DE102014210304B4 - A method of operating a system having at least two power components, controller, computer program product, and system - Google Patents

Abstract

A method of operating a system (1) having at least two power components (6,8), comprising the steps of: a) determining a system setpoint (M) for a power quantity to be exchanged by the system (1) with an environment of the system (1) b) determining a respective current operating state for each of the at least two power components (6,8) of the system (1) and c) determining an optimum power value (M) of the power magnitude for each of the at least two power components (6,8) in dependence on the d) determining a balance result (M) from a balance equation into which the system set point (M) and the optimal power values (M) are received; e) determining at least one of a minimum and a maximum power value (M, M) the at least two power components (6, 8) as a function of the operating state; f) calculating an adaptation value (M) for a power value within an interval between the min g) recalculating the balance sheet result (M) on the basis of the adjustment amount (M), and h) repeating steps f) and g) until a certain termination condition is met, andi) driving the at least two power components (6, 8) based on the calculated adjustment quantities (M).

Description

The invention relates to a method for operating a system with at least two power components according to claim 1, a control unit for such a system according to claim 9, a computer program product according to claim 10, and a system according to claim 11.

Systems of the type discussed herein have a plurality of power components that together contribute to a given or predetermined overall performance of the system. In this respect, it is a power-split system, whereby typically the overall performance of the system can be represented as the sum of the individual contributions of the individual power components. The term "performance" is not limited to the physical term of performance as such, but may also refer to any physical quantity to be delivered or absorbed, which is related to the physical performance, in particular energy, torque, electrical Electricity, heat or heat flow, or any other suitable size. Therefore, in addition to the term "power", the term "power quantity" is used below in order to make it clear that the physical power itself is only one of the possible variables with respect to which the system can be branched. An example of such a system is a hybridized drive train, for example in a motor vehicle, in particular a locomotive, in which case an internal combustion engine on the one hand and at least one electric machine on the other hand contribute as power components to the overall performance or to the overall torque of the system. In systems of the type mentioned here, there is basically the task of realizing an optimal distribution of the total power variable to the individual power components in each operating state. Typically, only one value for the overall performance of the system is predetermined or predetermined, allowing a variety of different distributions to the individual power components. Selecting a specific distribution is then typically the subject of optimization. In this case, algorithms are typically used which inherently map this distribution by considering a normal case-usually via characteristic curves-and take deviations from the normal case into consideration by means of appropriate adjustments and / or limitations. In this case, the entire system is always considered, wherein the algorithm is set up specifically for the actual system with the concrete existing power components. These algorithms are therefore specific to each individual system and must be redeveloped with each change to the system structure, such as replacement of a power component. Insofar, there is a lack of a superordinate structure which can perform the power distribution independently of the performance components actually present in the system.

From the DE 103 18 882 A1 goes out a method for energy management in a motor vehicle, comprising an internal combustion engine and at least one electric machine, wherein the electric machine is operable at least as a generator. In this case, a generator operation of the electric machine by the internal combustion engine when falling below a state of charge threshold value can be released, and a power output of the electric machine can be limited at least as a function of the state of charge of the battery.

From the DE 199 56 935 A1 is a method for power distribution, in particular for the distribution of electrical power in motor vehicle electrical systems, in which components of a vehicle electrical system, such as the battery, the generator and the consumers are assigned characteristics in which a standardized rating number is displayed as a function of power, wherein the instantaneous distribution of the power takes place in such a way that, taking into account the individual characteristics, a specifiable optimization principle is sought.

The invention has for its object to provide a method which makes it possible to overcome the disadvantages mentioned. The invention is further based on the object to provide a control device, a computer program product and a system which do not have the disadvantages mentioned.

The object is achieved by providing a method with the steps of claim 1. Initially, a system setpoint is determined for a power variable to be exchanged by the system with an environment of the same. In each case, a current operating state is determined for each of the at least two power components of the system, and an optimum power value of the power quantity for each of the at least two power components is determined as a function of the respective current operating state of the power components and / or of the system. Then a balance sheet result is determined from a balance equation, whereby the system setpoint and the current optimum performance values are included in the balance equation. At least for the at least two power components, a minimum and a maximum power value are respectively determined as a function of the determined operating state. Then follows one iterative, sequential calculation of adaptation values for the performance values in each case within an interval between the minimum performance value and the maximum performance value as a function of the balance result, wherein the balance result in each iteration step is recalculated on the basis of the current adaptation variable. This iteration is performed - in particular stepwise for each of the power components and / or the system sequentially in a predetermined order - until a certain termination condition is met. Finally, the at least two power components are driven based on the calculated adjustment quantities.

It shows that the method works independently of the specific performance components used within the system, so that it is suitable for implementation in a higher-level structure, which is connected via defined interfaces with the otherwise interchangeable power components. The method only requires its current, optimum power values as input variables of the power components, as well as their minimum and maximum power values. As long as it is ensured that each power component can either convey these three values directly to the higher-level structure, in particular via the defined interface, or provide them via a translation module provided for this purpose, it is for the higher-level structure which is set up to carry out the method that possible to distribute the predetermined or predetermined performance of the system as low as possible to the individual power components. This even works irrespective of which system is actually considered or which capacity is to be distributed concretely. In this respect, a universal and modular power distribution algorithm is provided, which can be implemented in a general, functional software structure for all power-split systems, wherein the actual power components used are interchangeable, without the need for a change in the superordinate algorithm. The algorithm allows a general distribution of the power quantity taking into account the states of the system.

The system setpoint is preferably specified by an operator of the system or by a higher-level system. In this case, the system setpoint - in the context of a sign convention to be described later - can be positive or negative, wherein the sign indicates whether the system takes from its environment the specifically considered power variable, or whether it delivers this power variable to its environment , For example, a hybridized powertrain may deliver torque or mechanical power to its environment, such as during acceleration, or absorb torque or mechanical power from the environment, such as when decelerating under kinetic energy recuperation.

Alternatively or additionally, a system can deliver heat or heat flow to its environment or absorb it from its environment, in particular via a heat exchanger. The same applies to electrical power, electrical energy and / or an electric current.

The term "power value" is to be understood here as a generic term on the one hand for the power values assigned to the individual power components and on the other hand for the system setpoint. These are always values of the same performance variable, so that they have the same units and can be directly offset against each other in the balance equation. For the sake of simplicity, therefore, the performance values of the power components and the system setpoint are also generally summarized under the term "power value".

In an analogous manner, the term "components" is also used as a generic term for the power components of the system, but partly also for the system itself, because this is treated in part as part of the method - in particular with respect to the calculation of adaptation variables - analogously to the power components.

