KR100534683B1 - 하이브리드 차량의 모터에 의한 충격 방지방법 - Google Patents

하이브리드 차량의 모터에 의한 충격 방지방법 Download PDF

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KR100534683B1
KR100534683B1 KR10-2002-0053521A KR20020053521A KR100534683B1 KR 100534683 B1 KR100534683 B1 KR 100534683B1 KR 20020053521 A KR20020053521 A KR 20020053521A KR 100534683 B1 KR100534683 B1 KR 100534683B1
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hybrid vehicle
motor
torque
value
acceleration
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KR10-2002-0053521A
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KR20040021872A (ko
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이세진
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현대자동차주식회사
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Priority to KR10-2002-0053521A priority Critical patent/KR100534683B1/ko
Priority to JP2002358701A priority patent/JP2004104981A/ja
Priority to US10/331,236 priority patent/US6882909B2/en
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    • 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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/54—Transmission for changing ratio
    • B60K6/543—Transmission for changing ratio the transmission being a continuously variable transmission
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    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

하이브리드 차량의 모터에 의한 충격 방지방법이 개시된다. 개시된 하이브리드 차량의 모터에 의한 충격 방지방법은, 하이브리드 차량에 구비된 하이브리드 제어기(HCU)가 모터 제어기(MCU)에 명령하는 토크 명령치의 최대값과 변화율을 제한하고, 가속도의 값 또는 저크의 값을 제한하며, 클러치 상태와 엔진의 토크 변화상황을 함께 고려하여 상기 토크 명령치의 최대값과 변화율, 상기 가속도 또는 상기 저크의 제한값들을 연속적으로 계산하여 상기 하이브리드 차량에서 발생하는 충격을 줄이도록 하는 것을 그 특징으로 한다.
본 발명에 따르면, 따라서 운전성이 허용하는 범위 내에서 최대의 연비 개선효과를 가져올 수 있는 이점이 있다.

