WO2008107212A1 - Optimized recuperation method for motor vehicles - Google Patents

Optimized recuperation method for motor vehicles Download PDF

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Publication number
WO2008107212A1
WO2008107212A1 PCT/EP2008/050139 EP2008050139W WO2008107212A1 WO 2008107212 A1 WO2008107212 A1 WO 2008107212A1 EP 2008050139 W EP2008050139 W EP 2008050139W WO 2008107212 A1 WO2008107212 A1 WO 2008107212A1
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WO
WIPO (PCT)
Prior art keywords
brake
braking torque
braking
electric machine
vehicle
Prior art date
Application number
PCT/EP2008/050139
Other languages
German (de)
French (fr)
Inventor
Andreas Tost
Matthias Leiblein
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2008107212A1 publication Critical patent/WO2008107212A1/en

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    • 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
    • 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 ; 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 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
    • 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
    • B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
    • 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
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • 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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • 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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
    • B60T8/266—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means
    • B60T8/267—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means for hybrid systems with different kind of brakes on different axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
    • B60T8/266—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means
    • B60T8/268—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means using the valves of an ABS, ASR or ESP system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
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    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
    • B60T8/4081—Systems with stroke simulating devices for driver input
    • B60T8/4086—Systems with stroke simulating devices for driver input the stroke simulating device being connected to, or integrated in the driver input device
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • 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
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
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    • 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
    • B60W30/18109—Braking
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    • 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
    • B60L2210/00—Converter types
    • B60L2210/40—DC to AC converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles

Definitions

  • the invention relates to a method for recovering electrical energy in a vehicle according to the preamble of patent claim 1, and to a control device according to the preamble of patent claim 8.
  • recuperation In order to increase the efficiency of vehicles, it is known to convert the released during a braking kinetic energy by means of a generator into electrical energy (so-called recuperation).
  • the electrical energy thus obtained is stored in an energy storage such.
  • the efficiency of the vehicle can be significantly increased.
  • the electric machine In hybrid vehicles usually the electric machine is used, which is operated in a deceleration phase as a generator. But also at
  • Vehicles without hybrid drive the conventional vehicle generator for the recovery of electrical energy can be used (micro-hybrid).
  • recuperation operation it is usually attempted to recover a maximum of energy.
  • the amount of power that can be generated by the generator is dependent on the capacity of the electrical network and the generator speed.
  • the energy that can be fed from the generator into the electrical system is therefore very variable.
  • the generator generates a braking or drag torque, which is essentially dependent on the electrical power output.
  • the braking torque generated by the generator is therefore also very unsteady. If the driver actuates the service brake and the electric machine is switched on in the recuperation mode, Thus, the braking behavior of the vehicle varies accordingly. This discontinuous behavior can significantly affect the braking behavior of the vehicle and endanger the driving safety in the worst case.
  • Hybrid vehicles with a conventional hydraulic or pneumatic brake system (in which there is a mechanical penetration between the brake pedal and the individual wheel brakes) are therefore usually designed so that only a very small amount of energy is recovered during recuperation to the influence of the Generator to keep low.
  • this has the significant disadvantage that the generator-generated power is not fully utilized and thus the efficiency of the vehicle can be improved only slightly.
  • An essential aspect of the invention is to shut off at least one of the wheel brakes of the skin brake cylinder in a braking operation, depending on the braking request of the driver, so that they can not be pressurized or no further.
  • the portion of the total braking torque that the hydraulic brake system now exerts less, is compensated according to the invention of the electric machine.
  • the electric machine is controlled in this case such that it generates a higher braking torque and overall the driver's desired braking torque is achieved. This has the significant advantage that the electric machine can be significantly more involved, in particular during braking operations with little delay, and thus more electric power can be recovered.
  • not only individual wheel brakes, but at least one entire brake circuit are separated from the master cylinder.
  • Distinguish braking situations For weak braking operations, in which the desired braking torque by the driver is smaller than the maximum torque that can be generated by the electric machine, the entire desired braking torque can be generated by the electric machine. In this case, it is possible to shut off all brake circuits of the brake system and to brake only "electrically". In this case, therefore, it is first decided whether the desired braking torque is smaller than a predetermined threshold, and if so, all brake circuits shut off. This in turn has the advantage that the electrical machine can be used to the maximum extent to generate electrical power.
  • Brake system part of the total target braking torque the other part is taken over by the electric machine.
  • the electric machine is operated in such a way that the desired braking torque is achieved overall.
  • a pedal simulator provided, as it is already known for example from various patent applications of the applicant.
  • a certain pedal travel or a certain pedal force thus always corresponds to a predetermined deceleration of the vehicle.
  • a brake circuit or a brake which has hitherto been shut off is preferably reopened.
  • the invention attempts to implement the additional delay request by means of the generator. If this is not possible, the hydraulic brake system is preferably switched on again. This ensures that the vehicle always follows the required deceleration request.
  • the wheel brake pressure can be reduced in favor of the generator with a constant or decreasing deceleration request. This is particularly advantageous for longer braking with constant deceleration.
  • various actuators of the brake system in particular intake and exhaust valves are connected to a control unit which monitors and controls the braking process.
  • This controller is preferably also with a generator controller and / or a converter, such.
  • Fig. 1 is a schematic representation of various components that contribute to the overall braking torque
  • Fig. 2 is a schematic representation of a hydraulic brake system, in which both brake circuits are decoupled;
  • Fig. 3 is a schematic representation of a hydraulic brake system, in which a brake circuit is decoupled
  • Fig. 4 is a schematic representation of a hydraulic brake system, in which both brake circuits are decoupled, the brake pressure at both
  • Fig. 5 is a schematic representation of a hydraulic brake system in which a brake circuit is decoupled, the brake pressure is reduced, however.