The optimum power value is preferably determined, in particular in a simple implementation, on the basis of a characteristic, in particular a so-called advance characteristic, in particular as a function of the current operating state read from the characteristic or read from a map. For example, it is possible for an internal combustion engine to determine an optimum torque value as the optimum power value on the basis of a current rotational speed via a consumption characteristic curve. For an electrical machine, the optimum power value can be determined, for example, depending on a determined in a corresponding electrical system, optimal power for the electric machine, the optimal current in turn depends on a current state of charge of an energy storage device, such as a battery or a rechargeable battery. In this case, the optimum power value, in particular depending on the state of charge of the energy storage device change the sign, namely when it for the electric machine is either cheaper to remove energy from the energy storage device, or to save energy in the energy storage device.

For the system as a whole, the system setpoint is preferably used as the optimal power value.

The minimum power value and the maximum power value for a power component are preferably determined so that physical limits of the considered power component - both static and dynamic - are not exceeded. For example, the maximum possible and the minimum possible torque is determined for each considered power component in each cycle of the process. For example, for a combustion engine in the simplest case, a drag torque can be assumed as the minimum torque. It is assumed that an injection in the internal combustion engine can be stopped immediately. The maximum conductance value, in particular a maximum torque of the internal combustion engine, is preferably determined by the knowledge of the behavior of the internal combustion engine and its engine governor, whereby in particular limits and a dynamic behavior of the combustion process are taken into account.

In one embodiment of the method, it is possible for the power value itself to be recalculated as the adaptation quantity, so that in each iteration step of a cycle of the method, the power value just considered is recalculated or changed. Alternatively, it is possible to calculate, as the adjustment quantity, a power change value that is provided to calculate a new power value from the current power value using the power change value. In this case, it is possible for the power variation value to be calculated as an addend that is to be added to the power value or as a factor that is to be multiplied by the power value.

In one embodiment of the method, a predetermined number of repetitions or iterations is used as a specific termination condition. The abort condition is satisfied when the predetermined number of iterations has been performed. Alternatively, it is possible to specify a flexible termination condition, for example, that a value of the adjustment quantity calculated in a preceding iteration step is smaller than a predetermined limit value, or that the value of the adjustment variable calculated in the previous iteration step is equal to zero. Furthermore, it can be specified as a termination condition that the balance result, which was recalculated in the previous iteration step, falls below a predetermined limit value or is equal to zero.

In this case, the sequence of steps of the method until it reaches the specific termination condition is referred to as one cycle. Thus, within a cycle, either a predetermined number of iteration steps, or a number of iteration steps, until a flexible abort condition is met, then the cycle ends. It is then possible for the process to continue again in a new cycle.

In this case, an embodiment of the method is particularly preferred, which is characterized in that the method is carried out iteratively as a whole. Most preferably, the process is performed permanently during operation of the system. The process always begins anew after completion of a cycle, so that cycles of the process are run continuously. This ensures that in each moment of the operation of the system, the predetermined system setpoint of the power variable is distributed as optimally as possible to the various power components.

Within one cycle of the method, the determination of the system setpoint, the determination of the current operating states, the determination of the optimum as well as the minimum and maximum power values takes place only once at the beginning, in which case the various adaptation variables for the individual power components are iteratively calculated and after each recalculation an adjustment variable, the balance sheet result is always recalculated on the basis of the recalculated adjustment size. On the other hand, after completing a cycle and starting a next cycle, the process starts all over again, determining a new system setpoint, determining a new current operating state, and determining new optimum, minimum, and maximum power values.

An embodiment of the method is also preferred, which is characterized in that the adaptation quantities for the power components are calculated component by component in a predetermined order. The individual iterations thus have, in a predetermined sequence, calculations of adaptation variables for different power values of different power components.

Alternatively or additionally, an adaptation variable is preferably also calculated for the system as a whole within the framework of at least one iteration step. The system is treated as a performance component. Particularly preferably, at the end of a cycle, especially after calculating the adaptation quantities for the power components, an adaptation variable for the system is calculated, in particular if it appears that the system setpoint can be achieved within the power values which can be achieved by the optimum as well as the minimum and maximum power values can not be represented for the individual power components. By calculating the adjustment size for the system, it is then possible to deviate from the given system setpoint so that the balance equation can be met. This is based on the idea that, with the aim of avoiding overloading or operation of the individual power components deviating too much from the optimum operating point, it is acceptable not to exactly fulfill the specified system setpoint. For example, the operator of a hybrid powertrain may be expected not to obtain the full requested torque while at the same time protecting the powertrain from damage or overload. The extent to which the power value actually realized for the system may deviate from the specified system setpoint may be specifically tailored specifically to a specific system, its use, and / or its use, in particular customer-specific, in particular by a minimum power value for the entire system and a maximum power value.

An embodiment of the method is also preferred, which is characterized in that the adaptation variables are calculated on the basis of predetermined, relative step widths between the maximum power value and the optimum power value, or between the minimum power value and the optimum power value. Preferably, in a table or in a map relative increments - in particular in percent - deposited, which are used in the context of the iterative calculation of the adjustment variables. The relative step sizes represent a percentage of a maximum possible change in a iteration step for a power value in percent of the distance between the maximum power value and the optimal power value or between the optimum power value and the minimum power value. Preferably, the relative step sizes are the same for all cycles of the process, and the absolute step sizes may vary from cycle to cycle due to the optimum, minimum, and maximum power values recalculated in each cycle. The maximum power value specifies how far the power value for a power component or for the system may move from the optimum power value or the system setpoint to larger values. This is also called development potential. Conversely, the minimum power value dictates how far the power value of a power component or of the system can move downwards from the optimum power value or the system setpoint, that is to say to smaller values, which is also referred to as the potential for savings. Preferably, for each iteration step of a cycle exactly one predetermined, relative step size is stored in the table or the characteristic map, wherein the concrete values of the relative step size can be adapted to a type, a use and / or a use of the system. In the course of the iteration within a cycle, the table is then processed, the relative step sizes for each power component, and preferably also for the system itself, being chosen such that their component totals accumulated over the table are less than or equal to 100 percent. In this way it is avoided that in the course of a cycle of the method the maximum power value can be exceeded or the minimum power value can be undershot.

The following is shown: In the balance equation, first the optimum performance values and the system setpoint are entered, and a balance result is calculated. If it is shown that the system setpoint can already be met by the optimal power values, there is no need for any further change in the power values, and the subsequent iterations return no changes to the power values, or are aborted due to a correspondingly defined termination condition. If, on the other hand, the system setpoint is not yet reached by the optimal power values, an adjustment is made by the iterative calculation of the adaptation variables, limits for the adaptation of the individual power components being given by the minimum and maximum power values. Their power values are removed from the respective optimum power value within a given allowable interval in the course of the process to achieve the system setpoint. If this is not possible within the limits of the permissible intervals for the power components, the system setpoint is preferably adjusted in an analogous manner to the power values of the individual power components in order to meet the balance equation or to obtain a predetermined balance result, in particular zero.