Description

하이브리드 차량의 모터에 의한 충격 방지방법{METHOD OF PROTECTING A SHOCK OF THE MOTOR IN A HYBRID VEHICLE}
본 발명은 하이브리드 차량의 모터에 의한 충격 방지방법에 관한 것으로서, 보다 상세하게는 하이브리드 차량에서 발생하기 쉬운 발진 또는 주행시 충격을 줄일 수 있도록 하기 위한 하이브리드 차량의 모터에 의한 충격 방지방법에 관한 것이다.
하이브리드 차량(hybrid vehicle)은 모터(motor)로서 엔진의 동력을 보조하여 연비를 최대화하며, 동시에 동력 성능을 최대화하는 것을 목적으로 한다.
그러나 모터는 엔진에 비해 매우 빠른 응답성을 가지고 있기 때문에 클러치(clutch)가 있는 하이브리드 차량의 경우 모터의 사용량의 제한 없이는 쉽게 차량에 충격 예컨대, 급발진 또는 타이어 슬립(slip)을 발생할 수 있다.
상기와 같은 충격을 종래에는 단순한 변화율 제한 또는 필터링(filtering)에 의해 해결하려 했으나, 다양한 주행 상황에 매우 의존적이고 너무 과도한 제한을 가함으로써 모터의 성능을 제대로 활용하지 못하는 결과를 초래하였다.
본 발명은 상기와 같은 문제점을 해결하기 위하여 창출된 것으로서, 하이브리드 차량에서 발생하기 쉬운 발진 또는 주행시 충격을 줄일 수 있도록 한 하이브리드 차량의 모터에 의한 충격 방지방법을 제공하는데 그 목적이 있다.
상기와 같은 목적을 달성하기 위한 본 발명의 하이브리드 차량의 모터에 의한 충격 방지방법은, 하이브리드 차량에 구비된 하이브리드 제어기(HCU)가 모터 제어기(MCU)에 명령하는 토크 명령치의 최대값과 변화율을 제한하고, 가속도의 값 또는 저크의 값을 제한하며, 클러치 상태와 엔진의 토크 변화상황을 함께 고려하여 상기 토크 명령치의 최대값과 변화율, 상기 가속도 또는 상기 저크의 제한값들을 연속적으로 계산하여 상기 하이브리드 차량에서 발생하는 충격을 줄이도록 하는 것을 그 특징으로 한다.
이하, 첨부된 도면을 참조하여 본 발명에 따른 바람직한 실시예를 상세히 설명하기로 한다.
도 1에는 본 발명에 따른 하이브리드 차량의 모터에 의한 충격 방지방법을 개략적으로 나타낸 블록도가 도시되어 있다.
도면을 참조하면, 본 발명에 따른 하이브리드 차량의 모터에 의한 충격 방지방법은, 하이브리드 차량에 구비된 하이브리드 제어기(Hybrid Control Unit)가 모터 제어기(Motor Control Unit)에 명령하는 토크 명령치의 최대값과 변화율을 제한하고, 가속도의 값 또는 저크의 값을 제한하며, 후술하는 클러치 상태와 엔진의 토크 변화상황을 함께 고려하여 상기 토크 명령치의 최대값과 변화율, 상기 가속도 또는 상기 저크의 제한값들을 연속적으로 계산하여 하이브리드 차량에서 발생하는 충격을 줄이도록 한다.
이를 위해 상기 가속도(a)와 저크(j)는 아래의 식 1로 모델링(modeling)하여 구한다.
[식 1]
,
즉, 상기한 저크(j)는 시간 변화에 따른 가속도(a)의 변화량이다.
여기서, : 클러치 토크, : 기어비, m: 차량 중량, : 타이어 반경이다.
그리고 상기 식 1에서 상기 가속도 및 저크를 일정 수준 이하로 줄이기 위해 아래의 식 2를 만족해야 한다.
[식 2]
,
여기서, : 가속도 제한치(+쪽)
: 가속도 제한치(-쪽)
: 저크 제한치(+쪽)
: 저크 제한치(-쪽)한편, 상기에서 클러치 상태라 함은, 후술하는 클러치의 로크(lock)나 슬립(slip) 여부를 말하는 것으로, 일반적으로 클러치는 저속에서 슬립 상태를 유지하고, 고속에서는 로크 상태로 유지된다. 이러한 상태를 변속기 전자제어장치인 TCU(Transmission Control Unit)에서 제어한다.
또한 상기 식 1에서 클러치 토크는 클러치 로크(lock)시 아래의 식 3으로 나타낼 수 있다.
[식 3]
여기서, : 엔진 토크
: 모터 토크
그리고 클러치 슬립(slip)시 아래의 식 4로 나타낼 수 있다.
[식 4]
상기 식 3의 클러치 로크시는 엔진토크와 모터토크의 합이 되지만, 클러치 슬립중에는 엔진토크와 클러치 토크를 참조하여 제어되는 클러치 유압에 비례하게 된다. 그리고 클러치는 TCU(Transmission Control Unit)에 의해 독립적으로 제어되므로 정확한 클러치 유압을 참조하여 클러치 토크를 추정하는 것은 불가능하므로 로크시의 클러치 토크에 하나의 팩타(factor)를 곱한 값을 사용한다.
그리고 상기 식 1 및 2에서 는 파라미터가 되고, 상기 식 1 내지 4에서 및 는 연속적으로 변하는 변수이다.
상기한 바와 같이 본 발명에 따른 하이브리드 차량의 모터에 의한 충격 방지방법은, 하이브리드 제어기가 모터 제어기에 명령하는 토크 명령치의 최대값과 변화율을 제한함으로써 하이브리드 차량에서 발생하기 쉬운 발진 혹은 주행시 충격감을 줄일 수 있다. 그리고 운전자가 느끼는 충격은 토크에 비례하는 과도한 가속도 또는 토크변화율에 비례하는 과도한 저크가 있으며, 이 값을 적절히 제한함으로써 충격을 방지할 수 있다.
또한 클러치 상태와 엔진의 토크 변화상황을 함께 고려하여 상기 토크 명령치의 최대값과 변화율, 상기 가속도 또는 상기 저크의 제한값들을 연속적으로 계산함으로써 어떤 상황에서도 안정된 충격 방지 성능을 제공할 수 있으며, 그리고 모터의 성능을 충분히 활용할 수 있게 된다.
상술한 바와 같이 본 발명에 따른 하이브리드 차량의 모터에 의한 충격 방지방법은 다음과 같은 효과를 갖는다.
하이브리드 차량에서 발생하기 쉬운 발진 혹은 주행시 충격감을 줄일 수 있다.
그리고 클러치 상태와 엔진의 토크 변화 상황을 함께 고려함으로써, 어떠한 상황에서도 안정된 충격 방지 성능을 제공할 수 있다.
또한 충격을 방지하면서 동시에 최대한의 모터 토크를 활용할 수 있게 됨으로써 하이브리드 차량의 고질적인 운전성 문제를 개선할 수 있다.
따라서 운전성이 허용하는 범위 내에서 최대의 연비개선효과를 가져올 수 있다.
본 발명은 도면에 도시된 일 실시예를 참고로 설명되었으나 이는 예시적인 것에 불과하며, 당해 기술 분야에서 통상의 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 실시예가 가능하다는 점을 이해할 것이다. 따라서 본 발명의 진정한 보호 범위는 첨부된 특허청구범위에 의해서만 정해져야 할 것이다.
도 1은 본 발명에 따른 하이브리드 차량의 모터에 의한 충격 방지방법을 개략적으로 나타내 보인 블록도.

