfindungsgemäße Kraftfahrzeug ist mit elektromotorischen Einzelradantrieben zumindest an einer Achse und mit einem elektronischen Steuergerät zur Ansteuerung der einzelnen Elektromotoren ausgestattet. Im Steuergerät sind Einzel-Drehzahlregler für jeden Elektromotor bzw. für jedes Rad der Achse vorgesehen. Das Steuergerät erfasst den Fahrerleistungswunsch, der insbesondere über die Betätigung eines Fahrpedals durch den Fahrer geäußert wird, und die Ist-Drehzahlen beider Räder als Eingangssignale. Das Steuergerät ermittelt kontinuierlich aus dem Fahrerleistungswunsch einen Soll-Schlupf zur Umsetzung des Fahrerleistungswunsches und aus dem Soll-Schlupf die zu seinem Erreichen erforderlichen Soll-Drehzahlen für jeden Einzel-Drehzahlregler. Jeder Einzel-Drehzahlregler erzeugt ein entsprechendes Ansteuersignal, insbesondere ein drehmomenterzeugendes Drehstromsignal, für den jeweils seinem Rad zugeordneten Elektromotor.The motor vehicle according to the invention is equipped with electric motor-driven individual wheel drives at least on one axis and with an electronic control device for controlling the individual electric motors. In the control unit single speed controller for each electric motor or for each wheel of the axle are provided. The control unit detects the driver power request, which is expressed in particular by the operation of an accelerator pedal by the driver, and the actual rotational speeds of both wheels as input signals. The control unit continuously determines from the driver's power request a setpoint slip to implement the driver's power request and from the setpoint slip the setpoint speeds required for its achievement for each individual speed controller. Each individual speed controller generates a corresponding drive signal, in particular a torque-generating three-phase current signal, for the respective electric motor associated with its wheel.
Vorzugsweise werden die jeweiligen Soll-Drehzahlen für die Einzel-Drehzahlregler nicht nur abhängig vom Soll-Schlupf sondern auch abhängig von der Fahrzeuggeschwindigkeit und der Giergeschwindigkeit vorgegeben.Preferably, the respective desired speeds for the individual speed controller are not only dependent on the desired slip but also dependent on the vehicle speed and the yaw rate.
Bei Geradeausfahrt sind die Soll-Drehzahlen gleich. Bei querdynamischen Fahrzuständen werden sie entsprechend einer aktuell berechneten Soll-Giergeschwindigkeit unterschiedlich vorgegeben.When driving straight ahead, the setpoint speeds are the same. In transverse dynamic driving conditions, they are specified differently according to a currently calculated desired yaw rate.
Durch die Erfindung wird somit eine sehr schnelle und genaue Fahrdynamikregelung durch Drehzahlvorgabe erreicht.The invention thus achieves a very fast and accurate vehicle dynamics control by means of speed specification.
Der Erfindung liegen folgende Überlegungen zugrunde:
Vielfach sind Fahrdynamikregelsysteme (ABS, ASC, DSC) für Kraftfahrzeuge bekannt, die momentengesteuerte Antriebs- oder Bremseingriffe zur4 Schlupfüberwachung vornehmen. Dabei wird lediglich das Überschreiten von Schlupfgrenzen verhindert. Bei diesen Systemen wird grundsätzlich der Momentenwunsch an die Stelleinrichtung direkt übermittelt, solange festgelegte Schlupfgrenzen nicht überschritten werden. Eine Regelung findet erst nach Grenzüberschreitung statt. Hierdurch entstehen unerwünschte Oszillationen und hohe Schlupfwerte.The invention is based on the following considerations:
In many cases, vehicle dynamics control systems (ABS, ASC, DSC) for motor vehicles are known which make torque-controlled drive or brake interventions for slip detection. Only the crossing of slip limits is prevented. In these systems, in principle, the torque request is transmitted directly to the control device, as long as fixed slip limits are not exceeded. A regulation takes place only after border crossing. This results in unwanted oscillations and high slip values.
Die erfindungsgemäße Regelung funktioniert reibwertunabhängig. Schon minimale Abweichungen von der Solldrehzahl werden ausgeregelt. Hierdurch werden Zeit-, Genauigkeits- und Stabilitätsgewinne erreicht. Durch die Modifikation der Solldrehzahlen beispielweise über die Soll-Gierrate können die Vorteile des Einzelradantriebs zur Beeinflussung der Fahrzeugquerdynamik ausgenutzt werden.The regulation according to the invention operates independent of friction value. Even minimal deviations from the setpoint speed are corrected. As a result, time, accuracy and stability gains are achieved. By modifying the target speeds, for example, via the desired yaw rate, the advantages of the individual wheel drive can be exploited to influence the vehicle transverse dynamics.
