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KR101643777B1 - Driving control system and the method for electric vehicle - Google Patents

Driving control system and the method for electric vehicle Download PDF

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Publication number
KR101643777B1
KR101643777B1 KR1020100064118A KR20100064118A KR101643777B1 KR 101643777 B1 KR101643777 B1 KR 101643777B1 KR 1020100064118 A KR1020100064118 A KR 1020100064118A KR 20100064118 A KR20100064118 A KR 20100064118A KR 101643777 B1 KR101643777 B1 KR 101643777B1
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brake pedal
motor
speed
operated
accelerator pedal
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KR20120003332A (en
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김일한
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엘에스산전 주식회사
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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
    • 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
    • B60L15/2054—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 by controlling transmissions or clutches
    • 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
    • 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
    • B60L15/24—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 with main controller driven by a servomotor
    • 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
    • B60L9/00—Electric propulsion with power supply external to the vehicle
    • B60L9/16—Electric propulsion with power supply external to the vehicle using AC induction motors
    • B60L9/18—Electric propulsion with power supply external to the vehicle using AC induction motors fed from DC supply lines
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/04—Control effected upon non-electric prime mover and dependent upon electric output value of the generator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/48—Drive Train control parameters related to transmissions
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/081—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
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/92—Hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/18058—Creeping
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

본 발명은 전기자동차 및 하이브리드 자동차의 브레이크 제어장치 및 그 방법에 관한 것으로, 앞차와의 거리 및 앞차의 속도를 검출하고, 배터리의 현재 충전량을 검출하며, 운전 중인 자동차의 속도를 검출하는 단계와, 상기 단계에서 검출된 신호를 베이스로 하여 회생 제동력 프로파일을 설정하는 단계와, 브레이크 패달의 답력을 검출하는 단계와, 상기 단계에서, 브레이크 패달의 답력이 설정치 이상일 경우 회생 제동력과 유압 제동력을 동시에 사용하는 단계와, 상기 단계에서, 브레이크 패달의 답력이 설정치 이하일 경우 회생 제동력만 사용하는 단계로 구성되어, 제동성능을 향상시킬 수 있고, 배터리의 과충전 및 파손을 방지할 수 있으며, 브레이크 패달의 수명을 연장할 수 있다. The present invention relates to an apparatus and method for controlling a brake of an electric vehicle and a hybrid vehicle, the method comprising the steps of: detecting a distance between a vehicle ahead and a speed of a front vehicle; detecting a current charging amount of the battery; A step of setting a regenerative braking force profile based on the signal detected in the step; and a step of detecting a stepping force of the brake pedal, and a step of using the regenerative braking force and the hydraulic braking force simultaneously when the stepping force of the brake pedal is equal to or greater than a set value And a step of using only the regenerative braking force when the power of the brake pedal is equal to or less than the set value in the step, thereby improving the braking performance, preventing overcharging and breakage of the battery, extending the life of the brake pedal can do.

Description

변속기를 구비한 전기 자동차의 구동 제어장치 및 그 방법{DRIVING CONTROL SYSTEM AND THE METHOD FOR ELECTRIC VEHICLE}TECHNICAL FIELD [0001] The present invention relates to a drive control apparatus for an electric vehicle having a transmission,

본 발명은 모터의 구동력을 변속시켜 구동바퀴로 전달하는 변속기를 구비한 전기 자동차의 구동 제어방법에 관한 것이다.
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control method for an electric vehicle having a transmission that shifts a driving force of a motor to a driving wheel.

일반적으로 전기 자동차는 최근의 자동차 개발 추세로서는 대기오염에 심각한 영향을 주고 있는 현재의 가솔린이나 중유를 주연료로 사용하는 차량 대신에 공해발생이 적은 차량을 개발하기 위하여 많은 연구가 이루어지고 있는 바, 그 중 하나로서 전기에 의하여 움직이는 전기자동차의 개발에 많은 노력을 기울이고 있다.In general, electric vehicles are being developed in order to develop vehicles having less pollution instead of the current gasoline or heavy oil as a main fuel, which has a serious influence on air pollution as a recent development trend of automobiles. One of them is making a lot of efforts to develop electric vehicles moving by electricity.