In this case, the predetermined, relative step sizes for the individual power components are preferably matched specifically to their development or savings options. Thus, for example, in a hybrid powertrain it may be possible to specifically design the electric machine for a dynamic of the system and, in the case of a power demand, to a greater extent with respect to its power value than an internal combustion engine. Conversely, with a load drop, the internal combustion engine may be shut down faster than the electric machine, so as to realize greater saving effect. Such considerations and / or effects may be readily taken into account by appropriate choice of the predetermined relative increments in the table and / or the map.

An embodiment of the method is also preferred, which is characterized in that it is checked whether the maximum power value is greater than or equal to the optimal power value, and whether the minimum power value is less than or equal to the optimum power value. The optimal power value is limited to the maximum power value and / or the minimum power value if at least one of these conditions is not met. This embodiment takes into account the idea that it may occur in certain operating states that a certain power value for the considered power component would be optimal, but that can not be achieved in the current operating state. For example, it is possible for the optimum power value for a power component, for example for an internal combustion engine, to be read out or determined from a performance map or from a characteristic curve, wherein the optimum power value can not be reached instantaneously, because a load jump distance for the power component is limited. For example, for an internal combustion engine having a turbocharger, only limited load jumps are possible, so that it may happen that the optimum power value can not be reached instantaneously. The maximum achievable power value at this moment and in the current operating state, and therefore the maximum power value, is therefore smaller than the optimum power value. In this case, the optimum power value is limited to the maximum power value, which accommodates this limitation. A corresponding case may also occur for the minimum power value compared to the optimal power value.

An embodiment of the method is also preferred, which is characterized in that a power variation value for the currently considered power component is calculated as an adaptation variable, wherein a target component value for the power component is selected from the optimum power value and the calculated power variation value (12) after the termination condition has been met. en) is calculated. In particular, a power variation value is determined in each iteration step, wherein after completion of the iteration the power variation values thus calculated are offset with the optimum power value for determining the desired component value. In this case, it is possible for the power variation value to be designed as a summand, with the individual power variation values being added to the optimum power value after completion of the iteration or fulfillment of the termination condition, and therefore after one cycle of the method. It is also possible that the power variation value is configured as a factor, and after completion of the iteration, the power variation values are multiplied with each other and with the optimum power value to calculate the target component value. Thus, it can be seen that the method for adjusting the power values starts in each case on the basis of the optimum power values for each power component, and finally calculates the desired component values to be converted by the power components via the iterative calculation of the adjustment variables. By appropriate limitations, in particular by ensuring that the predetermined relative increments add up to a maximum of 100 percent, it is ensured that for each power component the optimum power value and also the desired component value lie in the interval between the minimum and the maximum power value , At the same time, it is ensured that the minimum power value is smaller than or at the most equal to / as the maximum power value. If these conditions are met, then ultimately the performance of each power component can be adjusted based on the desired component values. Accordingly, the power components are driven after passing through a cycle of the method, so after reaching the termination condition, with the respectively assigned and calculated based on the adjustment variables target component values.

It turns out that a next cycle of the process then already starts from a new operating state, since the power components are already controlled with new setpoint values. If, for example, a requested desired torque can not yet be reached in a first cycle of the method because of a power or load step limitation, the next cycle starts from an operating state under a higher load, thus finally achieving the predetermined desired torque over a plurality of cycles of the method can. Of course, it is possible that the system setpoint changes as the system operates. This is typically the rule, especially when the system is used to drive a motor vehicle. However, the method always adapts to this, in particular because it is performed overall iteratively, wherein a new cycle of the method after expiration every previous cycle is started so that a new performance target can be redistributed to the individual performance components.

Preferably, a power variation value is also calculated for the system itself as the adaptation parameter, wherein after meeting the termination condition or after one cycle of the method, a new system target value is calculated from the previous system target value and the calculated power variation value for the system. This is done exactly when it turns out on the basis of the balance equation that under the present conditions the originally specified system setpoint can not be displayed. It is then changed by calculating the fit size for the system so that ultimately the balance equation is met.

An embodiment of the method is also preferred, which is characterized in that at least one optimum power value for at least one non-controllable power component is determined, wherein the at least one optimum power value of the non-controllable power component is included in the balance equation. Such non-controllable power components are components whose power consumption or power output can not or can not readily be influenced. This may be, for example, an on-board power supply, an air-conditioning compressor, and / or a power take-off of an internal combustion engine. While the performance of these performance components can not be affected, it must nevertheless be applied or absorbed and thus taken into account in the balance equation in order to be complete. As the optimal power value for such a non-controllable power component, its current value of the power quantity is used because of the lack of controllability, for example, the current torque or the current recorded or delivered power. The non-controllable power component does not participate in the optimization in the process, in particular, no minimum and no maximum power value is calculated for this power component, and no adjustment variables are calculated, which would also not make sense, since the power component just so not. is controllable. However, an operating state is determined for the non-controllable power component in each cycle of the process in order to be able to determine the current value of the power quantity and thus the current and thus optimal power value for the power component and to be able to take this into account in the balance equation. Thus, the optimal performance value of the non-controllable performance component affects the balance sheet outcome, but is not itself subject to customization or optimization.

As already stated, the iterative calculation of the adaptation variables in the context of the method takes place in a predetermined sequence, which is preferably predetermined by a table and / or a characteristic diagram. In this case, preferably not only the order of the individual iteration steps, but also the predetermined, relative step sizes are stored in the table and / or the map, in particular in successive rows of the table. In this case, a type, a use and / or a use of the system can be considered not only by appropriate choice of the stored in the table lines, relative increments, but it can also be adapted to at least one of these conditions a number of iterative steps to be performed per cycle. In this case, as already explained above, the condition must be taken into account that the individual relative increments in the table rows for each individual power component do not add up to more than 100 percent or less than 100 percent, so that the adjustment of the power values always takes place within the Interval between the minimum power value and the maximum power value remains. This means that the individual relative step sizes are preferably smaller if a larger number of steps are taken into account, while larger step sizes can be performed if a smaller number of steps per cycle is provided.

The object is also achieved by providing a control device for a system with the features of claim 9. The control unit is characterized in that it is set up for carrying out a method according to one of the previously described embodiments. This realizes for the controller, the advantages that have already been explained in connection with the method.

