DE102013214943A1 - Motor vehicle with electromotive independent wheel drive - Google Patents

Motor vehicle with electromotive independent wheel drive Download PDF

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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
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Prior art keywords
soll
control unit
motor vehicle
individual
wheel
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DE201310214943
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German (de)
Inventor
Stephan Kaspar
Ralf Stroph
Alfred Pruckner
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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Priority to DE201310214943 priority Critical patent/DE102013214943A1/en
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    • 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

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  • 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 DE 30 43 004 C2 ist beispielsweise ein Kraftfahrzeug mit elektromotorischem Einzelradantrieb bekannt, bei dem eine Drehzahlregelung jeweils an einem einzigen Rad zur Realisierung einer Differenzialwirkung bei Kurvenfahrt vorgesehen ist.From the DE 30 43 004 C2 For example, a motor vehicle with electromotive independent wheel drive is known in which a speed control is provided in each case on a single wheel for realizing a differential effect when cornering.

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

1 eine schematische Darstellung der für das erfindungsgemäße Kraftfahrzeug wichtigsten Komponenten und 1 a schematic representation of the most important for the motor vehicle according to the invention components and

2 einen schematischen Überblick über Details im Steuergerät des erfindungsgemäßen Kraftfahrzeugs. 2 a schematic overview of details in the control unit of the motor vehicle according to the invention.

In 1 ist ein Kraftfahrzeug 1 mit elektromotorischem Einzelradantrieb zumindest an den Rädern der Hinterachse 2 dargestellt. Das rechte und das linke Hinterrad weisen jeweils einen Elektromotor 3 und 4 auf. Ein elektronisches Steuergerät 7 ist zur Ansteuerung der einzelnen Elektromotoren 3 und 4 mit diesen verbunden. Hierzu werden vom Steuergerät 7 Soll-Drehströme Il_soll und Ir_soll in der Weise vorgegeben, wie anhand von 2 weiter unten näher beschrieben wird. Das Steuergerät 7 erfasst den Fahrerleistungswunsch FP von einem Fahrpedal 8 und den Lenkradwinkel LW. Über Drehzahlsensoren 6 und 5 werden weiterhin die Ist-Drehzahlen nl_ist und nr_ist beider Räder als Eingangssignale erfasst.In 1 is a motor vehicle 1 with electromotive independent wheel drive at least on the wheels of the rear axle 2 shown. The right and left rear wheels each have an electric motor 3 and 4 on. An electronic control unit 7 is to control the individual electric motors 3 and 4 connected with these. To do this, the control unit 7 Set three-phase currents I l_soll and I r_soll set in the manner as shown by 2 will be described in more detail below. The control unit 7 detects the driver's performance request FP from an accelerator pedal 8th and the steering wheel angle LW. About speed sensors 6 and 5 Furthermore, the actual rotational speeds n l_act and n r_act of both wheels are detected as input signals.

In 2 ist das Steuergerät 7 im Detail dargestellt.In 2 is the control unit 7 shown in detail.

Das Steuergerät 7 ermittelt kontinuierlich oder zumindest quasi-kontinuierlich aus dem erfassten Fahrerleistungswunsch FP über eine abgespeicherte an sich bekannte Fahrpedal-Momentenkennlinie 71 ein Soll-Moment M und aus diesem über ein an sich bekanntes Reifenkennfeld 72 den erforderliche Soll-Schlupf λ zur Umsetzung des Soll-Moments M. Aus dem Soll-Schlupf λ werden in einem Soll-Drehzahl-Ermittlungsblock 73 die zum Erreichen des Soll-Schlupfes λ erforderlichen Soll-Drehzahlen nl_soll und nr_soll für jeden Einzel-Drehzahlregler 74 und 75 ermittelt. Jeder Einzel-Drehzahlregler 74 und 75 erzeugt ein entsprechendes Ansteuersignal Il_soll und Ir_soll für den jeweils seinem Rad zugeordneten Elektromotor 4 und 3.The control unit 7 determined continuously or at least quasi-continuously from the detected driver power request FP via a stored per se known accelerator pedal torque curve 71 a desired torque M and from this via a per se known tire map 72 the required setpoint slip λ for the implementation of the setpoint torque M. From the setpoint slip λ are in a target speed determination block 73 the required rotational speeds n l_soll and ... required for achieving the desired slip λ nr_soll for each single speed controller 74 and 75 determined. Each single speed controller 74 and 75 generates a corresponding drive signal I l_soll and I r_soll for each associated with its wheel electric motor 4 and 3 ,