전기자동차는 구동연료로서 대개 2차전지인 배터리를 사용하고 있으며, 기존의 가솔린 또는 디젤엔진 대신에 배터리에서 출력되는 고전압, 고전류로 구동용 모터를 구동시키고 이를 동력전달장치를 통해 구동휠로 전달하여 구동휠을 회전시키므로써 공해 발생을 극히 적게 하고 있다.An electric vehicle uses a battery, which is a secondary battery, as a driving fuel. Instead of a conventional gasoline or diesel engine, a driving motor is driven by a high voltage and a high current outputted from the battery and transmitted to a driving wheel through a power transmitting device By rotating the wheel, pollution is minimized.

이러한 전기 자동차의 동력 전달 순서를 살펴보면, 먼저 사용자가 소정 각도로 가속 패달을 조작하게 되면, 그 조작된 각도에 따른 일정한 저항값을 시스템 컨트롤러가 감지하고 이를 소정의 토크 제어값으로 변환하여 인버터에 출력하게 된다.When the user operates the accelerator pedal at a predetermined angle, the system controller senses a constant resistance value according to the operated angle, converts it into a predetermined torque control value, and outputs it to the inverter .

그러면 인버터는 시스템 컨트롤러로부터 입력된 토크 제어값에 대응하는 평균 전압(on-off 시간비)으로, 배터리로부터의 전압을 변환하여 모터에 출력하게 된다.Then, the inverter converts the voltage from the battery to an average voltage (on-off time ratio) corresponding to the torque control value input from the system controller, and outputs the voltage to the motor.

이어서 모터는 그 평균 전압에 해당하는 일정한 회전수로 그 회전축을 회전시키게 된다. 한편, 모터의 회전축은 변속기(TM)와 연결되어 있고, 최종적으로 변속기(TM)의 출력축이 자동차의 구동축에 치합되어 그 변속비로 자동차의 구동휠을 회전시키는 것이다.The motor then rotates its rotation axis at a constant number of revolutions corresponding to the average voltage. On the other hand, the rotation shaft of the motor is connected to the transmission TM, and finally the output shaft of the transmission TM is engaged with the drive shaft of the vehicle to rotate the drive wheel of the vehicle at the gear ratio.

하지만, 종래 기술에 따른 전기 자동차의 동렬 전달장치는 기존 엔진 자동차의 무단 변속기, 자동 변속기 및 수동 변속기를 사용할 경우, 자동차가 정지된 상태일 때 모터도 정지된 상태이기 때문에 가속 패달을 조작하면 순간적으로 모터가 구동되어 모터의 구동력이 변속기로 전달되면서 충격이 발생하게 된다. 이에 따라 자동차가 출발할 때 충격이 발생되고, 이 충격은 운전자 및 탑승자에게 전달되어 불쾌감 또는 사고를 초래하게 된다.However, when the continuously variable transmission, the automatic transmission, and the manual transmission of an existing engine vehicle are used, since the motor is stopped when the automobile is stopped and the accelerator pedal is operated, The motor is driven, and the driving force of the motor is transmitted to the transmission, so that an impact is generated. As a result, an impact is generated when the vehicle starts, and the impact is transmitted to the driver and the occupant, resulting in discomfort or accident.

그리고, 모터의 구동력이 순간적으로 변속기로 전달되므로 변속기에도 충격이 가해지고, 이에 따라 변속기의 수명이 줄거나 파손되는 문제가 발생된다.
Also, since the driving force of the motor is instantaneously transmitted to the transmission, an impact is applied to the transmission, thereby causing a problem that the life of the transmission is reduced or damaged.

