JP7389912B2 - ハイブリッド車両の速度及びトルク制御 - Google Patents
ハイブリッド車両の速度及びトルク制御 Download PDFInfo
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- JP7389912B2 JP7389912B2 JP2022542297A JP2022542297A JP7389912B2 JP 7389912 B2 JP7389912 B2 JP 7389912B2 JP 2022542297 A JP2022542297 A JP 2022542297A JP 2022542297 A JP2022542297 A JP 2022542297A JP 7389912 B2 JP7389912 B2 JP 7389912B2
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- 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
- B60L3/08—Means for preventing excessive speed 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18063—Creeping
-
- 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
- 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
- B60L15/2063—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 for creeping
-
- 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
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
-
- 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
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
-
- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
-
- 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
- B60L2240/423—Torque
-
- 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
- B60L2240/44—Drive Train control parameters related to combustion engines
- B60L2240/443—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
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
- B60W2710/085—Torque change rate
-
- 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
- B60W2720/10—Longitudinal speed
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- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Human Computer Interaction (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Description
ラッシュクロス保護比率リミッターに依存して、速度目標に向けて速度を変更するために電気牽引モーター(212又は216)から要求されるトルクの変化比率を制限すること(ブロック406)と、
速度が速度目標に到達する前の制限の解除時に、速度目標に向けて速度を変更するために電動牽引モーターから要求されるトルクの初期増加を抑制すること(ブロック408,410)と、
を備える。
Claims (16)
- 車両の電気牽引モーターを制御するための制御システムであって、前記制御システムは1つ又は複数のコントローラを備え、前記制御システムは、
ラッシュクロス保護比率リミッターに依存して、速度目標に向けて速度を変更するために前記電気牽引モーターから要求されるトルクの変化比率を制限し、
前記速度が前記速度目標に到達する前の前記制限の解除時に、前記速度目標に向けて速度を変更するために前記電気牽引モーターから要求されるトルクの初期増加を抑制する、
ように構成されている、制御システム。 - 前記1つ又は複数のコントローラは、
速度及び/又は前記速度目標を示す情報を受信するための電気入力を有する少なくとも1つの電子プロセッサと、
前記少なくとも1つの電子プロセッサに電気的に結合され、その中に格納された命令を有している少なくとも1つの電子メモリデバイスと、
を集合的に備え、
前記少なくとも1つの電子プロセッサは、前記少なくとも1つのメモリデバイスにアクセスし、その上で前記命令を実行して、前記制御システムに、前記情報に応じて前記電気牽引モーターを制御させるように構成されている、
請求項1に記載の制御システム。 - 制御方式の積分器トルクを制御することによって、前記トルクの初期増加を抑制するように構成されている、請求項1又は2に記載の制御システム。
- 前記積分器トルクを減少させて前記積分器トルクの上昇を少なくとも部分的にキャンセルすることによって、前記トルクの初期増加を抑制するように構成される、請求項3に記載の制御システム。
- 前記ラッシュクロス保護比率リミッターの解除後に前記電気牽引モーターから要求される最初のトルクの前記積分器トルクが減少される、請求項4に記載の制御システム。
- 前記積分器トルクは、前記制限の解除時に前記要求されるトルクのステップ変化を低減又は除去するように制御される、請求項3,4又は5に記載の制御システム。
- 前記ステップ変化を低減させることは、10Nm未満の大きさに前記ステップ変化を低減させることを備える、請求項6に記載の制御システム。
- 比例トルク、積分器トルク及び任意選択の微分トルクを使用して、前記速度目標に向けて速度を変更するように、前記制限の解除後に前記電気牽引モーターから要求される前記トルクを制御するように構成されている、請求項1から7までのいずれか1項に記載の制御システム。
- 前記制限の解除後及び前記初期増加の抑制後に、前記電気牽引モーターから要求されるトルクを前記制限された比率よりも大きな比率まで増加させることができるように構成された、請求項1から8までのいずれか1項に記載の制御システム。
- 前記速度目標は、車両クリープ速度目標又は車両クリープに関連するエンジンアイドル速度目標である、請求項1から9までのいずれか1項に記載の制御システム。
- エンジンは車両ホイールの第1セットに牽引トルクを提供するように動作可能であり、前記電気牽引モーターは車両ホイールの第2セットに牽引トルクを提供するように動作可能である、請求項1から10までのいずれか1項に記載の制御システム。
- 前記車両ホイールの第1セットが前輪であり、かつ前記車両ホイールの第2セットが後輪であるか、又は前記車両ホイールの第1セットが後輪であり、かつ前記車両ホイールの第2セットが前輪である、請求項11に記載の制御システム。
- 前記電気牽引モーターは、エンジンアクセサリ駆動モータージェネレーター又はクランクシャフト一体型モータージェネレーターである、請求項1から10までのいずれか1項に記載の制御システム。
- 請求項1から13までのいずれか1項に記載の前記制御システム及び前記電気牽引モーターを備える車両。