It is possible that the method is implemented directly in an electronic structure, in particular a hardware structure, of the control device. Alternatively, it is possible for a computer program product - in particular according to one of the embodiments described below - to be loaded into the control unit, which has instructions on the basis of which the method is carried out when the computer program product is running on the control unit.

The control unit can be designed as an engine control unit for a drive train, in particular a hybridized drive train, or as a system control unit. It is also possible that the control unit is set up separately for carrying out the method and cooperates with a system control unit or engine control unit. In particular, the control unit can be set up as a higher-level control device for power distribution.

The object is also achieved by providing a computer program product having the features of claim 10. The computer program product has machine-readable instructions on the basis of which one of the previously described embodiments of the method is performed when the computer program product runs on a computer, in particular on a control unit for a system. Thus, the computer program product realizes the advantages that have already been explained in connection with the method and with the control unit.

In a preferred embodiment, the computer program product has a first software structure into which an embodiment of the method described above is implemented. This software structure is also referred to as a superordinate software structure and serves the distribution of power in the system. The first, superordinate software structure preferably has a defined interface for each power component of the system and preferably also for the system itself, via which standardized data can be transmitted. The first software structure can be used independently of the actual performance components and also independently of the system actually used.

Preferably, the computer product comprises a plurality of second software structures, each of the second software structures serving to drive a power component. These second, subordinate software structures are set up to control or regulate the power component assigned to them. In this case, each of the subordinate software structures preferably has an interface, which is connected to an interface of the superordinate, first software structure, in order to convey to it in each cycle of the method the optimum power value, as well as the minimum power value and the maximum power value of the associated power component Assume target component value from the first software structure. It is also possible that the subordinate software structures themselves have no such interfaces. In this case, a translation structure or a conversion structure is preferably provided, which calculates from the data provided by the subordinate software structure the optimal and the minimum and the maximum power value for the associated component, and returns this to the first, higher-level software structure, and preferably the Forwards the target component value to the assigned component.

In one embodiment of the computer program product, it is possible for the first and the second software structure to be designed as modules, in particular in the case of modular programming. Alternatively, it is possible for the first and second software structures to be implemented as objects, in particular for object-oriented programming of the computer program product.

The embodiment of the computer program product described here having the first, superordinate software structure and the second, subordinate software structures for the power components has the advantage that it is readily possible to exchange individual power components together with the second software structures assigned to them, without therefore the entire programming of the computer program product must be adjusted. Rather, the first, superordinate software structure can be completely preserved.

However, the structure of the computer program product also has advantages in the context of a concrete implementation on a particular system. For example, it is initially possible to selectively test the functioning of the computer program product by testing only certain, second software structures on the interfaces of the first software structure, in particular a subselection of power components in the sense of a partial integration. This can initially reduce the complexity of the tests. Different sub-selections of power components and consequently different system structures can be tested and thus different partial integrations can be considered. The purpose of these selective tests is to gain insights into the functioning of the computer program product and system behavior, which can then be used in a centralized test with all the power components to better evaluate it. An error evaluation and assignment can be carried out in a central, complete test of the complete system much easier and with increased quality, so that corrections are easier and with higher quality possible.

In this case, the first, superordinate software structure preferably provides a plurality of defined interfaces, which, however, do not all have to be used. Rather, the fits in the first Software structure implemented algorithm readily the number of actually used interfaces and thus the number of existing, controllable power components readily. Namely, the number of actually existing power components does not change at the basic procedure of the method, only the number of iteration steps to be performed within one cycle is increased. However, this can easily be taken into account, for example, by querying in the context of the method how many interfaces of the first software structure actually return values.

A machine-readable data carrier is also preferred on which a computer program product according to one of the previously described exemplary embodiments is stored.

Finally, the object is also achieved by providing a system with at least two power components, the system being characterized by a control unit according to one of the previously described embodiments. In this case, the advantages that have already been explained in connection with the method, the control unit and the computer program product are realized for the system. The system is designed as a power-split system. This may be, for example, a motor vehicle, in particular a hybridized drive train, for example a locomotive or railcar, a special vehicle, a construction vehicle, a ship, a defense vehicle, for example a tank, a passenger car, a commercial vehicle, for example a truck , or to another hybridized powertrain vehicle. However, the system can also be designed as a stationary system with a hybridized drive train, for example for driving a stationary device such as a fluid pump, for example for use in fracking area, or a fire pump on a rig. The system can also be designed as a power plant, in particular for power generation.

It is possible that the system has an internal combustion engine as a power component.

The internal combustion engine is preferably designed as a reciprocating engine. In a preferred embodiment, the internal combustion engine is used to drive in particular heavy land or water vehicles, such as mine vehicles, trains, the internal combustion engine is used in a locomotive or a railcar, or ships. It is also possible to use the internal combustion engine to drive a defense vehicle, for example a tank. An exemplary embodiment of the internal combustion engine is preferably also stationary, for example, used for stationary power supply in emergency operation, continuous load operation or peak load operation, the internal combustion engine in this case preferably drives a generator. A stationary application of the internal combustion engine for driving auxiliary equipment, such as fire pumps on oil rigs, is possible. Furthermore, an application of the internal combustion engine in the field of promoting fossil raw materials and in particular fuels, for example oil and / or gas, possible. It is also possible to use the internal combustion engine in the industrial sector or in the field of construction, for example in a construction or construction machine, for example in a crane or an excavator. The internal combustion engine is preferably designed as a diesel engine, as a gasoline engine, as a gas engine for operation with natural gas, biogas, special gas or another suitable gas. In particular, when the internal combustion engine is designed as a gas engine, it is suitable for use in a cogeneration plant for stationary power generation.

Furthermore, it is possible for the system to have, as a power component, an electrical machine which can be operated in particular as a generator and / or as an electric motor. It is also possible that the system has more than one electric machine as power components.

Alternatively or additionally, it is possible that the system has a heat exchanger as a power component. Through this heat can be absorbed from an environment of the system or delivered to this.

This shows once again that as a performance variable for the system, for example, a mechanical or electrical power, or energy can be used. It is also possible for a torque, an electric current, a heat or a heat flow, or another suitable physical variable to be used as the output variable. These quantities are also readily convertible into a physical power.

In general, it can be seen that the method is applicable to any type of system in which a particular energy and / or performance form is to be distributed among different components.