  • Fig. 1 shows a schematic representation of vehicle components that provide a contribution to the total braking torque in a braking operation.
  • the reference numeral 17 denotes the hydraulic brake system, 20 an electric machine and 21 the internal combustion engine including the drive train.
  • the electric machine 20 generates in the overrun mode, d. H.
  • the brake system 17 acts on the wheel brakes, and the internal combustion engine 21 by means of friction forces and inertia delaying the vehicle.
  • FIG. 2 shows a substantially known hydraulic brake system 17, which is designed to carry out a vehicle dynamics control (eg ESP).
  • ESP vehicle dynamics control
  • Brake system comprises two brake circuits 19a, 19b, the z. B. in X or Il division can be arranged.
  • the brake system further comprises a foot brake pedal 1, a brake booster 2 with integrated pedal simulator and a
  • Master brake cylinder 4 on which a brake fluid reservoir 3 is arranged.
  • a brake fluid reservoir 3 Upon actuation of the foot brake pedal 1 is in the main brake lines 5a, 5b generates a brake pressure acting on the brake shoes 11 of the wheels via a switching valve 8a, 8b and an inlet valve 10a-10d.
  • the path in which builds pressure on actuation of the foot brake pedal 1 is indicated by arrows b.
  • a high-pressure switching valve 7a, 7b is closed in this state.
  • the brake system 17 includes for this purpose a hydraulic pump 9a, 9b, which is controlled by a control device (not shown) accordingly.
  • the hydraulic pump 9a, 9b then delivers the hydraulic fluid along the paths a to the brake shoes 11.
  • the hydraulic fluid flows out of the brake fluid reservoir 3, through the main brake line 5a or 5b, the high-pressure switching valve 7a, 7b, an intake line 6a, 6b the hydraulic pump 9a, 9b and further through the inlet valves 10a-10d to the brake shoes 11.
  • the modulation of the brake pressure by means of the inlet valves 10a-10d and the outlet valves 13a-13d, wherein short-term pressure peaks are buffered in a surge tank 14a, 14b.
  • the wheel brakes 11 In a braking operation with a conventional brake system, the wheel brakes 11 would be active as soon as the driver has overcome a certain pressure point on the foot brake pedal. The wheel brakes 11, 12 would thus, even if the driver presses the foot brake pedal 1 only very weak, make a contribution to the total braking torque M G. In order to avoid this, when a braking request has been detected, the hydraulic braking torque in favor of the generator 20 is reduced here. For this purpose, at least one of the brake circuits 19a, 19b is separated from the master cylinder 4.
  • FIG. 2 shows a state of the brake system with a very weak braking, in which the predetermined braking torque predetermined by the driver on the pedal 1 can be completely converted by means of the electric machine 20.
  • Both brake circuits 19a, 19b are decoupled from the main brake cylinder 4 in this state. This can be seen from the fact that all intake valves 10a-10d are closed and thus no pressure build-up on the wheel brakes 11, 12 can take place.
  • the intake valves 10a-10d are controlled accordingly by a control unit (not shown).
  • the electric machine 20 is operated in this state such that the required total braking torque is largely effected by the generator.
  • the generator controller and / or a converter are operated accordingly in this case.
  • Fig. 3 shows a state of the brake system 19 in the case of moderate braking.
  • the driver's desired braking torque can not be fully implemented by the generator 20; However, it is not an emergency stop.
  • FIG. 4 shows a state of the brake system similar to FIG. 2.
  • the intake valves 10 a - 10 d are all closed and all brakes 11, 12 are decoupled from the master brake cylinder 4.
  • the exhaust valves 13a-13d are opened, so that the brake pressure acting on the brakes 11, 12 can be reduced.
  • This may be useful, for example, in situations where the vehicle is being decelerated from a high speed with constant deceleration.
  • the vehicle speed of the generator 20 decreases, it can generate more electric power.
  • the distribution of the desired desired braking torque between the generator 20 and brake system 17 is shifted in favor of the generator 20 in this case.
  • the acting on the brakes 11, 12 Reduced brake pressure and simultaneously increases the generator braking torque. In this way, more energy can be recovered.
  • the driver's braking request and the generator speed are monitored.
  • at least one of the exhaust valves 13a-13d is opened.
  • the contribution of the associated brake circuit 19a decreases, the contribution of the generator 20 is increased. This procedure is monitored and controlled by a controller (not shown).
  • FIG. 5 shows a state of the brake system 17 similar to FIG. 3.
  • the brake circuit 19a is decoupled and the other 19b is active. This can be seen from the position of the intake valves 10a-10d.
  • the exhaust valves 13a, 13b are opened, so that the brake pressure applied to the brakes 11, 12 slowly degrades. As the contribution of the brake circuit 19a decreases, the contribution of the generator 20 is again increased. Thus, more electric power can be recovered.

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Abstract

The invention relates to a method for recapturing electrical energy in a vehicle by means of an electric machine (20), wherein the vehicle (10) comprises a hydraulic brake system (17) having several brake circuits (19a, 19b). In recuperation mode, a maximum of electrical energy can be recaptured if the desired braking is detected during the braking process, when at least one brake circuit (19a, 19b) is closed off from the main cylinder (4) according to the desired braking, and the electric machine (20) is operated in such a manner that, overall, the desired braking torque (M<SUB>Bsoll</SUB>) is achieved.