Mittels des Soll-Drehzahl-Ermittlungsblocks 73 gibt das Steuergerät 7 bei Geradeausfahrt, wenn die Giergeschwindigkeit u Null ist, zum Erreichen des Soll-Schlupfes λ gleiche Anteile der Soll-Drehzahlen für jedes Rad vor: nl_soll = nr_soll By means of the desired speed determination block 73 gives the control unit 7 when driving straight ahead, when the yaw rate u is zero, to achieve the desired slip λ equal proportions of the desired speeds for each wheel before: n l_soll = n r_soll

Vorzugsweise ermittelt das Steuergerät 7 die Fahrzeuggeschwindigkeit v und den Lenkradwinkel LW. Die Fahrzeuggeschwindigkeit v wird im Rückkopplungsblock 77 unter anderem aus den Ist-Drehzahlen nl_ist und nr_ist ermittelt. Davon abhängig wird insbesondere bei Nicht-Geradeausfahrt (ψ ≠ 0) mittels des Querdynamik-Moduls 76 eine Soll-Giergeschwindigkeit ψ vorgegeben, durch die die Anteile der Soll-Drehzahlen nl_soll und nr_soll für die Einzel-Drehzahlregler 74 und 75 querdynamisch adaptierbar sind: nl_soll ≠ nr_soll Preferably, the controller determines 7 the vehicle speed v and the steering wheel angle LW. The vehicle speed v is in the feedback block 77 among other things determined from the actual speeds n l_act and n r_act . This is particularly dependent on non-straight-ahead driving (ψ ≠ 0) by means of the transverse dynamics module 76 a desired yaw rate ψ predetermined by the proportions of the desired speeds n l_soll and n r_soll for the individual speed controller 74 and 75 are adaptable to lateral dynamics: n l_soll ≠ n r_soll

Im Soll-Drehzahl-Ermittlungsblock 73 wird mit der dicken durchgezogenen Linie die Wirkung der Erfindung bezogen auf die Vorgabe der Drehzahl n zur Fahrdynamikregelung im Vergleich zum Stand der Technik dargestellt: Beim Stand der Technik (gestrichelte dicke Linie) werden vor einem Regeleingriff erst Überschreitungen von Schlupfgrenzen nr_ASC und nr_ABS (strichpunktierte Linien) abgewartet (hier beispielhaft nur für das rechte Rad dargestellt). Nach der Erfindung wird im Unterschied hierzu eine genaue und stabile Regelung auf eine Drehzahlvorgabe erreicht.In the target speed determination block 73 is the effect of the invention with respect to the specification of the speed n for driving dynamics control in comparison with the prior art shown with the thick solid line: In the prior art (dashed thick line) are before a control intervention only exceedings of slip limits n r_ASC and n r_ABS ( dash-dotted lines) waited (shown here by way of example only for the right wheel). In contrast to this, according to the invention, an accurate and stable control to a speed specification is achieved.