본 발명은 인버터를 통해 모터의 구동을 제어하여 크리핑 토크(Creeping Torque)를 발생시켜 자동차가 부드럽게 출발하도록 함과 아울러 변속기의 손상을 최소화할 수 있는 변속기를 갖는 전기 자동차의 구동 제어방법을 제공하기 위한 것이다.The present invention provides a drive control method of an electric vehicle having a transmission capable of generating a creeping torque by controlling driving of a motor through an inverter to smoothly start an automobile and minimizing damage to the transmission will be.

본 발명이 이루고자 하는 기술적 과제는 이상에서 언급한 기술적 과제로 제한되지 않으며 언급되지 않은 또 다른 기술적 과제들은 아래의 기재로부터 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 명확하게 이해될 수 있을 것이다.The technical object of the present invention is not limited to the above-mentioned technical objects and other technical objects which are not mentioned can be clearly understood by those skilled in the art from the following description will be.

일실시예로서, 변속기를 갖는 전기 자동차의 구동 제어방법은 무단 변속기, 자동 변속기, 수동 변속기 중 어느 하나를 구비하고, 구동력을 발생시키는 모터와, 모터를 제어하는 인버터를 포함하는 전기 자동차에 있어서, 상기 인버터는 가속 패달과, 브레이크 패달이 작동되지 않은 상태이고, 모터의 스피드가 설정속도 이하이면, 모터의 구동을 제어하여 크리핑 토크를 발생시킨다.In one embodiment, a drive control method for an electric vehicle having a transmission includes any one of a continuously variable transmission, an automatic transmission, and a manual transmission, the electric vehicle including a motor for generating a drive force and an inverter for controlling the motor, The inverter controls the driving of the motor to generate a creeping torque when the accelerator pedal and the brake pedal are not operated and the speed of the motor is lower than the set speed.

본 발명의 다른 실시예에 따른 변속기를 갖는 전기 자동차의 구동 제어방법은 가속 패달의 작동 여부를 파악하는 단계와, 상기 단계에서, 가속 패달이 작동되지 않으면, 브레이크 패달의 작동여부를 파악하는 단계와, 상기 단계에서, 브레이크 패달이 작동되지 않으면, 모터 스피드가 설정치 이하인지 파악하는 단계와, 상기 단계에서, 모터 스피드가 설정치 이하이면, 모터의 구동을 제어하여 크리핑 토크를 발생시키는 단계와, 상기 단계에서, 모터 스피드가 변화되면 차속에 따른 디레이트 레퍼런스를 발생시키는 단계를 포함한다.The method of controlling a drive of an electric vehicle having a transmission according to another embodiment of the present invention includes the steps of determining whether the accelerator pedal is operated and determining whether the brake pedal is operated if the accelerator pedal is not operated Determining whether the motor speed is lower than the set value if the brake pedal is not operated in the step, and if the motor speed is lower than the set value, controlling the driving of the motor to generate the creeping torque, , Generating a derate reference according to the vehicle speed when the motor speed is changed.

본 발명의 변속기를 갖는 전기 자동차의 구동 제어방법은 가속 패달과, 브레이크 패달이 작동되지 않은 상태이고, 모터의 스피드가 설정속도 이하이면, 모터의 구동을 제어하여 크리핑 토크를 발생시키도록 하여 자동차가 부드럽게 출발하도록 하고 변속기의 수명을 연장하고, 변속기의 손상을 최소화할 수 있다.
A driving control method of an electric vehicle having a transmission according to the present invention is characterized in that when the accelerator pedal and the brake pedal are not operated and the speed of the motor is lower than the set speed, the driving of the motor is controlled to generate the creeping torque, You can start smoothly, extend the life of the transmission, and minimize damage to the transmission.

도 1은 본 발명의 일 실시예에 따른 전기 자동차의 동력 전달계통을 나타낸 블럭도이다.
도 2는 본 발명의 일 실시예에 따른 전기 자동차의 동력 전달 순서를 나타낸 순서도이다.1 is a block diagram showing a power transmission system of an electric vehicle according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating a power transmission procedure of an electric vehicle according to an embodiment of the present invention.