Description

Beschreibung description
Titeltitle
Optimiertes Rekuperationsverfahren für KraftfahrzeugeOptimized recuperation procedure for motor vehicles
Stand der TechnikState of the art
Die Erfindung betrifft ein Verfahren zum Rückgewinnen elektrischer Energie in einem Fahrzeug gemäß dem Oberbegriff des Patentanspruchs 1 , sowie ein Steuergerät gemäß dem Oberbegriff des Patentanspruchs 8.The invention relates to a method for recovering electrical energy in a vehicle according to the preamble of patent claim 1, and to a control device according to the preamble of patent claim 8.
Um den Wirkungsgrad von Fahrzeugen zu steigern, ist es bekannt, die bei einem Bremsvorgang frei werdende kinetische Energie mittels eines Generators in elektrische Energie zu wandeln (so genannte Rekuperation). Die so gewonnene elektrische Energie wird in einem Energiespeicher, wie z. B. in einer Batterie oder einem Super-Cap gespeichert und kann in anderen Fahrsituationen zum Antrieb des Fahrzeugs oder zur Versorgung elektrischer Verbraucher genutzt werden. Der Wirkungsgrad des Fahrzeugs kann dadurch erheblich gesteigert werden. Bei Hybrid-Fahrzeugen wird üblicherweise die elektrische Maschine genutzt, die in einer Verzögerungsphase als Generator betrieben wird. Aber auch beiIn order to increase the efficiency of vehicles, it is known to convert the released during a braking kinetic energy by means of a generator into electrical energy (so-called recuperation). The electrical energy thus obtained is stored in an energy storage such. B. stored in a battery or a super-cap and can be used in other driving situations to drive the vehicle or to supply electrical consumers. The efficiency of the vehicle can be significantly increased. In hybrid vehicles usually the electric machine is used, which is operated in a deceleration phase as a generator. But also at
Fahrzeugen ohne Hybridantrieb kann der herkömmliche Fahrzeuggenerator zur Rückgewinnung elektrischer Energie genutzt werden (Mikro-Hybrid).Vehicles without hybrid drive, the conventional vehicle generator for the recovery of electrical energy can be used (micro-hybrid).
Im Rekuperationsbetrieb wird üblicherweise versucht, ein Maximum an Energie zurück zu gewinnen. Die Menge der vom Generator erzeugbaren Leistung ist jedoch anhängig von der Aufnahmefähigkeit des elektrischen Netzes und der Generator-Drehzahl. Die Energie, die vom Generator in das Bordnetz gespeist werden kann, ist daher sehr variabel. Im Rekuperationsbetrieb erzeugt der Generator ein Brems- bzw. Schleppmoment, das im Wesentlichen von der abgegebenen elektrischen Leistung abhängig ist. Das vom Generator erzeugte Bremsmoment ist daher auch sehr unstetig. Wenn der Fahrer die Betriebsbremse betätigt und die elektrische Maschine im Rekuperationsbetrieb zugeschaltet ist, variiert somit auch das Bremsverhalten des Fahrzeugs entsprechend. Dieses unstetige Verhalten kann das Bremsverhalten des Fahrzeugs erheblich beeinträchtigen und im schlimmsten Fall die Fahrsicherheit gefährden.In recuperation operation, it is usually attempted to recover a maximum of energy. The amount of power that can be generated by the generator, however, is dependent on the capacity of the electrical network and the generator speed. The energy that can be fed from the generator into the electrical system is therefore very variable. In recuperation, the generator generates a braking or drag torque, which is essentially dependent on the electrical power output. The braking torque generated by the generator is therefore also very unsteady. If the driver actuates the service brake and the electric machine is switched on in the recuperation mode, Thus, the braking behavior of the vehicle varies accordingly. This discontinuous behavior can significantly affect the braking behavior of the vehicle and endanger the driving safety in the worst case.
Hybrid-Fahrzeuge mit einer herkömmlichen hydraulischen oder pneumatischen Bremsanlage (bei der ein mechanischer Durchgriff zwischen dem Bremspedal und den einzelnen Radbremsen besteht) sind daher meist so ausgelegt, dass während der Rekuperation nur ein sehr geringer Betrag an Energie zurück gewonnen wird, um den Einfluss des Generators gering zu halten. Dies hat jedoch den wesentlichen Nachteil, dass die vom Generator erzeugbare Leistung nicht voll ausgenutzt und somit der Wirkungsgrad des Fahrzeugs nur wenig verbessert werden kann.Hybrid vehicles with a conventional hydraulic or pneumatic brake system (in which there is a mechanical penetration between the brake pedal and the individual wheel brakes) are therefore usually designed so that only a very small amount of energy is recovered during recuperation to the influence of the Generator to keep low. However, this has the significant disadvantage that the generator-generated power is not fully utilized and thus the efficiency of the vehicle can be improved only slightly.
Offenbarung der ErfindungDisclosure of the invention
Es ist daher die Aufgabe der vorliegenden Erfindung, den Wirkungsgrad des Fahrzeugs weiter zu verbessern.It is therefore the object of the present invention to further improve the efficiency of the vehicle.
Gelöst wird diese Aufgabe gemäß der Erfindung durch die im Patenanspruch 1 angegebenen Merkmale. Weitere Ausgestaltungen der Erfindung sind Gegenstand von Unteransprüchen.This object is achieved according to the invention by the features specified in claim 1. Further embodiments of the invention are the subject of dependent claims.