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)

Kraftfahrzeug (1) mit elektromotorischem Einzelradantrieb zumindest an einer Achse (2) und mit einem elektronischen Steuergerät (7) zur Ansteuerung der einzelnen Elektromotoren (3, 4) über Einzel-Drehzahlregler (74, 75), wobei das Steuergerät (7) den Fahrerleistungswunsch (FP) und die Ist-Drehzahlen (nl_ist, nr_ist) beider Räder als Eingangssignale erfasst, wobei das Steuergerät (7) kontinuierlich aus dem Fahrerleistungswunsch (FP) einen Soll-Schlupf (λ) zur Umsetzung des Fahrerleistungswunsches (FP) und aus dem Soll-Schlupf (λ) die zu seinem Erreichen erforderlichen Soll-Drehzahlen (nl_soll, nr_soll) für jeden Einzel-Drehzahlregler (74, 75) ermittelt, und wobei jeder Einzel-Drehzahlregler (74, 75) ein entsprechendes Ansteuersignal (Il_soll, Ir_soll) für den jeweils seinem Rad zugeordneten Elektromotor (4, 3) erzeugt.Motor vehicle ( 1 ) with electromotive independent wheel drive at least on one axis ( 2 ) and with an electronic control unit ( 7 ) for controlling the individual electric motors ( 3 . 4 ) via single speed control ( 74 . 75 ), whereby the control unit ( 7 ) detects the driver power request (FP) and the actual rotational speeds (n l_act , n r_act ) of both wheels as input signals, wherein the control unit ( 7 ) continuously from the driver power request (FP) a target slip (λ) to implement the driver power request (FP) and from the target slip (λ) the required speed required for its achievement (n l_soll , n r_soll ) for each individual Speed controller ( 74 . 75 ) and each individual speed controller ( 74 . 75 ) a corresponding drive signal (I l_soll , I r_soll ) for each of its wheel associated electric motor ( 4 . 3 ) generated. Kraftfahrzeug nach Patentanspruch 1, dadurch gekennzeichnet, dass das Steuergerät (7) bei Geradeausfahrt (ψ = 0) zum Erreichen des Soll-Schlupfes (λ) gleiche Anteile der Soll-Drehzahlen (nl_soll = nr_soll) für jedes Rad vorgibt.Motor vehicle according to claim 1, characterized in that the control unit ( 7 ) when driving straight ahead (ψ = 0) to achieve the desired slip (λ) equal proportions of the desired speeds (n l_soll = n r_soll ) for each wheel. Kraftfahrzeug nach einem der vorangegangenen Patentansprüche, dadurch gekennzeichnet, dass das Steuergerät (7) die Fahrzeuggeschwindigkeit (v) und den Lenkradwinkel (LW) erfasst und davon abhängig eine Soll-Giergeschwindigkeit (100) vorgibt, durch die die Anteile der Soll-Drehzahlen (nl_soll ≠ nr_soll) für die Einzel-Drehzahlregler (74, 75) querdynamisch adaptierbar sind.Motor vehicle according to one of the preceding claims, characterized in that the control unit ( 7 ) detects the vehicle speed (v) and the steering wheel angle (LW) and depends thereon a desired yaw rate ( 100 ), by which the components of the setpoint speeds (n l_soll ≠ n r_soll ) for the individual speed controller ( 74 . 75 ) are adaptable to lateral dynamics. Kraftfahrzeug nach einem der vorangegangenen Patentansprüche, dadurch gekennzeichnet, dass aus dem Fahrerleistungswunsch (FP) über eine Fahrpedal-Momentenkennlinie (71) ein Soll-Moment (M) und aus diesem über ein Reifenkennfeld (72) der erforderliche Soll-Schlupf (λ) zur Umsetzung des Soll-Moments (M) ermittelt wird.Motor vehicle according to one of the preceding claims, characterized in that from the driver power request (FP) via an accelerator pedal torque characteristic ( 71 ) a desired torque (M) and from this via a tire map ( 72 ) the required desired slip (λ) for the implementation of the desired torque (M) is determined.
DE201310214943 2013-07-30 2013-07-30 Motor vehicle with electromotive independent wheel drive Pending DE102013214943A1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Patent Citations (3)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

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