Furthermore, it is found that typically there is a separation of timescales in the system such that one cycle of the process is feasible in a few milliseconds, while a change of a predetermined or predetermined system setpoint is typically on the order of seconds. This shows that the process always has sufficient time for the optimum power distribution to the individual power components because the system setpoint changes much more slowly than the process requires time to adapt the power distribution. Due to the iterative implementation of the method during the operation of the system, wherein a new cycle is started after each completed cycle, it is ensured that the power distribution always changes the system setpoint and / or the changed operating states of the individual power components and thus can also follow the entire system. In this case, change rates of the operating states are typically also on the time scale of seconds, so that the method can react to this sufficiently quickly. In the most dynamic case, the operating state of the power components or of the system changes after each cycle of the method, namely when the power components are driven with the changed setpoint component values. The then existing, new operating conditions are already taken into account in the next cycle of the process.

The description of the method on the one hand and the control unit and the system on the other hand are to be understood as complementary to one another. In particular, features of the controller and / or the system which have been described explicitly or implicitly in connection with the method are preferably individually or combined with each other features of a preferred embodiment of the controller and / or the system. In an analogous manner, method steps which have been described explicitly or implicitly in connection with the control unit or the system, preferably individually or combined with one another, comprise steps of a preferred embodiment of the method. The control device and / or system is / are preferably characterized by at least one feature which is caused by at least one method step. The method preferably has at least one method step that is caused by at least one feature of the controller and / or the system.

• 1 eine schematische Darstellung eines Ausführungsbeispiels eines Systems;
• 2 eine schematische Darstellung einer Ausführungsform des Verfahrens in Form eines Flussdiagramms;
• 3 eine schematische Detaildarstellung der Ausführungsform des Verfahrens gemäß 2, und
• 4 eine weitere Detaildarstellung der Ausführungsform des Verfahrens gemäß 2.

The invention will be explained below with reference to the drawings. Showing:

• 1 a schematic representation of an embodiment of a system;
• 2 a schematic representation of an embodiment of the method in the form of a flowchart;
• 3 a schematic detail of the embodiment of the method according to 2 , and
• 4 a further detailed representation of the embodiment of the method according to 2 ,

1 shows a schematic representation of an embodiment of a system 1 , which is here as a motor vehicle 3 with a hybrid powertrain 5 is trained. The car 3 - although shown here for better understanding as a subordinate structure - corresponds to the system 1 , and exchanges a performance size with its environment. The following is an example of a torque of the motor vehicle 3 , especially when accelerating, braking and / or recuperating, are considered as a performance variable. The hybridized powertrain 5 has here two power components, namely as the first power component 6 an internal combustion engine 7 and as a second power component 8th an electric machine 9 , A predetermined as system setpoint, of the motor vehicle 3 To be delivered or absorbed torque is in the context of the proposed method to the internal combustion engine 7 on the one hand and the electric machine on the other 9 on the other hand, therefore, on the two power components 6 . 8th divided up.

To accomplish this task is a controller 11 provided, in which the method is implemented. In particular, the controller has 11 a superordinate, first software structure 13 on, by which the actual distribution of the power size is performed. The power components 6 . 8th and also the motor vehicle 3 as a whole, hence the system 1 , is a second, subordinate software structure 15 . 15 ' . 15 " assigned, the second Software structures 15 . 15 ' . 15 " on the one hand specifically for the control of their associated components, namely the power components 6 . 8th or the motor vehicle 3 , on the other hand they each have a defined interface with the superordinate, first software structure 13 Exchange data, in particular to the first, higher-level software structure 13 each pass an optimal power value and a minimum and a maximum power value for the respectively assigned component, and where they are from the parent software structure 13 get back a target component value for the associated component. It is possible for a translation device to be between the first software structure 13 and the second software structures 15 . 15 ' . 15 " is provided. Through a dashed line L is in 1 an imaginary border between the motor vehicle and the individual power components 6 . 8th shown. For the problem of power distribution, a balance equation can be established according to the following formula: $$M_S={\displaystyle \Sigma {}_i{M}_{LK.i},}$$

Where M _S is the system 1 - here the motor vehicle 3 - Overall applied or male torque that can be represented as the sum of the torques M _{LK, i of} the individual power components, specifically the internal combustion engine 7 and the electric machine 9 , It is possible that in the balance equation according to equation (1) further torque contributions, in particular of non-controllable power components, for example, by Nebenabtrieben the internal combustion engine 7 , which will not be optimized in the course of the procedure to be described later, but which nevertheless must be included in the balance sheet equation so that it is complete. Equation (1) can be reshaped in the following context: $$0=-M_S+{\displaystyle \Sigma {}_i{M}_{LK.i},}$$

Equation (2) shows that all torque contributions including the total torque of the system 1 to add to zero. It becomes clear that a sign convention is needed to indicate the different torques. In the following it shall be assumed without limiting the generality that the total torque M _S in equation (1) enters with a positive sign when the motor vehicle 3 should accelerate, and with a negative sign, if the motor vehicle 3 should delay. Accordingly, the individual torque contributions of the power components go 6 . 8th M _{LK, i} in equation (1) and in equation (2) with a positive sign when they accelerate the motor vehicle 3 contribute, and with a negative sign, on the contrary, a delay of the motor vehicle 3 cause, for example, when the electrical machine 9 electrical energy is generated to charge an energy storage, such as an accumulator and a battery.

It should be noted that a completely analogous problem also arises for electrical currents, for example, of an intermediate circuit of such a hybridized motor vehicle. The method may be performed nested to the extent that it is at a higher level for the entire system 1 and at a lower level, more or less within the overall system approach 1 , is performed for the electrical DC link as a separate system. In that regard, only the names of the components and the type and unit of the considered performance variable are to be exchanged for the intermediate circuit, otherwise the method works identically to that here for the entire system 1 described procedure. As an output variable, an electric current is preferably considered in the case of the electrical intermediate circuit.

2 now shows a schematic representation of an embodiment of the method. In this case, in a step S1 first a system setpoint M _S for the system 1 with an environment of the same capacity to be exchanged, here a target torque for the motor vehicle 3 , certainly. In this case, the desired torque is preferably predetermined by an operator of the motor vehicle or else by a higher-level system, for example by a cruise control.

In one step S2 in particular by the second control devices 15 . 15 ' . 15 " a current operating state for the power components 6 . 8th and preferably also for the system 1 or the motor vehicle 3 determined. Depending on this current operating state will now be for each of the power components 6 . 8th an optimal power _value M _{opt of} the power quantity determined. In this case, it is an optimal torque value, which is included as starting value for the method in the balance equation according to equation (2).