Ein wesentlicher Aspekt der Erfindung besteht darin, bei einem Bremsvorgang, abhängig vom Bremswunsch des Fahrers, wenigstens eine der Radbremsen vom Hautbremszylinder abzusperren, so dass diese nicht bzw. nicht weiter mit Druck beaufschlagt werden kann. Derjenige Anteil am Gesamt-Bremsmoment, den die hydraulische Bremsanlage nun weniger ausübt, wird erfindungsgemäß von der elektrischen Maschine kompensiert. Die elektrische Maschine wird in diesem Fall derart angesteuert, dass sie ein höheres Bremsmoment erzeugt und insgesamt das vom Fahrer gewünschte Bremsmoment erreicht wird. Dies hat den wesentlichen Vorteil, dass die elektrische Maschine insbesondere bei Bremsvorgängen mit geringer Verzögerung wesentlich stärker beteiligt werden und somit mehr elektrische Leistung zurück gewonnen werden kann. Gemäß einer bevorzugten Ausführungsform der Erfindung werden nicht nur einzelne Radbremsen, sondern wenigstens ein gesamter Bremskreis vom Hauptbremszylinder abgetrennt.An essential aspect of the invention is to shut off at least one of the wheel brakes of the skin brake cylinder in a braking operation, depending on the braking request of the driver, so that they can not be pressurized or no further. The portion of the total braking torque that the hydraulic brake system now exerts less, is compensated according to the invention of the electric machine. The electric machine is controlled in this case such that it generates a higher braking torque and overall the driver's desired braking torque is achieved. This has the significant advantage that the electric machine can be significantly more involved, in particular during braking operations with little delay, and thus more electric power can be recovered. According to a preferred embodiment of the invention, not only individual wheel brakes, but at least one entire brake circuit are separated from the master cylinder.
Bezüglich des Absperrens von Bremskreisen sind im Wesentlichen dreiWith regard to the shut-off of brake circuits are essentially three
Bremssituationen zu unterscheiden. Bei schwachen Bremsvorgängen, bei denen das vom Fahrer gewünschte Bremsmoment kleiner ist als das von der elektrischen Maschine maximal erzeugbare Schleppmoment, kann das gesamte Soll- Bremsmoment von der elektrischen Maschine erzeugt werden. In diesem Fall ist es möglich, sämtliche Bremskreise der Bremsanlage abzusperren und nur rein "elektrisch" zu bremsen. In diesem Fall wird also zunächst entschieden, ob das gewünschte Bremsmoment kleiner ist als ein vorgegebener Schwellenwert, und falls ja, sämtliche Bremskreise abgesperrt. Dies hat wiederum den Vorteil, dass die elektrische Maschine in maximalem Umfang genutzt werden kann, um elektrische Leistung zu erzeugen.Distinguish braking situations. For weak braking operations, in which the desired braking torque by the driver is smaller than the maximum torque that can be generated by the electric machine, the entire desired braking torque can be generated by the electric machine. In this case, it is possible to shut off all brake circuits of the brake system and to brake only "electrically". In this case, therefore, it is first decided whether the desired braking torque is smaller than a predetermined threshold, and if so, all brake circuits shut off. This in turn has the advantage that the electrical machine can be used to the maximum extent to generate electrical power.
Bei mittelstarken Bremsvorgängen, bei denen das gewünschte Bremsmoment größer ist als das von der elektrischen Maschine maximal erzeugbare Schleppmoment, wird vorzugsweise wenigstens ein Bremskreis, aber weniger als alle Bremskreise abgesperrt. In diesem Fall übernimmt die hydraulischeIn the case of medium-strength braking processes in which the desired braking torque is greater than the maximum torque that can be generated by the electric machine, preferably at least one brake circuit, but less than all brake circuits, is shut off. In this case, the hydraulic takes over
Bremsanlage einen Teil des gesamten Soll-Bremsmoments; der andere Teil wird von der elektrischen Maschine übernommen. Die elektrische Maschine wird dabei derart betrieben, dass insgesamt das gewünschte Soll-Bremsmoment erreicht wird.Brake system part of the total target braking torque; the other part is taken over by the electric machine. The electric machine is operated in such a way that the desired braking torque is achieved overall.
Bei starken Bremsvorgängen, insbesondere Notbremsungen, bei denen der Bremswunsch eine vorgegebene hohe Schwelle überschreitet, wird aus Sicherheitsgründen vorzugsweise kein Bremskreis abgesperrt. Die hydraulische Bremsanlage arbeitet somit in vollem Umfang und wird durch den Generator unterstützt.For heavy braking operations, especially emergency braking, in which the braking request exceeds a predetermined high threshold, preferably no brake circuit is shut off for safety reasons. The hydraulic brake system thus operates in full and is supported by the generator.
Damit sich das für den Fahrer gewohnte Pedalgefühl nicht ändert, wenn ein oder mehrere Bremskreise abgesperrt sind, ist vorzugsweise ein Pedalsimulator vorgesehenen, wie er beispielsweise aus verschiedenen Patentanmeldungen der Anmelderin bereits bekannt ist. Ein bestimmter Pedalweg bzw. eine bestimmte Pedalkraft entspricht damit immer einer vorgegebenen Verzögerung des Fahrzeugs. Wenn im Rahmen eines Bremsvorgangs das gewünschte Bremsmoment steigt, weil der Fahrer beispielsweise die Bremse noch stärker betätigt, wird ein Bremskreis (bzw. eine Bremse), der (die) bislang abgesperrt war, vorzugsweise wieder geöffnet. Zunächst wird erfindungsgemäß versucht, den zusätzlichen Verzögerungswunsch mittels des Generators umzusetzen. Wenn dies nicht möglich ist, wird vorzugsweise wieder die hydraulische Bremsanlage zugeschaltet. Dadurch wird sichergestellt, dass das Fahrzeug in jedem Fall dem geforderten Verzögerungswunsch folgt.So that the usual for the driver pedal feel does not change when one or more brake circuits are shut off, preferably a pedal simulator provided, as it is already known for example from various patent applications of the applicant. A certain pedal travel or a certain pedal force thus always corresponds to a predetermined deceleration of the vehicle. If, in the context of a braking operation, the desired braking torque increases, because the driver, for example, applies the brake even more strongly, a brake circuit (or a brake) which has hitherto been shut off is preferably reopened. First, the invention attempts to implement the additional delay request by means of the generator. If this is not possible, the hydraulic brake system is preferably switched on again. This ensures that the vehicle always follows the required deceleration request.