- 車両のエンジン及び電気牽引モーターを制御する方法であって、前記方法は、
ラッシュクロス保護比率リミッターに依存して、速度目標に向けて速度を変更するために前記電気牽引モーターから要求されるトルクの変化比率を制限することと、
前記速度が前記速度目標に到達する前の前記制限の解除時に、前記速度目標に向けて速度を変更するために前記電気牽引モーターから要求されるトルクの初期増加を抑制することと、
を備える、方法。 - 実行されたとき、請求項15に記載の方法を実行するように構成されたコンピュータソフトウェア。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB2000312.5A GB2590963B (en) | 2020-01-09 | 2020-01-09 | Hybrid vehicle speed and torque control |
GB2000312.5 | 2020-01-09 | ||
PCT/EP2021/050320 WO2021140234A1 (en) | 2020-01-09 | 2021-01-10 | Hybrid vehicle speed and torque control |
Publications (2)
Publication Number | Publication Date |
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JP2023510334A JP2023510334A (ja) | 2023-03-13 |
JP7389912B2 true JP7389912B2 (ja) | 2023-11-30 |
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JP2022542297A Active JP7389912B2 (ja) | 2020-01-09 | 2021-01-10 | ハイブリッド車両の速度及びトルク制御 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20230046357A1 (ja) |
EP (1) | EP4087752A1 (ja) |
JP (1) | JP7389912B2 (ja) |
CN (1) | CN114929503A (ja) |
GB (1) | GB2590963B (ja) |
WO (1) | WO2021140234A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003061207A (ja) | 2001-08-13 | 2003-02-28 | Nissan Motor Co Ltd | ハイブリッド車両の駆動装置 |
JP2006101644A (ja) | 2004-09-29 | 2006-04-13 | Nissan Motor Co Ltd | 車両の駆動力制御装置 |
JP2012091581A (ja) | 2010-10-25 | 2012-05-17 | Nissan Motor Co Ltd | ハイブリッド車両の制御装置 |
US20130297111A1 (en) | 2012-05-07 | 2013-11-07 | Ford Global Technologies, Llc | Driveline lash control method during driver tip-in/out |
JP2017159719A (ja) | 2016-03-08 | 2017-09-14 | 株式会社デンソー | モータ制御装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6758087B2 (en) * | 2000-04-28 | 2004-07-06 | General Electric Company | Method, system and storage medium for determining a vehicle reference speed |
US7035727B2 (en) * | 2002-05-29 | 2006-04-25 | Visteon Global Technologies, Inc. | Apparatus and method of controlling vehicle creep control under braking |
JP6226021B2 (ja) * | 2016-04-28 | 2017-11-08 | 株式会社明電舎 | 試験システムのダイナモメータ制御装置 |
US10457291B1 (en) * | 2018-04-27 | 2019-10-29 | Ford Global Technologies, Llc | Vehicle powertrain lash crossing control strategy |
-
2020
- 2020-01-09 GB GB2000312.5A patent/GB2590963B/en active Active
-
2021
- 2021-01-10 WO PCT/EP2021/050320 patent/WO2021140234A1/en unknown
- 2021-01-10 EP EP21700679.0A patent/EP4087752A1/en active Pending
- 2021-01-10 JP JP2022542297A patent/JP7389912B2/ja active Active
- 2021-01-10 CN CN202180008286.6A patent/CN114929503A/zh active Pending
- 2021-01-10 US US17/791,717 patent/US20230046357A1/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003061207A (ja) | 2001-08-13 | 2003-02-28 | Nissan Motor Co Ltd | ハイブリッド車両の駆動装置 |
JP2006101644A (ja) | 2004-09-29 | 2006-04-13 | Nissan Motor Co Ltd | 車両の駆動力制御装置 |
JP2012091581A (ja) | 2010-10-25 | 2012-05-17 | Nissan Motor Co Ltd | ハイブリッド車両の制御装置 |
US20130297111A1 (en) | 2012-05-07 | 2013-11-07 | Ford Global Technologies, Llc | Driveline lash control method during driver tip-in/out |
JP2017159719A (ja) | 2016-03-08 | 2017-09-14 | 株式会社デンソー | モータ制御装置 |
Also Published As
Publication number | Publication date |
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US20230046357A1 (en) | 2023-02-16 |
GB2590963A (en) | 2021-07-14 |
CN114929503A (zh) | 2022-08-19 |
GB202000312D0 (en) | 2020-02-26 |
WO2021140234A1 (en) | 2021-07-15 |
GB2590963B (en) | 2022-06-15 |
EP4087752A1 (en) | 2022-11-16 |
JP2023510334A (ja) | 2023-03-13 |
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