For example, for the internal combustion engine 7 determined on the basis of a current speed over a consumption curve an optimal torque _value M _opt . For the electric machine 9 the optimum torque _value M _{opt is} preferably determined in particular as a function of a state of charge of an energy storage device, for example a rechargeable battery or a battery, taking into account in particular whether enough energy is stored in the energy store to accelerate the motor vehicle 3 to be able to contribute, or whether it has to be charged. Accordingly, not only the amount, but also the sign of the optimal torque value M _opt for the electric machine changes accordingly 9 , For the motor vehicle 3 will be the optimal torque value preferred the negative system setpoint M _S used, so M _opt = - M _S set. Besides that it is possible that in the balance equation torque values for non-controllable components, such as power take-offs of the internal combustion engine 7 to enter. For these, the current torque is used as the optimal torque _value M _opt , because this principle can not be influenced.

wobei hier die Summation über alle Komponenten einschließlich des Systems 1 durchgeführt wird. Dabei ist das Vorzeichen konsistent mit der folgenden Darstellung des Verfahrens so gewählt, dass M_delta größer Null ist, wenn zusätzliche Leistung durch die Leistungskomponenten aufzubringen ist, wobei M_delta kleiner Null ist, wenn die Leistungskomponenten bezüglich ihrer Leistungswerte reduziert werden oder Leistung aufnehmen müssen, um Gleichung (2) zu erfüllen. Mit Gleichung (3) wird inhärent geprüft, ob Gleichung (2) erfüllt ist. Zeigt sich dabei, dass das Bilanzergebnis M_delta gleich Null ist, kann das Verfahren abgebrochen werden, beziehungsweise es springt - wie in 3 durch einen strichlierten Pfeil angedeutet - zurück in den Schritt S1. In der Regel wird sich jedoch herausstellen, dass Gleichung (2) nicht erfüllt ist. In diesem Fall ist das Bilanzergebnis M_delta von Null verschieden, und das Verfahren wird in Schritt S4 fortgesetzt. Es bedarf in diesem Fall einer Anpassung der Leistungswerte, um die Bilanzgleichung (2) zu erfüllen.The thus determined optimal power values M _opt are now in one step S3 is used in the following equation (3), wherein a balance result M _{delta is} calculated from the optimal power values M _opt : $$M_{delta}=-{\displaystyle \Sigma {}_i}{M}_{Opt.i}.$$

where here is the summation over all components including the system 1 is carried out. In this case, the sign consistent with the following representation of the method is chosen such that M _{delta is} greater than zero if additional power is to be applied by the power components, where M _{delta is} less than zero if the power components are to be reduced in power or take up power, to satisfy equation (2). With equation (3), it is inherently checked whether equation (2) is satisfied. If it appears that the balance result M _{delta is} equal to zero, the method can be aborted or it jumps - as in 3 indicated by a dotted arrow - back in the step S1 , In general, however, it will turn out that equation (2) is not satisfied. In this case, the balance result M _delta is different from zero, and the procedure in step S4 continued. In this case it is necessary to adjust the performance values in order to fulfill the balance equation (2).

In step S4 is for each of the power components 6 . 8th and preferably also for the system 1 itself or here for the motor vehicle 3 depending on the previously determined operating state a minimum power value, here a minimum torque M _min , and a maximum power value, here a maximum torque M _max determined. This takes into account the idea that when adjusting the power values, a physical limit of the respective power component, which can be designed as a static and / or dynamic limit, must not be exceeded. For the internal combustion engine 7 the minimum torque M _min preferably corresponds to a drag torque. It can be assumed that an injection for the internal combustion engine 7 can be stopped immediately. The maximum torque M _max for the internal combustion engine 7 is preferred over a knowledge of the behavior of the internal combustion engine 7 and determines the engine controller or engine control unit, whereby limitations, a dynamic behavior of the combustion process and / or other physical parameters or variables are taken into account.

In a fifth step turned off as a query S5 Checks whether the following condition is fulfilled for each component: $$M_{min}\le M_{Opt}\le M_{max},$$

If so, the process goes to a sixth step S6 continued. On the other hand, if one of the conditions according to equation (4) is not fulfilled, takes place in an intermediate step S5 .1 limits the affected optimal power value to the maximum power value and / or the minimum power value. In extreme cases, it is possible for the optimum power value to coincide with both the minimum power value and the maximum power value. A limitation is, for example, for the internal combustion engine 7 necessary in a case where the actually optimal power value M _opt can not be achieved due to a currently insufficient load jump distance, so that the maximum representable power value M _{max is} smaller than the optimum power value M _opt . In this case, in the step S5 .1, for example, the optimum power _value M _opt for the internal combustion engine 7 set equal to the determined maximum power value M _max and thus limited to this. The check as to whether the conditions of equation (4) are satisfied is made in step S5 for all power components 6 . 8th with the exception of non-controllable power components, and preferably also for the system 1 or here the motor vehicle 3 carried out. Only for those components for which one of the conditions according to equation (4) is not satisfied will be in the intermediate step S5 .1 a limitation is made, for the other components, no change in the previously determined values M _min , M _opt , M _max , performed.

The process then becomes a sixth step S6 continued by starting an adjustment of the power values. It now takes place in an inner iteration summarized here with a curly brace and marked with the letter I within the total in 2 illustrated cycle of the method an iterative and sequential calculation of adaptation values for the Power values. This is indicated here by two steps connected by a dotted arrow S7.1 ., S7.x , In this case, component-wise adaptation variables for the various components are calculated in a predetermined sequence beginning with a first power component. In the step S7.1 This is initially a first adjustment variable for a first power component 6 after which a recalculation of the balance sheet result M _delta takes place on the basis of the adjustment variable. Thereafter, a second adaptation value for a second power component 8th is calculated, and it is in turn recalculated the balance sheet result M _delta on the basis of this second adjustment size. This is preferred for all power components 6 . 8th with the exception of the non-controllable power components, it being possible that in the step S7.x a calculation for a last one of the power components, or, in particular in a last iteration, following the calculation for the last power component, a calculation of an adjustment quantity for the system 1 itself, here for the motor vehicle 3 , he follows. Following the step S7 .x is placed in a step configured as a query S8 Checked if a certain termination condition is met. If this is not the case, the procedure in the step S7.1 again, and the steps associated with the inner iteration I are performed again until in the step S8 again the query is made as to whether the particular termination condition is met. This is done until the particular termination condition is met, then in one step S9 for every power component 6 . 8th - with the exception of the non-controllable power components - and preferably also for the system 1 or the motor vehicle 3 a desired component value or a new system setpoint is calculated, with which subsequently the associated component is controlled.

One cycle of the process comprises each of the steps S1 to S9 , the procedure following the last step S9 one cycle prefers a new cycle in the step S1 starts. This is referred to here as the outer iteration and is in 2 through one of the steps S9 and S1 directly connecting arrow as well as the sign II shown.