Gemäß einer speziellen Ausführungsform der Erfindung kann der Rad- Bremsdruck bei gleich bleibendem oder abnehmendem Verzögerungswunsch zugunsten des Generators reduziert werden. Dies ist insbesondere bei längeren Bremsvorgängen mit konstanter Verzögerung von Vorteil. In einer solchen Fahrsituation wird z. B. ein Auslassventil der betreffenden Radbremse geöffnet, um Druck abzubauen. Dadurch reduziert sich der Beitrag der hydraulischen Bremsanlage am Gesamt-Bremsmoment. Dieser Anteil kann wieder von der elektrischen Maschine übernommen und somit mehr Energie zurück gewonnen werden.According to a specific embodiment of the invention, the wheel brake pressure can be reduced in favor of the generator with a constant or decreasing deceleration request. This is particularly advantageous for longer braking with constant deceleration. In such a driving situation z. B. an exhaust valve of the wheel brake in question to reduce pressure. This reduces the contribution of the hydraulic brake system to the total braking torque. This proportion can be taken over again by the electric machine and thus more energy can be recovered.
Zur Durchführung dieses Verfahrens sind verschiedene Stellglieder der Bremsanlage, insbesondere Einlass- und Auslassventile mit einem Steuergerät verbunden, das den Bremsvorgang überwacht und steuert. Dieses Steuergerät ist vorzugsweise auch mit einem Generatorregler und/oder einem Umrichter, wie z. B. einem PWR (Pulswechselrichter) verbunden, der die vom Generator ausgegebene Wirkleistung regelt.To carry out this method, various actuators of the brake system, in particular intake and exhaust valves are connected to a control unit which monitors and controls the braking process. This controller is preferably also with a generator controller and / or a converter, such. B. a PWR (pulse inverter) connected, which controls the output of the generator active power.
Kurze Beschreibung der ZeichnungenBrief description of the drawings
Die Erfindung wird nachstehend anhand der beigefügten Zeichnungen beispielhaft näher dargestellt. Es zeigen:The invention will now be described by way of example with reference to the accompanying drawings. Show it:
Fig. 1 eine schematische Darstellung verschiedener Komponenten, die zum Gesamt-Bremsmoment beitragen; Fig. 2 eine schematische Darstellung einer hydraulischen Bremsanlage, bei der beide Bremskreise abgekoppelt sind;Fig. 1 is a schematic representation of various components that contribute to the overall braking torque; Fig. 2 is a schematic representation of a hydraulic brake system, in which both brake circuits are decoupled;
Fig. 3 eine schematische Darstellung einer hydraulischen Bremsanlage, bei der ein Bremskreis abgekoppelt ist;Fig. 3 is a schematic representation of a hydraulic brake system, in which a brake circuit is decoupled;
Fig. 4 eine schematische Darstellung einer hydraulischen Bremsanlage, bei der beide Bremskreise abgekoppelt sind, der Bremsdruck jedoch an beidenFig. 4 is a schematic representation of a hydraulic brake system, in which both brake circuits are decoupled, the brake pressure at both
Bremskreisen abgebaut wird; undBraking circuit is dismantled; and
Fig. 5 eine schematische Darstellung einer hydraulischen Bremsanlage, bei der ein Bremskreis abgekoppelt ist, der Bremsdruck jedoch abgebaut wird.Fig. 5 is a schematic representation of a hydraulic brake system in which a brake circuit is decoupled, the brake pressure is reduced, however.
Ausführungsformen der ErfindungEmbodiments of the invention
Fig. 1 zeigt eine schematische Darstellung von Fahrzeug-Komponenten, die bei einem Bremsvorgang einen Beitrag zum Gesamt-Bremsmoment liefern. Dabei bezeichnet das Bezugszeichen 17 die hydraulische Bremsanlage, 20 eine elektrische Maschine und 21 den Verbrennungsmotor einschließlich Antriebsstrang. Die elektrische Maschine 20 erzeugt im Schubbetrieb, d. h. beim Ausrollen oder Bremsen des Fahrzeugs ein generatorisches Schleppmoment, das das Fahrzeug verzögert. Die Bremsanlage 17 wirkt über die Radbremsen, und der Verbrennungsmotor 21 über Reibungskräfte und Trägheit verzögernd auf das Fahrzeug.Fig. 1 shows a schematic representation of vehicle components that provide a contribution to the total braking torque in a braking operation. In this case, the reference numeral 17 denotes the hydraulic brake system, 20 an electric machine and 21 the internal combustion engine including the drive train. The electric machine 20 generates in the overrun mode, d. H. When rolling out or braking the vehicle a regenerative drag torque that delays the vehicle. The brake system 17 acts on the wheel brakes, and the internal combustion engine 21 by means of friction forces and inertia delaying the vehicle.