이하, 첨부된 도면들을 참조하여 본 발명에 따른 실시예를 상세히 설명한다. 이 과정에서 도면에 도시된 구성요소의 크기나 형상 등은 설명의 명료성과 편의상 과장되게 도시될 수 있다. 또한, 본 발명의 구성 및 작용을 고려하여 특별히 정의된 용어들은 사용자, 운용자의 의도 또는 관례에 따라 달라질 수 있다. 이러한 용어들에 대한 정의는 본 명세서 전반에 걸친 내용을 토대로 내려져야 한다.Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The sizes and shapes of the components shown in the drawings may be exaggerated for clarity and convenience. In addition, terms defined in consideration of the configuration and operation of the present invention may be changed according to the intention or custom of the user, the operator. Definitions of these terms should be based on the content of this specification.

도 1은 본 발명의 일 실시예에 따른 전기 자동차의 동력 전달계통을 나타낸 블럭도이고, 도 2는 본 발명의 일 실시예에 따른 전기 자동차의 동력 전달 순서를 나타낸 순서도이다.FIG. 1 is a block diagram illustrating a power transmission system of an electric vehicle according to an embodiment of the present invention, and FIG. 2 is a flowchart illustrating a power transmission procedure of an electric vehicle according to an embodiment of the present invention.

일 실시예에 따른 전기 자동차의 동력 전달장치는 일정한 전압(또는 전류)을 인가하는 배터리(10)와, 사용자가 자동차의 속도를 가변시키기 위해 조작하면 일정한 저항값을 출력하는 가속 패달(20)과, 사용자가 자동차를 제동하기 위해 조작하면 일정한 저항값을 출력하는 브레이크 패달(30)과, 가속 패달(20) 또는 브레이크 패달(30)로부터의 저항값을 감지하여 소정의 토크 제어값(Tref)을 출력하는 시스템 컨트롤러(40)와, 배터리(10)로부터의 전압(또는 전류)을 시스템 컨트롤러(40)로부터 출력되는 토크 제어값을 참조하여 이를 일정한 전압값으로 변환하여 출력하는 인버터(50)와, 인버터(50)로부터 출력되는 소정의 전압에 의해 회전축을 일정한 회전수로 회전시키는 모터(60)와, 모터(60)의 회전축에 치합되어 있으며, 자동차의 속도 및 구동력(Wheel Torque)에 알맞게 자동으로 변속비를 조절하여 출력축의 회전수를 조절하는 변속기(T/M)(70)과, 변속기(T/M)(70)의 출력축에 연결되어 실제 구동휠을 회전시키는 구동축을 포함한다. The power transmission device of an electric vehicle according to an embodiment includes a battery 10 for applying a constant voltage (or current), an acceleration pedal 20 for outputting a constant resistance value when the user operates the speed of the vehicle, A brake pedal 30 for outputting a constant resistance value when the user operates the brake pedal 30 to detect a resistance value from the accelerator pedal 20 or the brake pedal 30 and a predetermined torque control value Tref An inverter 50 for converting the voltage (or current) from the battery 10 into a constant voltage value by referring to a torque control value output from the system controller 40, A motor 60 which rotates the rotating shaft at a predetermined rotational speed by a predetermined voltage outputted from the inverter 50 and a motor 60 which is engaged with the rotating shaft of the motor 60 and which detects the speed and driving force To automatically adjust the speed ratio by connecting the output shaft of the transmission (T / M) (70) and a transmission (T / M) (70) for controlling the number of revolutions of the output shaft comprises a drive shaft for rotating the physical drive wheel.

여기서 인버터(50)는 통상 싸이리스터라고 하는 반도체 소자를 이용하여 모터에 가해지는 전압을 1초간에 100~200회의 속도로 단속하여 on-off의 시간비를 바꿈으로써(교류전압), 모터의 평균 전압을 변화시켜 모터 회전축의 회전 속도를 제어하는 것이다. Here, the inverter 50 normally uses a semiconductor device called a thyristor to intermittently apply a voltage applied to the motor at a speed of 100 to 200 times per second to change the on-off time ratio (AC voltage) And the rotational speed of the motor rotating shaft is controlled by changing the voltage.

