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CN106515505B - 控制电动机以减少电动车的振动的装置和方法 - Google Patents

控制电动机以减少电动车的振动的装置和方法 Download PDF

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Publication number
CN106515505B
CN106515505B CN201510860395.7A CN201510860395A CN106515505B CN 106515505 B CN106515505 B CN 106515505B CN 201510860395 A CN201510860395 A CN 201510860395A CN 106515505 B CN106515505 B CN 106515505B
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vibration
magnitude
controller
predetermined value
electric vehicle
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CN106515505A (zh
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曹宇喆
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Hyundai Motor Co
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Hyundai Motor Co
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    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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    • 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
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
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    • Y02T10/00—Road transport of goods or passengers
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    • Y02T10/72—Electric energy management 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
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    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
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    • Y10S903/906—Motor or generator
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    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
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    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/947—Characterized by control of braking, e.g. blending of regeneration, friction braking

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Abstract

本发明提供一种控制电动机的装置和方法，其通过限制在电动机的最大再生制动扭矩区域处的振动减少扭矩，来减少电动车的振动，以使再生能量最大化。该方法包括：当要求电动车的再生制动时，比较电池的充电状态(SOC)与预定SOC，并且当电池SOC小于预定SOC时，计算电动车的振动分量的大小。此外，将振动分量的大小与第一预定值比较，并且当振动分量的大小小于第一预定值时，限制驱动方向的振动减少扭矩。

Description

控制电动机以减少电动车的振动的装置和方法
相关申请的交叉引用
本申请要求2015年9月10日在韩国知识产权局提交的韩国专利申请第10-2015-0128551号优先权及其权益，其全部内容通过引用的方式并入本文。
技术领域
本发明涉及一种控制电动机的装置和方法，以减少电动车的振动，更具体地，涉及一种通过限制在电动机的最大再生制动扭矩区域处的振动减少扭矩，来减少电动车的振动，以使再生能量最大化。
背景技术
在一般情况下，环保车辆诸如电动车、燃料电池车和混合动力车通过驱动经电能生成扭矩的电动机来操作。电动车使用由电池电力操作的驱动电动机的动力，且混合动力车使用来自内燃机和驱动电动机的动力组合。使用驱动电动机的电动车不具有在电动机和驱动轴之间的阻尼元件，导致由于电动机的扭矩而生成振动。在电动车中，由于省略阻尼元件，诸如冲击和猛拉的振动以及驱动轴的振动在换挡和给油门/收油门(tip-in/out)(例如，按压或分离加油踏板的操作，将踏板脱开和啮合)期间发生，这引起乘坐舒适性和驾驶性能变差。
因此，包括驱动电动机的电动车可以使用振动减少(例如，抗冲击)逻辑来减少车辆振动。振动减少逻辑将在电动机的模型速度和实际速度之间的偏差(例如，差值)识别为振动，并且将两个速度之间的偏差乘以预定值以得到结果，并且反馈回结果来抑制振动。换言之，基于根据电动机振动而在当前生成的扭矩，振动通过施加正扭矩或负扭矩来减小。然而，根据以往的技术，振动减少逻辑也被施加在电动机的最大再生制动扭矩区域处。因此，与电动机的最大再生制动扭矩相比，再生制动扭矩的输出会减小。因此，再生制动能量可以降低。
在本章节中公开的上述信息仅为增强对本发明背景的理解，因此其可能包含不构成该国本领域普通技术人员已知的现有技术的信息。
发明内容
本发明提供一种控制电动机的装置和方法，用于减少电动车的振动，其具有通过限制在电动机的最大再生制动扭矩区域处的振动减少扭矩来最大化再生能量的优点。
本发明的示例性实施方式提供一种控制电动机以减少电动车的振动的方法，该方法可以包括：当要求电动车的再生制动时，比较电池充电状态(SOC)与预定SOC；当电池SOC小于预定SOC时，计算电动车的振动分量的大小；比较振动分量的大小与第一预定值；以及当振动分量的大小小于第一预定值时，限制驱动方向的振动减少扭矩。该方法还可以包括当电池SOC等于或大于预定SOC时保持振动减少扭矩，并且当振动分量的大小等于或大于第一预定值时保持振动减少扭矩。
此外，该方法可以包括：当振动分量的大小小于第一预定值时比较振动分量的大小与第二预定值；当振动分量的大小等于或大于第二预定值时减少驱动方向的振动减少扭矩；以及当振动分量的大小小于第二预定值时限制驱动方向的振动减少扭矩。驱动方向的振动减少扭矩可以通过调节振动减少扭矩的增益来减少。
本发明的另一个示例性实施方式提供一种控制电动机以减少电动车的振动的装置，该装置包括：驱动信息检测器，其配置成检测电动车的运行状态和驾驶员的需求信息；以及控制器，其配置成基于来自驱动信息检测器的信号来确定振动减少扭矩，并调节电动机扭矩。控制器还可以配置成当要求电动车的再生制动并且电池的充电状态(SOC)小于预定SOC时计算振动分量的大小，并且通过比较振动分量的大小与第一预定值来调节振动减少扭矩。
此外，控制器可以配置成当电池SOC等于或大于预定SOC时保持振动减少扭矩，并且当振动分量的大小等于或大于第一预定值时保持振动减少扭矩。控制器可以配置成：当振动分量的大小小于第一预定值时，比较振动分量的大小与第二预定值；当振动分量的大小等于或大于第二预定值时，减少驱动方向的振动减少扭矩；以及当振动分量的大小小于第二预定值时，限制驱动方向的振动减少扭矩。控制器还可以配置成通过调节振动减少扭矩的增益来减少驱动方向的振动减少扭矩。