Sämtliche Bremsmomente MVM, MG und MB ergeben zusammen ein Gesamt- Bremsmoment MBG-All braking torques M VM , M G and M B together result in a total braking torque MBG-
Fig. 2 zeigt eine im Wesentlichen bekannte hydraulische Bremsanlage 17, die zur Durchführung einer Fahrdynamikregelung (z. B. ESP) ausgelegt ist. Die2 shows a substantially known hydraulic brake system 17, which is designed to carry out a vehicle dynamics control (eg ESP). The
Bremsanlage umfasst zwei Bremskreise 19a, 19b, die z. B. in X- oder Il-Aufteilung angeordnet sein können.Brake system comprises two brake circuits 19a, 19b, the z. B. in X or Il division can be arranged.
Die Bremsanlage umfasst ferner ein Fuß-Bremspedal 1 , einen Bremskraftverstärker 2 mit integriertem Pedalsimulator und einenThe brake system further comprises a foot brake pedal 1, a brake booster 2 with integrated pedal simulator and a
Hauptbremszylinder 4, auf dem ein Bremsflüssigkeitsbehälter 3 angeordnet ist. Bei einer Betätigung des Fuß-Bremspedals 1 wird in den Hauptbremsleitungen 5a, 5b ein Bremsdruck erzeugt, der über ein Umschaltventil 8a, 8b und ein Einlassventil 10a-IOd auf die Bremsbacken 11 der Räder wirkt. Der Pfad, in dem sich bei Betätigung des Fuß-Bremspedals 1 Druck aufbaut, ist durch Pfeile b gekennzeichnet. Ein Hochdruckschaltventil 7a, 7b ist in diesem Zustand geschlossen.Master brake cylinder 4, on which a brake fluid reservoir 3 is arranged. Upon actuation of the foot brake pedal 1 is in the main brake lines 5a, 5b generates a brake pressure acting on the brake shoes 11 of the wheels via a switching valve 8a, 8b and an inlet valve 10a-10d. The path in which builds pressure on actuation of the foot brake pedal 1 is indicated by arrows b. A high-pressure switching valve 7a, 7b is closed in this state.
Bei einem Eingriff einer Fahrdynamikregelung wird der Bremsdruck automatisch aufgebaut und auf vorgegebene Bremsen 11 ,12 verteilt. Die Bremsanlage 17 umfasst zu diesem Zweck eine Hydraulikpumpe 9a, 9b, die von einem Steuergerät (nicht gezeigt) entsprechend angesteuert wird. Die Hydraulikpumpe 9a, 9b fördert das Hydraulikfluid dann entlang der Pfade a zu den Bremsbacken 11. Das Hydraulikfluid strömt in diesem Fall aus dem Bremsflüssigkeitsbehälter 3, durch die Hauptbremsleitung 5a bzw. 5b, das Hochdruckschaltventil 7a, 7b, eine Ansaugleitung 6a, 6b, durch die Hydraulikpumpe 9a, 9b und weiter durch die Einlassventile 10a-10d zu den Bremsbacken 11. Die Modulation des Bremsdrucks erfolgt mittels der Einlassventile 10a-10d und der Auslassventile 13a-13d, wobei kurzzeitige Druckspitzen in einen Ausgleichsbehälter 14a, 14b gepuffert werden.In an intervention of a vehicle dynamics control, the brake pressure is built up automatically and distributed to predetermined brakes 11, 12. The brake system 17 includes for this purpose a hydraulic pump 9a, 9b, which is controlled by a control device (not shown) accordingly. The hydraulic pump 9a, 9b then delivers the hydraulic fluid along the paths a to the brake shoes 11. In this case, the hydraulic fluid flows out of the brake fluid reservoir 3, through the main brake line 5a or 5b, the high-pressure switching valve 7a, 7b, an intake line 6a, 6b the hydraulic pump 9a, 9b and further through the inlet valves 10a-10d to the brake shoes 11. The modulation of the brake pressure by means of the inlet valves 10a-10d and the outlet valves 13a-13d, wherein short-term pressure peaks are buffered in a surge tank 14a, 14b.
Bei einem Bremsvorgang mit einer herkömmlichen Bremsanlage würden die Radbremsen 11 aktiv werden, sobald der Fahrer am Fuß-Bremspedal einen bestimmten Druckpunkt überwunden hat. Die Radbremsen 11 ,12 würden somit, auch wenn der Fahrer das Fuß-Bremspedal 1 nur sehr schwach betätigt, einen Beitrag zum Gesamt-Bremsmoment MG liefern. Um dies zu vermeiden wird hier, wenn ein Bremswunsch erkannt wurde, das hydraulische Bremsmoment zugunsten des Generators 20 reduziert. Zu diesem Zweck wird wenigstens einer der Bremskreise 19a, 19b vom Hauptbremszylinder 4 abgetrennt.In a braking operation with a conventional brake system, the wheel brakes 11 would be active as soon as the driver has overcome a certain pressure point on the foot brake pedal. The wheel brakes 11, 12 would thus, even if the driver presses the foot brake pedal 1 only very weak, make a contribution to the total braking torque M G. In order to avoid this, when a braking request has been detected, the hydraulic braking torque in favor of the generator 20 is reduced here. For this purpose, at least one of the brake circuits 19a, 19b is separated from the master cylinder 4.