이와 같이 구성되는 전기자동차의 작용을 살펴보면, 사용자가 소정 각도로 가속 패달(20)을 조작하거나, 브레이크 패달(30)을 조작하게 되면, 그 조작된 각도에 따른 일정한 저항값을 시스템 컨트롤러(40)가 감지하고 이를 소정의 토크 제어값으로 변환하여 인버터(50)에 출력하게 된다.When the user operates the accelerator pedal 20 at a predetermined angle or operates the brake pedal 30, the system controller 40 outputs a constant resistance value corresponding to the operated angle, And converts it into a predetermined torque control value and outputs it to the inverter 50. [

그러면 인버터(50)는 시스템 컨트롤러(40)로부터 입력된 토크 제어값에 대응하는 평균 전압(on-off 시간비)으로, 배터리(10)로부터의 전압을 변환하여 모터(60)에 출력하게 된다.The inverter 50 then converts the voltage from the battery 10 to an average voltage (on-off time ratio) corresponding to the torque control value input from the system controller 40 and outputs the voltage to the motor 60.

이어서 모터(60)는 그 평균 전압에 해당하는 일정한 회전수로 그 회전축을 회전시키게 된다. 한편, 모터(60)의 회전축은 변속기(TM)(70)와 연결되어 최종적으로 변속기(TM)(70)의 출력축이 자동차의 구동축에 치합되어 그 변속비로 자동차의 구동휠을 회전시키는 것이다.Then, the motor 60 rotates its rotation axis at a constant number of revolutions corresponding to the average voltage. The rotary shaft of the motor 60 is connected to the transmission TM 70 so that the output shaft of the transmission TM 70 is finally engaged with the drive shaft of the vehicle to rotate the drive wheel of the vehicle at the transmission ratio.

이때, 가속 패달(20)이나 브레이크 패달(30)의 조건에 따라 인터버는 모터의 구동을 제어하여 크리핑 토크(Creeping Torque)를 발생시켜 가속 패달(20)을 다시 밟을 때 자동차가 부드럽게 출발할 수 있도록 한다.At this time, according to the conditions of the accelerator pedal 20 and the brake pedal 30, the interverter controls the driving of the motor to generate a creeping torque so that the vehicle can start smoothly when the accelerator pedal 20 is pressed again. do.

이에 대해 도 2를 참조하여 자세히 설명하면, 먼저 시스템 컨트롤러(40)에서 브레이크 패달(30)이 작동되었는지 감지한다. 만일 브레이크 패달(30)이 작동된 것으로 판단되면 시스템 컨트롤러(40)는 그 신호를 컨버터(50)로 전달하고, 컨버터(50)에서 브레이크 레퍼런스(Brake Reference)를 발생시킨다. Referring to FIG. 2, the system controller 40 first detects whether the brake pedal 30 is actuated. If it is determined that the brake pedal 30 has been operated, the system controller 40 transfers the signal to the converter 50 and generates a brake reference at the converter 50.

그리고, 브레이크 패달(30)이 작동되지 않은 것으로 판단되면, 가속 패달(20)의 작동 여부를 감지하여 가속 패달(20)이 작동된 것으로 판단되면, 액셀 레퍼런스(Accel Reference)를 발생시킨다. If it is determined that the brake pedal 30 is not operated, it is determined whether the accelerator pedal 20 is operated. If it is determined that the accelerator pedal 20 is operated, an accelerator reference is generated.

그리고, 가속 패달(20)이 작동되지 않은 것으로 판단되면, 모터(60)의 스피드를 감지하여 모터(60)의 스피드가 설정값(n) 이하이면 인버터(50)는 모터(60)를 제어하여 크리핑 토크 레퍼런스(Creeping Torque Reference)를 발생시킨다. If it is determined that the accelerator pedal 20 is not operated, the speed of the motor 60 is sensed and if the speed of the motor 60 is less than the set value n, the inverter 50 controls the motor 60 Creates a creeping torque reference.