如上所述，根据本发明的示例性实施方式，再生能量可以通过限制在电动机的最大再生制动扭矩区域处的振动减少扭矩来进行最大化。因此，电动车的燃料效率可以提高。
附图说明
基于结合附图的以下详细描述，本发明的以上和其他目的、特征及优点将更加明显。
图1是根据本发明示例性实施方式的控制电动机以减少电动车的振动的系统的框图；
图2是示出根据本发明示例性实施方式的控制电动机以减少电动车的振动的方法的流程图；以及
图3是将根据现有技术的电动机的再生能量与根据本发明示例性实施方式的电动机的再生能量进行比较的图。
具体实施方式
在以下详细描述中，本发明的某些示例性实施方式仅简单地通过示例说明的方式示出并描述。本领域技术人员将意识到，所描述的实施方式可以以多种不同方式修饰，而不脱离本发明的精神或范围。本文使用的术语仅为说明具体实施方式的目的，而不是意在限制本发明。如本文所使用的，单数形式“一个、一种、该”也意在包括复数形式，除非上下文中另外明确指明。还应当理解的是，在说明书中使用的术语“包括、包含、含有”是指存在所述特征、整数、步骤、操作、元素和/或部件，但是不排除存在或添加一个或多个其他特征、整数、步骤、操作、元素、部件和/或其群组。如本文所使用的，术语“和/或”包括一个或多个相关所列项的任何和所有结合。
在本发明书和权利要求书中，将意识到，电动车是所有使用电力作为动力来源的车辆，例如使用电力作为部分动力来源的插入式混合动力车(PHEV)或混合动力车(HEV)、以及使用电力作为全部动力来源的电动车(EV)。应理解，本文使用的术语“车辆”或“车辆的”或其他类似术语包括通常的机动车，例如，包括多功能运动车(SUV)、公共汽车、卡车、各种商务车的客车，包括各种船只和船舶的水运工具，飞行器等等，并且包括混合动力车、电动车、插入式混合电动车、氢动力车和其他代用燃料车(例如，来源于石油以外的资源的燃料)。本文中提到的混合动力车是具有两种或更多种动力来源的车，例如同时为汽油动力和电动力的车。
尽管示例性实施方式被描述为使用多个单元来执行示例性程序，应当理解的是，示例性程序也可以通过一个或多个模块来执行。此外，应当理解，术语控制器/控制单元是指包括存储器和处理器的硬件装置。存储器配置成存储模块，且处理器具体配置成执行该模块，以执行一个或多个在下文中进一步描述的程序。方法可以通过至少一个控制器执行。
此外，本发明的控制逻辑可以具体表现为，在含有由处理器、控制器等执行的可执行程序指令的计算机可读介质上的非瞬时性计算机可读介质。计算机可读介质的例子包括但不限于ROM、RAM、光盘(CD)-ROM、磁带、软盘、闪存驱动器、智能卡和光数据存储装置。计算机可读记录介质也可以在连接网络的计算机系统中分布，从而计算机可读介质可以通过例如远程信息处理服务器或控制器局域网络(CAN)以分布方式进行存储并执行。
本发明的示例性实施方式将参考附图在下文中更具体地进行描述。
图1是根据本发明示例性实施方式的控制电动机以减少电动车的振动的系统的框图。如图1所示，根据本发明示例性实施方式的控制电动机以减少电动车的振动的装置可以包括驱动信息检测器10、控制器20、逆变器30、电池40、发动机50、电动机60和变速器70。控制器20可以配置成操作驱动信息检测器10、逆变器30、电池40、发动机50、电动机60和变速器70。
驱动信息检测器10可以配置成检测电动车的运行状态和驾驶员的需求信息，并且可以包括车辆速度传感器11、加速器踏板位置传感器12和制动踏板位置传感器13。车辆速度传感器11可以配置为检测电动车的速度，并传送相应信号给控制器20。车辆速度传感器11可以安装在电动车的车轮处。
此外，加速器踏板位置传感器(APS)12可以配置成连续地检测加速器踏板的位置值，并发送监控信号给控制器20。当加速器踏板完全啮合时，加速器踏板的位置值可以是100％，并且当加速器踏板脱开时，加速器踏板的位置值可以是0％。换言之，加速器踏板位置传感器12可以配置成检测与加速意图(例如，要施加在踏板上的压力的量)相关的数据。安装在进气管上的节流阀位置传感器(TPS)可以代替加速器踏板位置传感器12来使用。
因此，在本说明书和所附权利要求的范围中，加速器踏板位置传感器12可以包括节流阀位置传感器，并且加速器踏板的位置值可以理解为是节流阀的打开值。制动踏板位置传感器(BPS)13可以配置成连续地检测制动踏板的位置值，并传送监控信号给控制器20。当制动踏板完全啮合时，制动踏板的位置值可以是100％，并且当制动踏板脱开时，制动踏板的位置值可以是0％。换言之，制动踏板位置传感器12可以配置为与加速器踏板位置传感器11一起检测驾驶者的再生制动需求。