Fig. 2 zeigt einen Zustand der Bremsanlage bei einer sehr schwachen Bremsung, bei der das vom Fahrer am Pedal 1 vorgegebene Soll-Bremsmoment vollständig mittels der elektrischen Maschine 20 umgesetzt werden kann. Beide Bremskreise 19a, 19b sind in diesem Zustand vom Haupt-Bremszylinder 4 entkoppelt. Dies ist daran zu erkennen, dass sämtliche Einlassventile 10a - 10d geschlossen sind und somit kein Druckaufbau an den Radbremsen 11 , 12 erfolgen kann. Die Einlassventile 10a - 10d werden von einem Steuergerät (nicht gezeigt) entsprechend angesteuert. Die elektrische Maschine 20 wird in diesem Zustand derart betrieben, dass das geforderte Gesamtbremsmoment größtenteils vom Generator bewirkt wird. Der Generatorregler und/oder ein Umrichter werden in diesem Fall entsprechend betrieben.2 shows a state of the brake system with a very weak braking, in which the predetermined braking torque predetermined by the driver on the pedal 1 can be completely converted by means of the electric machine 20. Both brake circuits 19a, 19b are decoupled from the main brake cylinder 4 in this state. This can be seen from the fact that all intake valves 10a-10d are closed and thus no pressure build-up on the wheel brakes 11, 12 can take place. The intake valves 10a-10d are controlled accordingly by a control unit (not shown). The electric machine 20 is operated in this state such that the required total braking torque is largely effected by the generator. The generator controller and / or a converter are operated accordingly in this case.
Durch das Schließen der Einlassventile 10a - 10d würde sich das Pedalgefühl für den Fahrer stark verändern und vergleichsweise hart werden, da ein großer Teil des Bremssystems abgeriegelt ist. Um zu vermeiden, dass sich das Bremsverhalten aus Sicht des Fahrers ändert, ist hier ein Pedalsimulator im Bremskraftverstärker 2 integriert, der das unterschiedliche Verhalten der Bremsanlage 19 kompensiert.By closing the intake valves 10a-10d, the pedal feel for the driver would change greatly and become comparatively hard because a large part of the brake system is sealed off. In order to avoid that the braking behavior changes from the driver's point of view, here a pedal simulator is integrated in the brake booster 2, which compensates for the different behavior of the brake system 19.
Fig. 3 zeigt einen Zustand der Bremsanlage 19 für den Fall einer mittelstarken Bremsung. In diesem Fall kann das vom Fahrer gewünschte Bremsmoment nicht mehr vollständig vom Generator 20 umgesetzt werden; es handelt sich jedoch auch nicht um eine Notbremsung.Fig. 3 shows a state of the brake system 19 in the case of moderate braking. In this case, the driver's desired braking torque can not be fully implemented by the generator 20; However, it is not an emergency stop.
In diesem Zustand ist nur der linke Bremskreis 19a abgesperrt, wie an der Stellung der Einlassventile 10a, 10b zu erkennen ist. Die Einlassventile 10c, 10d des rechten Bremskreises 19b sind dagegen geöffnet. Das vom Fahrer geforderte Bremsmoment wird somit teilweise vom Generator 20 und teilweise durch die hydraulische Bremsanlage (hier Bremskreis 19b) umgesetzt. Der im Bremskraftverstärker 2 integrierte Pedalsimulator sorgt wiederum für ein stetiges Bremsverhalten.In this state, only the left brake circuit 19a is shut off, as can be seen in the position of the intake valves 10a, 10b. On the other hand, the intake valves 10c, 10d of the right brake circuit 19b are opened. The braking torque required by the driver is thus partially implemented by the generator 20 and partly by the hydraulic brake system (here brake circuit 19b). The integrated in the brake booster 2 pedal simulator in turn ensures a steady braking behavior.
Fig. 4 zeigt einen Zustand der Bremsanlage ähnlich Fig. 2. Die Einlassventile 10a - 10d sind wiederum alle geschlossen und sämtliche Bremsen 11 , 12 vom Hauptbremszylinder 4 abgekoppelt. Im Unterschied zu Fig. 2 sind jedoch die Auslassventile 13a - 13d geöffnet, so dass sich der an den Bremsen 11 , 12 wirkende Bremsdruck abbauen kann. Dies kann beispielsweise in Situationen sinnvoll sein, in denen das Fahrzeug von einer hohen Geschwindigkeit mit konstanter Verzögerung heruntergebremst wird. Mit abnehmender Fahrzeug- Geschwindigkeit bzw. Drehzahl des Generators 20 kann dieser mehr elektrische Leistung erzeugen. Die Verteilung des gewünschten Soll-Bremsmoments zwischen Generator 20 und Bremsanlage 17 wird in diesem Fall zugunsten des Generators 20 verschoben. Dabei wird der an den Bremsen 11 , 12 wirkende Bremsdruck abgebaut und gleichzeitig das Generator-Bremsmoment erhöht. Auf diese Weise kann mehr Energie zurück gewonnen werden.FIG. 4 shows a state of the brake system similar to FIG. 2. In turn, the intake valves 10 a - 10 d are all closed and all brakes 11, 12 are decoupled from the master brake cylinder 4. In contrast to FIG. 2, however, the exhaust valves 13a-13d are opened, so that the brake pressure acting on the brakes 11, 12 can be reduced. This may be useful, for example, in situations where the vehicle is being decelerated from a high speed with constant deceleration. As the vehicle speed of the generator 20 decreases, it can generate more electric power. The distribution of the desired desired braking torque between the generator 20 and brake system 17 is shifted in favor of the generator 20 in this case. In this case, the acting on the brakes 11, 12 Reduced brake pressure and simultaneously increases the generator braking torque. In this way, more energy can be recovered.