즉, 모터(60)의 스피드가 차속(P)보다 크면 일정 회생 레퍼런스를 발생시키고, 모터(60)의 스피스가 차속(P)보다 작고, "0" 보다 크면 차속에 따른 디레이트 토크 레퍼런스(Derate Torque Reference)를 발생시킨다. That is, if the speed of the motor 60 is larger than the vehicle speed P, a constant regenerative reference is generated. If the spool of the motor 60 is smaller than the vehicle speed P and larger than "0" Derate Torque Reference.

그리고, 모터 스피드가 "O" 이하이고, 설정값(n) 이상이면 제로 토크 레퍼런스(Zero Torque Reference)를 발생시키고, 모터 스피드가 설정값(n) 이하이면 크리핑 토크 레퍼런스(Creeping Torque Reference)를 발생시킨다.A zero torque reference is generated when the motor speed is equal to or lower than the set value n and a creeping torque reference is generated when the motor speed is equal to or lower than the set value n. .

그리고, 모터 스피드가 모터 스피드가 설정값(n) 이하이고 제2설정값(m) 이상이면, 차속에 따른 디레이트 토크 레퍼런스(Derate Torque Reference)를 발생시킨다.If the motor speed is equal to or lower than the set value n and equal to or higher than the second set value m, a derate torque reference according to the vehicle speed is generated.

즉, 크리핑 토크를 발생하는 도중에 모터 스피드가 변화되면 차속에 따라 디레이트 토크 레버런스(Derate Torque Reference)를 발생시킨다.That is, when the motor speed changes while generating the creeping torque, derate torque reference is generated according to the vehicle speed.

이는 크리핑 토크 발생하는 도중에 토크가 온/오프(ON/OFF)로 변하기 때문에 불연속이 발생하므로 중간 영역에서 디레이트(Derate) 조건을 추가하여 모터 속도에 따른 크리핑 토크, 브레이트 패달 신호 및 가속 패달 신호가 없을 경우 레진 토크 레퍼런스(Regen Torque Reference)를 발생시키도록 한다.This is because the discontinuity occurs because the torque changes to on / off during the creeping torque, so the creeping torque, the brake pedal signal and the acceleration pedal signal according to the motor speed are added to the intermediate region by adding the derate condition If it does not exist, generate a Regen Torque Reference.

이러한 이유는 운전 중 모터의 관성이 작으므로 일정 크리핑 토크가 전달되면 속도가 줄기 않는 것을 방지하고 불연속한 부분을 상쇄하기 위함이고, 높은 모터의 회전 속도에서는 회생을 하여 에너지를 충전하기 위함이다.This is because the inertia of the motor is small during operation, so that when the constant creeping torque is transmitted, the speed is prevented from decreasing and the discontinuous portion is canceled. In order to charge the energy by regenerating at a high motor rotation speed.

그리고, 마지막으로, 급격하게 레퍼런스가 변할 수 있으므로 로우 패스 필터(Low Pass Pilter)를 사용하여 변화가 서서히 이루어질 수 있도록 한다.Finally, since the reference may be abruptly changed, a change can be made slowly using a low pass filter.

이와 같이, 본 실시예에 따른 전기 자동차는 가속 패달을 밟지 않고, 브레이크 패달을 밟지 않고 모터의 속도가 설정 속도 이하이면 크리핑 토크 레퍼런스로 구동시킨다. 따라서, 자동차가 부드럽게 출발할 수 있게 되고, 변속기에 충격이 가해지는 것을 최소화할 수 있다. As described above, the electric vehicle according to the present embodiment does not depress the accelerator pedal, drives the brake pedal, and drives the creeping torque reference when the speed of the motor is lower than the set speed. Thus, the vehicle can start smoothly, and the shock to the transmission can be minimized.