逆变器30可以配置成通过响应于来自控制器20的控制信号，将从电池40供应的直流(DC)电压转换成三相交流电压来驱动电动机60。逆变器30可以包括多个功率开关元件，并且逆变器30的功率开关元件可以各个由绝缘栅双极晶体管(IGBT)、金属氧化物半导体场效应晶体管(MOSFET)、晶体管以及继电器中的任何一个来实现。
电池40可以用多个单元电池形成，并且配置成提供驱动电压给电动机60的高电压可以存储在电池40中。电池40可以基于充电状态(例如电池的充电状态(SOC))由电池管理系统(未示出)来操作，并且可以防止在临界电压下或超过临界电压时的过充电。电池管理系统可以配置为将电池40的充电状态传送到控制器20，以使电动机60的驱动和再生控制得以执行。
安装在混合动力车内的发动机50可以配置为在基于来自控制器20的控制信号来接通的同时输出作为电源的电力。电动机60可以由从逆变器30施加的三相交流(AC)电压来操作以生成扭矩，并且可以配置成作为发电机而操作并且在滑行期间提供再生能量给电池40。变速器70可以配置成基于来自控制器20的控制信号使用液压，通过操作啮合元件和脱开元件来调节换挡率。当发动机50安装在电动车内时，发动机离合器(未示出)可以设置在发动机50和驱动电动机60之间，提供电动车(EV)模式和混合动力车(HEV)模式。
此外，控制器20可以配置成基于来自驱动信息检测器10的信号来确定振动减少扭矩，并且调节电动机60的扭矩。控制器20可以配置成当要求电动车的再生制动并且电池的充电状态(SOC)小于预定SOC时计算振动分量的大小，并且通过比较振动分量的大小与第一预定值来调节振动减少扭矩。
之后，控制器20可以配置成当电池SOC等于或大于预定SOC时，或振动分量的大小等于或大于第一预定值时，保持振动减少扭矩。此外，控制器20可以配置成，当振动分量的大小小于第一预定值时，比较振动分量的大小与第二预定值，当振动分量的大小等于或大于第二预定值时，减少驱动方向的振动减少扭矩，以及当振动分量的大小小于第二预定值时，限制驱动方向的振动减少扭矩。控制器20可以实施为由预定程序操作的至少一个处理器，并且该预定程序可以编程以执行根据本发明示例性实施方式的控制电动机以减少电动车的振动的方法的各个步骤。
本文描述的各种示例性实施方式可以在记录介质内实现，该记录介质可以通过计算机或类似装置使用例如软件、硬件或其组合来读取。
根据硬件的实施方式，本文所描述的实施方式可以通过使用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理装置(DSPD)、可编程逻辑器件(PLD)、现场可编程执行门阵列(FPGA)、处理器、控制器、微控制器、微处理器以及设计成执行任何其他功能的电气单元中的至少一种来实现。根据软件实施方式，诸如在本示例性实施方式中描述的程序和功能的实施方式可以由分开的软件模块来实现。各个软件模块可以执行本发明中描述的一个或多个功能和操作。软件代码可以通过以适当的程序语言写入的软件应用程序来实现。
下文中，将参考附图来详细描述根据本发明示例性实施方式的控制电动机以减少电动车的振动的方法。
图2是示出根据本发明示例性实施方式的控制电动机以减少电动车的振动的方法的流程图。如图2所示，根据本发明示例性实施方式的控制电动机以减少电动车的振动的方法可以这样开始，即在步骤S100基于来自驱动信息检测器10的信号，确定是否要求电动车的再生制动。
当在步骤S100要求电动车的再生制动时，在步骤S110，控制器20可以配置为比较电池的充电状态(SOC)与预定的SOC。当在步骤S110，电池SOC小于预定SOC时，在步骤S120，控制器20可以配置成计算电动车的振动分量的大小。电动车的振动分量的大小可以根据本领域技术人员基于车辆速度、电动机速度和车轮速度来计算，所以省略其详细描述。
当电池SOC小于预定的SOC时，表明电动机60进入最大再生制动扭矩区域。因此，控制器20可以提高再生制动能量而不是降低振动。当在步骤S110，电池SOC等于或大于预定的SOC时，在步骤S150，控制器20可以配置成保持振动减少扭矩。当在步骤S120计算电动车的振动分量的大小时，在步骤S130，控制器可以配置成比较振动分量的大小与第一预定值。