Right from the through the steps S1 to S9 formed column is in 2 schematically illustrates the inner iteration I, where it is explained in more detail below: Here, first in one step S7.1 a first first adaptation quantity for a first performance component 6 , in this case for example for the internal combustion engine 7 , calculated, whereby a recalculation of the balance sheet result M _delta on the basis of the adjustment size is carried out. In a next step S7.2 becomes a first second adjustment quantity for the second power component 8th , here for the electric machine 9 , calculated, and the balance result M _delta is recalculated on the basis of this first second adjustment size. This is now continued - as shown here by a partially solid and partially dotted line - until for each power component 6 . 8th except for non-controllable performance components, an adjustment quantity was calculated. Preferably, at this point, no adaptation size for the system 1 or the motor vehicle 3 calculated. Then, which is not shown in detail, the termination condition in the step S8 checked, and - because it is assumed here by way of example that this is not met - the method continues in a second pass, namely with a step S7.1 ' , This will be a second first adjustment quantity for the first power component 6 , here the internal combustion engine 7 , calculated, and the balance sheet result M _delta is recalculated. In a next step S7 .2 'becomes a second adjustment quantity for the second power component 8th , here the electric machine 9 calculated, and it is in turn recalculated the balance sheet result M _delta . This is again preferred for all power components 6 . 8th continued, where appropriate, further iterations, which are not shown here, take place. Preferred is only at the end of the iterations for the various power components 6 . 8th in a step shown separately S7.3 also an adjustment size for the system 1 or the motor vehicle 3 The balance sheet result M _{delta is also} recalculated on the basis of this adjustment variable. It is also possible, in a predetermined manner, to do such calculations of adaptation values for the system 1 be interposed between individual iterations. However, a calculation of an adaptation variable for the system is preferably not found in every iterative run 1 or the motor vehicle 3 instead of.

The order of the steps to be performed within the inner iteration I as well as the exact nature of the adjustment of the adaptation variable is preferably given in a table, wherein in the following such a table is reproduced by way of example: Table 1) component Relative increment g Internal combustion engine + 10% Electric machine + 50% Internal combustion engine + 40% Electric machine + 50% Internal combustion engine + 49% motor vehicle + 100% Internal combustion engine -50% Electric machine -90% Internal combustion engine -50% Electric machine -10% motor vehicle -100%

It now appears that in the context of the inner iteration I, the table (1) is preferably processed line by line, wherein for the specified in the table lines power components 6 . 8th or for the system 1 or the motor vehicle 3 an adjustment variable is calculated for each table row. It is possible that in each cycle of the process, the entire table (1) is run through. In this case, the termination condition is in the step S8 chosen in a particularly simple manner such that it is only checked whether all the rows of the table (1) have already been processed, or whether there are still lines left for processing. Only when all the rows of the table (1) have been completely processed, the termination condition is considered satisfied, and the method is in the step S9 continued. But it is also possible that another, more flexible termination condition is defined, which optionally allows an exit from the processing of the table (1). However, since this hardly brings any advantage in terms of computation time and / or in terms of storage space, and since, on the other hand, after the optimization target has been reached, processing of further table rows has no effect on the result achieved, the entire table is preferably always processed line by line in a simple manner. where no use is made of a more flexible termination condition.

In Table (1), each power component is line by line 6 . 8th Assigning predetermined relative increments, with positive signs, steps to larger values of the power magnitude between the maximum power value and the optimum power value, and negative signs, steps to a reduced value of the power size between the minimum power value and the optimum power value.

3 shows a more detailed representation for any single step S7.x within the inner iteration I for clarity, as an adjustment quantity for a power component 6 . 8th is calculated. It is first in one step S7.x.1 from the table (1) stored in the currently read table line, relative step size, which can also be referred to as degree of adaptation and in the table (1) and hereinafter referred to by the letter g, read out. In a next step S7.x.2 is then in a way that is even more detailed in connection with 4 is described, an adaptation value designated below by M _Δ calculated.

wobei M_delta,n das neu zu berechnende Bilanzergebnis in dem aktuellen Iterationsschritt n bezeichnet, wobei M_delta,n-1 das in dem vorhergehenden Iterationsschritt n-1 berechnete Bilanzergebnis bezeichnet, und wobei M_Δ,n die zuvor in dem Schritt S7.x.2 berechnete Anpassungsgröße darstellt, die hier als Leistungsveränderungswert, insbesondere als Leistungsveränderungswert, der als Summand ausgestaltet ist, angesetzt ist.In a next step S7.x.3 the balance sheet result M _{delta is} recalculated according to the following formula: $$M_{delta.n}=M_{delta.n-1}-M_{\mathrm{\Delta }.n}.$$

where M _{delta, n designates} the balance result to be recalculated in the current iteration step n, where M _{delta, n-1 designates} the balance result calculated in the preceding iteration step n-1, and where M _{Δ, n} previously determined in the step S7.x.2 calculated adjustment variable, which is here as a power change value, in particular as a power change value, which is designed as a summand, is set.

wobei hier M_soll der zu berechnende Soll-Komponentenwert für die betrachtete Leistungskomponente oder der neue System-Sollwert für das System 1 beziehungsweise das Kraftfahrzeug 3 ist, wobei M_opt der ursprünglich in dem Schritt S2 bestimmte optimale Leistungswert der Leistungsgröße für die betrachtete Komponente ist, und wobei der Summenterm eine Summation über alle für die betrachtete Komponente in der inneren Iteration I berechneten Anpassungsgrößen M_Δ,n umfasst, wobei die Summation über alle zuvor für die betrachtete Komponente durchgeführten Iterationsschritte n läuft. Die Berechnung gemäß Gleichung (6) erfolgt also komponentenweise für jede Komponente separat. Im Anschluss werden die einzelnen Komponenten einschließlich des Systems 1 beziehungsweise des Kraftfahrzeugs 3 mit den derart berechneten Soll-Komponentenwerten M_soll angesteuert. The adaptation variables M _{Δ, n} calculated in the individual iteration steps of the inner iteration I become for the respectively assigned power components 6 . 8th stored, and after fulfillment of the termination condition is in the step S9 for every power component 6 . 8th - with the exception of the non-controllable power components - and preferably also for the whole system 1 or the motor vehicle 3 a desired component value M _{is to} be calculated from the values designed as a change in power adjustment variables M _Δ according to the following equation: $$M_{SOll}=M_{Opt}+{\displaystyle \Sigma {}_n{M}_{\mathrm{\Delta }.n}.}$$

where M _is the target component value to be calculated for the considered power component or the new system setpoint for the system 1 or the motor vehicle 3 where M _{opt is} originally in the step S2 certain optimum power value of the power quantity for the component under consideration, and wherein the summation term comprises a summation over all the adaptation variables M _{Δ, n} calculated for the component under consideration in the inner iteration I, the summation running over all iteration steps n previously carried out for the component under consideration , The calculation according to equation (6) thus takes place component by component separately for each component. Following are the individual components including the system 1 or of the motor vehicle 3 with the target component values M _soll calculated in this way.