이상에서 본 발명에 따른 실시예들이 설명되었으나, 이는 예시적인 것에 불과하며, 당해 분야에서 통상적 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 범위의 실시예가 가능하다는 점을 이해할 것이다. 따라서, 본 발명의 진정한 기술적 보호 범위는 다음의 특허청구범위에 의해서 정해져야 할 것이다.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. Accordingly, the true scope of the present invention should be determined by the following claims.

10: 배터리 20: 가속 패달
30: 브레이크 패달 40: 시스템 컨트로러
50: 인버터 60: 모터
70: 변속기
10: Battery 20: Accelerated pedal
30: Brake pedal 40: System controller
50: inverter 60: motor
70: Transmission

Claims (4)

삭제delete 가속 패달의 작동 여부를 파악하는 단계; 브레이크 패달의 작동여부를 파악하는 단계; 모터 스피드를 감지하는 단계;
상기 가속 패달과 브레이크 패달이 작동하지 않을 때, 상기 감지된 모터 스피드가 차속보다 큰지를 판단하고, 차속보다 클 때, 일정 회생 레퍼런스를 발생하는 단계;
상기 가속 패달과 브레이크 패달이 작동하지 않을 때, 상기 감지된 모터 스피드가 차속보다 작고 "0"보다 클 때, 차속에 따른 디레이트 토크 레퍼런스를 발생하는 단계;
상기 가속 패달과 브레이크 패달이 작동하지 않을 때, 상기 감지된 모터 스피드가 "0" 이하이고, 설정값(n) 이상이면, 제로 토크 레퍼런스를 발생하는 단계;
상기 가속 패달과 브레이크 패달이 작동하지 않을 때, 상기 감지된 모터 스피드가 설정값(n)보다 작으면 크리핑 토크 레퍼런스를 발생하는 단계를 포함하여 구성되고,
상기 크리핑 토크 레퍼런스를 발생하는 단계 수행 중, 모터 스피드가 변화되면 차속에 따른 디레이트 토크 레퍼런스를 발생시키는 것을 특징으로 하는 변속기를 구비한 전기 자동차의 구동 제어방법. Determining whether the accelerator pedal is operated; Determining whether the brake pedal is operated; Sensing a motor speed;
Determining whether the sensed motor speed is greater than the vehicle speed when the accelerator pedal and the brake pedal are not operated, and generating a constant regenerative reference when the accelerator pedal and the brake pedal are not operated,
Generating a derate torque reference according to the vehicle speed when the sensed motor speed is smaller than the vehicle speed and greater than "0" when the accelerator pedal and the brake pedal are not operated;
Generating a zero torque reference when the sensed motor speed is less than or equal to zero and less than or equal to the set value n when the accelerator pedal and the brake pedal are not operating;
Generating a creeping torque reference when the sensed motor speed is less than the set value n when the accelerator pedal and the brake pedal are not operating,
Wherein during the step of generating the creeping torque reference, a derate torque reference is generated in accordance with the vehicle speed when the motor speed is changed. 제2항에 있어서,
상기 제어방법은 로우 패스 필터(Low Pass Filter)를 사용하여 레퍼런스 변화가 천천히 이루어지도록 하는 단계를 더 포함하는 변속기를 구비한 전기 자동차의 구동 제어방법. 3. The method of claim 2,
Wherein the control method further includes a step of slowly changing the reference by using a low pass filter. 제 2 항에 있어서,
상기 크리핑 토크 레퍼런스를 발생하는 단계 수행 중, 상기 감지된 모터 스피드가 설정값(n) 이하이고 제 2 설정값(m) 이상에서 차속에 따른 디레이트 토크 레퍼런스를 발생하는 것을 특징으로 하는 변속기를 구비한 전기 자동차의 구동 제어방법.
3. The method of claim 2,
Wherein during the step of generating the creeping torque reference, the derated torque reference is generated in accordance with the vehicle speed at the detected motor speed being equal to or lower than the set value n and equal to or higher than the second set value m. A driving control method of an electric vehicle.
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