Gemäß der Erfindung werden im Rahmen dieses Verfahrens der Fahrer- Bremswunsch und die Generator-Drehzahl (oder eine proportionale Größe) überwacht. Wenn diese Größen eine vorgegebene Bedingung erfüllen, wird wenigstens eines der Auslassventile 13a-13d geöffnet. In dem Maße, in dem der Beitrag des zugehörigen Bremskreises 19a abnimmt, wird der Beitrag des Generators 20 erhöht. Diese Prozedur wird von einem Steuergerät (nicht gezeigt) überwacht und gesteuert.According to the invention, in the context of this method, the driver's braking request and the generator speed (or a proportional size) are monitored. When these quantities satisfy a predetermined condition, at least one of the exhaust valves 13a-13d is opened. As the contribution of the associated brake circuit 19a decreases, the contribution of the generator 20 is increased. This procedure is monitored and controlled by a controller (not shown).
Fig. 5 zeigt einen Zustand der Bremsanlage 17 ähnlich Fig. 3. In diesem Zustand ist wiederum der Bremskreis 19a entkoppelt und der andere 19b aktiv. Dies ist an der Stellung der Einlassventile 10a - 10d zu erkennen.FIG. 5 shows a state of the brake system 17 similar to FIG. 3. In this state, in turn, the brake circuit 19a is decoupled and the other 19b is active. This can be seen from the position of the intake valves 10a-10d.
Die Auslassventile 13a, 13b sind geöffnet, so dass sich der an den Bremsen 11 , 12 anliegende Bremsdruck langsam abbaut. In dem Maße, in dem der Beitrag des Bremskreises 19a abnimmt, wird der Beitrag des Generators 20 wiederum erhöht. Somit kann mehr elektrische Leistung zurück gewonnen werden. The exhaust valves 13a, 13b are opened, so that the brake pressure applied to the brakes 11, 12 slowly degrades. As the contribution of the brake circuit 19a decreases, the contribution of the generator 20 is again increased. Thus, more electric power can be recovered.

Claims

Ansprüche claims
1. Verfahren zum Rückgewinnen elektrischer Energie in einem Fahrzeug mittels einer elektrischen Maschine (20), wobei das Fahrzeug eine hydraulische Bremsanlage (17) mit mehreren Radbremsen (10,11 ) umfasst, dadurch gekennzeichnet, dassA method for recovering electrical energy in a vehicle by means of an electric machine (20), wherein the vehicle comprises a hydraulic brake system (17) with a plurality of wheel brakes (10, 11), characterized in that
- bei einem Bremsvorgang wenigstens eine der Radbremsen (10,11 ) mittels eines Ventils (1Oa-I Od) abgesperrt, und- At a braking operation, at least one of the wheel brakes (10,11) by means of a valve (1Oa-I Od) shut off, and
- die elektrische Maschine (20) so betrieben wird, dass das fehlende Bremsmoment der Bremsanlage (17) von der elektrischen Maschine (20) kompensiert wird.- The electric machine (20) is operated so that the missing braking torque of the brake system (17) is compensated by the electric machine (20).
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass sämtliche Bremskreise (19a, 19b) abgesperrt werden, wenn das Soll-Bremsmoment (MBsoiι) kleiner ist als ein vorgegebener erster Schwellenwert (SW1 ).2. The method according to claim 1, characterized in that all brake circuits (19a, 19b) are shut off when the desired braking torque (M Bs oiι) is smaller than a predetermined first threshold value (SW1).
3. Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass wenigstens ein, aber weniger als alle Bremskreise (19a, 19b) abgesperrt werden, wenn das Soll-Bremsmoment (MBsoiι) größer ist als der erste Schwellenwert (SW1 ),.3. The method according to claim 2, characterized in that at least one, but less than all brake circuits (19a, 19b) are shut off when the desired braking torque (M Bs oiι) is greater than the first threshold value (SW1).
4. Verfahren nach Anspruch 2 oder 3, dadurch gekennzeichnet, dass keiner der Bremskreis (19a, 19b) abgesperrt wird, wenn das SoII- Bremsmoment (MBsoiι) größer ist als ein vorgegebener zweiter Schwellenwert (SW2).4. The method according to claim 2 or 3, characterized in that none of the brake circuit (19a, 19b) is shut off when the SoII- braking torque (M Bs oiι) is greater than a predetermined second threshold value (SW2).
5. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass bei einer Zunahme des Soll-Bremsmoments (MBsoiι) während des Bremsvorgangs die wenigstens eine abgesperrte Radbremse (10,11 ) wieder geöffnet wird. 5. The method according to any one of the preceding claims, characterized in that at an increase of the desired braking torque (M Bs oiι) during the braking operation, the at least one locked wheel brake (10,11) is opened again.
6. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass während eines Bremsvorgangs mit abnehmendem oder gleich bleibendem Soll-Bremsmoment (MBsoiι) der an einer Radbremse (10,11 ) wirkende Bremsdruck reduziert wird.6. The method according to any one of the preceding claims, characterized in that during a braking operation with decreasing or constant desired braking torque (M Bs oiι) on a wheel brake (10,11) acting brake pressure is reduced.
7. Verfahren nach Anspruch 6, dadurch gekennzeichnet, dass ein im Bremskreis (19a, 19b) angeordnetes Auslassventil (13) geöffnet wird, um den an der Radbremse (11 ) wirkenden Bremsdruck zu reduzieren.7. The method according to claim 6, characterized in that in the brake circuit (19a, 19b) arranged exhaust valve (13) is opened in order to reduce the brake pressure acting on the wheel brake (11).
8. Steuergerät, gekennzeichnet durch Mittel zum Durchführen eines der vorstehend genannten Verfahren. 8. Control device, characterized by means for performing one of the aforementioned methods.
PCT/EP2008/050139 2007-03-02 2008-01-08 Optimized recuperation method for motor vehicles WO2008107212A1 (en)

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