In der Zeichnung ist ein Ausführungsbeispiel der Erfindung dargestellt. Es zeigtIn the drawing, an embodiment of the invention is shown. It shows
In
In
Das Steuergerät
Mittels des Soll-Drehzahl-Ermittlungsblocks
Vorzugsweise ermittelt das Steuergerät
Im Soll-Drehzahl-Ermittlungsblock
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES 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 of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 3043004 C2 [0002] DE 3043004 C2 [0002]
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE201310214943 DE102013214943A1 (en) | 2013-07-30 | 2013-07-30 | Motor vehicle with electromotive independent wheel drive |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE201310214943 DE102013214943A1 (en) | 2013-07-30 | 2013-07-30 | Motor vehicle with electromotive independent wheel drive |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102013214943A1 true DE102013214943A1 (en) | 2015-02-05 |
Family
ID=52341869
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE201310214943 Pending DE102013214943A1 (en) | 2013-07-30 | 2013-07-30 | Motor vehicle with electromotive independent wheel drive |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102013214943A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022131259A1 (en) | 2022-11-25 | 2024-05-29 | Bayerische Motoren Werke Aktiengesellschaft | Robustness optimization of a slip monitoring diagnostic function to prevent unwanted loss of grip on a motor vehicle tire |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3043004C2 (en) | 1980-11-11 | 1983-12-08 | Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt | Electric single wheel drive in multi-axle vehicles |
DE4133060A1 (en) * | 1991-10-04 | 1993-04-08 | Mannesmann Ag | DRIVE ARRANGEMENT FOR A MOTOR VEHICLE |
DE19540067C2 (en) * | 1995-10-27 | 1998-04-09 | Daimler Benz Ag | Method for controlling the separate drive of two vehicle wheels |
-
2013
- 2013-07-30 DE DE201310214943 patent/DE102013214943A1/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3043004C2 (en) | 1980-11-11 | 1983-12-08 | Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt | Electric single wheel drive in multi-axle vehicles |
DE4133060A1 (en) * | 1991-10-04 | 1993-04-08 | Mannesmann Ag | DRIVE ARRANGEMENT FOR A MOTOR VEHICLE |
DE19540067C2 (en) * | 1995-10-27 | 1998-04-09 | Daimler Benz Ag | Method for controlling the separate drive of two vehicle wheels |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022131259A1 (en) | 2022-11-25 | 2024-05-29 | Bayerische Motoren Werke Aktiengesellschaft | Robustness optimization of a slip monitoring diagnostic function to prevent unwanted loss of grip on a motor vehicle tire |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102014211815A1 (en) | Steer-by-wire steering system and method for improving haptic feedback of a steer-by-wire steering system | |
DE102010003076A1 (en) | Method for controlling a wheel brake slip and wheel brake slip control system for a vehicle with an electric drive | |
EP3328693B1 (en) | Method for assisting drivers in the event of aquaplaning on a road surface | |
DE102010003951A1 (en) | Method for stabilizing a two-wheeler with laterally slipping rear wheel | |
DE102010001068A1 (en) | Method for lane keeping assistance for a motor vehicle | |
DE102014201100A1 (en) | Determination method and motor vehicle | |
DE102004049324A1 (en) | Method for controlling and regulating the driving dynamics of motor vehicles with hybrid drive | |
EP1930229A2 (en) | Method for operating a power steering | |
EP1769990B1 (en) | Slip control system for a single track vehicle and motor cycle with such a system | |
DE102007000975A1 (en) | Method for controlling a superposition steering | |
DE102012012307A1 (en) | Method for suppressing disturbances in a steering system of a motor vehicle and steering system in a motor vehicle | |
DE102016217465A1 (en) | Method for controlling a motor vehicle and electronic brake control device | |
DE102005047144A1 (en) | System for removing natural oscillations of front wheel guidance in single-lane motor vehicle, has actuator formed for automatic contact in vehicle control so that guidance moment is generated for reduction of natural oscillation | |
DE102008048222A1 (en) | Steering system for adjusting steering angle of rear wheel of motor vehicle, has controller that is formed such that controller controls steering device during receiving of signal for adjusting toe-in or toe-out at wheel of rear axle | |
DE102017124317A1 (en) | Method for determining a coefficient of friction between a wheel of a motor vehicle and a road surface with torque vectoring | |
DE102013214943A1 (en) | Motor vehicle with electromotive independent wheel drive | |
DE102013223163A1 (en) | Method for controlling a brake system | |
DE102008014104A1 (en) | Controlling handling of automobile, e.g. to anticipate adverse weather conditions, adjusts suspension components as function of road friction | |
DE102012206010A1 (en) | Method for controlling motor vehicle, involves calculating motion model of vehicle based on control requirement of driver of motor vehicle, where lateral movement parameter of vehicle is measured | |
DE102009026813A1 (en) | Method for generating a differential torque acting on the vehicle wheels of a vehicle | |
DE102010021352B4 (en) | Drive device for a motor vehicle | |
DE102008024294B4 (en) | Vehicle dynamics control for a two-lane vehicle | |
DE102005041959A1 (en) | Driving dynamics control system for two-track motor vehicle, has deviation angle control system limiting measured deviation angle of vehicle to preset maximum value by engagement provided to yaw-rate control system | |
DE102011051963A1 (en) | Method for determining target steering torque for electric power steering apparatus of motor vehicle, involves modifying input or output variable or internal size of functional component to compensate for consequent yaw motion | |
DE102018010033A1 (en) | Method for avoiding a wheel slip in electrically driven axles of a vehicle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
R163 | Identified publications notified | ||
R012 | Request for examination validly filed |