当在步骤S130，振动分量的大小等于或大于第一预定值时，在步骤S150，控制器20可以配置成保持振动减少扭矩，因为可能产生强烈振动。此外，当在步骤S130，振动分量的大小小于第一预定值时，在步骤S140，控制器20可以配置成比较振动分量的大小与第二预定值。当在步骤S140，振动分量的大小小于第二预定值时，在步骤S170，控制器20可以配置成限制驱动方向的振动减少扭矩。
具体而言，电动车的振动可以很弱，因而控制器20可以配置成使再生制动能量最大化，而不是通过调节振动减少扭矩来减少振动。换言之，控制器20可以配置成施加再生制动方向的振动减少扭矩(例如，负扭矩)，而不施加驱动方向的振动减少扭矩(例如，正扭矩)。另外，在步骤S140，当振动分量的大小等于或大于第二预定值时，在步骤S160，控制器20可以配置为减少驱动方向的振动减少扭矩。
换言之，控制器20可以配置成施加原样的再生制动方向的振动减少扭矩(负扭矩)，并施加通过调节振动减少扭矩的增益而减少的驱动方向的振动减少扭矩(正扭矩)。控制器20可以配置成通过将在0到1范围中的预定因子乘以振动减少扭矩的增益来减少驱动方向的振动减少扭矩。
图3是将根据现有技术的电动机的再生能量与根据本发明示例性实施方式的电动机的再生能量进行比较的图。如图3所示，根据现有技术和本发明示例性实施方式的电动机扭矩保持在同一水平，然而根据本发明示例性实施方式的再生能量可以相比于根据现有技术的再生能量而提高。
如上所述，根据本发明的示例性实施方式，振动减少扭矩可以在电动机的最大再生制动扭矩区域处调节，从而使再生能量最大化并且提高电动车的燃料效率。
尽管本发明已经结合目前被认为是示例性实施方式的内容进行了描述，但是应该理解的是，本发明不限于所公开的示例性实施方式。相反，其旨在涵盖包括在所附权利要求的精神和范围内的各种修改和等同布置。

Claims (8)

1.一种控制电动机以减少电动车的振动的方法，包括：
当要求电动车的再生制动时，由控制器比较电池充电状态与预定充电状态；
当所述电池充电状态小于所述预定充电状态时，由所述控制器计算所述电动车的振动分量的大小；
由所述控制器比较所述振动分量的大小与第一预定值；以及
当所述振动分量的大小小于所述第一预定值时，由所述控制器限制驱动方向的振动减少扭矩,
还包括：
当所述振动分量的大小小于所述第一预定值时，由所述控制器比较所述振动分量的大小与第二预定值；
当所述振动分量的大小等于或大于所述第二预定值时，由所述控制器减少所述驱动方向的所述振动减少扭矩；以及
当所述振动分量的大小小于所述第二预定值时，由所述控制器限制所述驱动方向的所述振动减少扭矩。
2.根据权利要求1所述的方法，还包括：
当所述电池充电状态等于或大于所述预定充电状态时，由所述控制器保持所述振动减少扭矩。
3.根据权利要求1所述的方法，还包括：
当所述振动分量的大小等于或大于所述第一预定值时，由所述控制器保持所述振动减少扭矩。
4.根据权利要求1所述的方法，其中，所述驱动方向的所述振动减少扭矩通过调节所述振动减少扭矩的增益来减少。
5.一种控制电动机以减少电动车的振动的装置，包括：
驱动信息检测器，其配置成检测电动车的运行状态和驾驶员的需求信息；以及
控制器，其配置成基于来自所述驱动信息检测器的信号来确定振动减少扭矩，并调节电动机扭矩，
所述控制器配置成当要求所述电动车的再生制动且电池充电状态小于预定充电状态时计算振动分量的大小，并且通过比较所述振动分量的大小与第一预定值来调节所述振动减少扭矩,
其中，所述控制器还配置成：
当所述振动分量的大小小于所述第一预定值时，比较所述振动分量的大小与第二预定值；
当所述振动分量的大小等于或大于所述第二预定值时，减少驱动方向的所述振动减少扭矩；以及
当所述振动分量的大小小于所述第二预定值时，限制所述驱动方向的所述振动减少扭矩。
6.根据权利要求5所述的装置，其中，所述控制器配置成当所述电池充电状态等于或大于所述预定充电状态时，保持所述振动减少扭矩。
7.根据权利要求5所述的装置，其中，所述控制器配置成当所述振动分量的大小等于或大于所述第一预定值时，保持所述振动减少扭矩。
8.根据权利要求5所述的装置，其中，所述控制器配置成通过调节所述振动减少扭矩的增益来减少所述驱动方向的所述振动减少扭矩。
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