Claims (5)

  1. 하이브리드 차량에 구비된 하이브리드 제어기(HCU)가 모터 제어기(MCU)에 명령하는 토크 명령치의 최대값과 변화율을 제한하고, 가속도의 값 또는 저크의 값을 제한하며, 클러치 상태와 엔진의 토크 변화상황을 함께 고려하여 상기 토크 명령치의 최대값과 변화율, 상기 가속도 또는 상기 저크의 제한값들을 연속적으로 계산하여 상기 하이브리드 차량에서 발생하는 충격을 줄이도록 하는 것을 특징으로 하는 하이브리드 차량의 모터에 의한 충격 방지방법.
  2. 제1항에 있어서,
    상기 가속도(a)와 상기 저크(j)는 아래의 식 1로 모델링하여 구하여 지는 것을 특징으로 하는 하이브리드 차량의 모터에 의한 충격 방지방법.
    [식 1]
    ,
    여기서, : 클러치 토크,
    : 기어비,
    m: 차량 중량,
    : 타이어 반경
  3. 제2항에 있어서,
    상기 식 1에서 상기 가속도 및 상기 저크를 일정 수준 이하로 줄이기 위해 아래의 식 2를 만족해야 하는 것을 특징으로 하는 하이브리드 차량의 모터에 의한 충격 방지방법.
    [식 2]
    ,
    여기서, : 가속도 제한치(+쪽)
    : 가속도 제한치(-쪽)
    : 저크 제한치(+쪽)
    : 저크 제한치(-쪽)
  4. 제2항에 있어서,
    상기 클러치 토크는 로크시 아래의 식 3으로 나타내는 것을 특징으로 하는 하이브리드 차량의 모터에 의한 충격 방지방법.
    [식 3]
    여기서, : 엔진 토크
    : 모터 토크
  5. 제2항에 있어서,
    상기 클러치 토크는 슬립시 아래의 식 4로 나타내는 것을 특징으로 하는 하이브리드 차량의 모터에 의한 충격 방지방법.
    [식 4]
    여기서, : 엔진 토크
    : 모터 토크
KR10-2002-0053521A 2002-09-05 2002-09-05 하이브리드 차량의 모터에 의한 충격 방지방법 KR100534683B1 (ko)

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JP2002358701A JP2004104981A (ja) 2002-09-05 2002-12-10 モーター衝撃低減方法およびモーター衝撃低減装置
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