Ultimately, therefore, the method starts altogether on the basis of the initially determined, optimal power values M _opt for each power _component 6 . 8th , wherein ultimately for each component an actual value M _soll to be converted is calculated for the power quantity. In connection with Table (1), the following is also shown: When determining the relative step widths, it is always ensured that the relative step sizes provided for a component with a certain sign are not more than 100% across all the steps considered in Table (1). or add a minimum of -100%. This ensures that the last calculated target component value M _soll does not become greater than the maximum power value M _max and not less than the minimum power value M _min . The concrete number of steps to be performed in the context of the method, that is to say the rows of the table (1), and the concrete order in which the adaptation variables M _Δ for the individual power components 6 . 8th can be calculated, depending on a type of system considered 1 whose predicted use and / or use are adjusted. In addition, peculiarities and peculiarities of the individual performance components 6 . 8th be taken into account in the determination of the relative step sizes g and / or the order of the individual steps. By way of example, it can be seen from table (1) that, when the power values are increased, that is to say in the first table rows in which the relative step widths g have a positive sign, first of all a major contribution to the adaptation by the electric machine 9 is performed before, if necessary, the internal combustion engine 7 is retraced. This takes into account the knowledge that, in particular, the electric machine can be used for dynamics in a hybridized drive train. Conversely, it turns out that in a negative adjustment of the power values, ie in the table rows having negative relative increments g, the internal combustion engine is lowered in the first step much further in terms of their power value, as it is reversed in the case of a positive adjustment. This takes into account the fact that lowering the power value of the internal combustion engine 7 on the one hand is particularly fast to carry out and on the other brings special cost advantages in the form of fuel savings.

Table (1) also shows that the positive, relative step sizes for the internal combustion engines 7 do not add up to 100%, but only to 99%. In general, it is possible to consider such a discount or a predetermined distance to the maximum power value M _max , for example to achieve consumption advantages, to save the material of a power component, to increase its life cycle, or to achieve other advantages. However, such a discount or distance does not necessarily have to be considered. If such a discount is taken into account, it is accepted that, if appropriate, the system setpoint M _S can not be completely fulfilled.

However, it is also generally possible depending on the specification of the system setpoint value M _S on the one hand and depending on the position of the optimum, the minimum and the maximum power values that the system setpoint value M _S can not be completely applied or recorded. In such a case takes place in the for the motor vehicle 3 provided table lines of the table (1) and a calculation of a non-zero adjustment variable M _Δ for the motor vehicle 3 or the system 1 whereby finally the system setpoint M _{S is} changed to satisfy the balance equation (2). It is possible that in this case an operator of the system 1 a message is displayed that the originally set system setpoint M _S not with the resulting target component value M _setpoint for the system 1 is identical, and so far not fully met, it is optionally also indicated to what extent the system set value M or _S fulfilled which actual target component value M _setpoint is reached.

4 shows a schematic representation of a further detail of the embodiment of the method, namely specifically the calculation of an adaptation quantity M _Δ in one of the steps performed in the context of the inner Interration I steps S7.x.2 , In the 4 Calculation shown is thus performed for each table row of the table (1), based on this calculation explained in more detail below, the adaptation quantity M _Δ for the current performance components considered 6 . 8th or for the system 1 or the motor vehicle 3 is calculated. The process starts in a first step S401 , In a second step designed as a query S402 First, it is checked whether the relative step size or the degree of adaptation g fulfills the following condition: $$G\ge \mathrm{0th}$$

If this condition is fulfilled, the currently considered table row is therefore in the upper range of table (1) at the positive relative step sizes, or is the relative step size g = 0, the method is in a right branch of 4 in one step S403 continued, which in turn is designed as a query. If, on the other hand, the condition according to equation (7) is not fulfilled, then the line currently being considered is located in the lower area of the table (1), the calculation is carried out in a step designed as a query S404 in the left branch of the diagram according to 4 continued.

It will now be the left branch of the diagram according to 4 explained in more detail, ie the case in which the relative step size or the degree of adaptation g is negative. In the query S404 the following condition is checked: $$M_{delta}\ge \mathrm{0th}$$

If this condition is fulfilled, the calculation is in a central step S405 finished, taking in the step S405 is returned as the adaptation quantity or power variation _value M _Δ = 0. For example, if the currently read table row requires a negative match, and at the same time the balance result M _{delta is} positive or zero, then the match size M _Δ is also set to zero because of a reduction in the power value of a power component 6 . 8th would not be useful in this situation.

Shows against it in the step S404 in that the balance result M _{delta is also} negative, it is possible to proceed further in the calculation of the adaptation variable M _Δ , the method being carried out in a step which in turn is designed as a query S406 will continue. In this step, the following condition is checked: $$\frac{G}{100\%}\left(M_{Opt}-M_{min}\right)<M_{delta},$$

In this case, the divisor 100% results from the fact that in table (1) the values for the relative step size g are given in percent, whereby in equation (9) the corresponding factor, for example in the case of g = -1%, is a factor -0 , 01, should be included. In this case, the degree of adaptation g in equation (9) has to be considered in a signed manner, so the sign noted in table (1) is to be taken along. Thus, in equation (9), with the term to the left of the comparator, an absolute step size corresponding to the relative step size is calculated within the interval between the optimum power value M _opt and the minimum power value M _min . Equation (9) also checks whether this absolute step size is really smaller than that - here according to the query in the step S404 negative - balance sheet result M _delta .

If this is the case, an adjustment with the absolute step size calculated here would overshoot the actual target, so in this case in a subsequent step S407 the adaptation variable M _Δ to be returned is restricted to the balance sheet result M _delta . It also shows that the adaptation quantity M _Δ can be set equal to the balance result M _delta here, because a corresponding, absolute adaptation of the performance value of the considered power component does not lead to a reduction of its performance variable below the minimum performance value M _min .

If, on the other hand, the condition according to equation (9) is not fulfilled, the absolute step size provided according to table row and equation (9) remains behind the balance result M _delta and thus behind the actual target to be achieved. In this case, in one step S408 the adaptation quantity M _{Δ is} equal to the previously calculated absolute step size from the step S406 set, namely to: $$M_{\mathrm{\Delta }}=\frac{G}{100\%}\left(M_{Opt}-M_{min}\right),$$

So it gets in the step S408 the maximum provided according to the currently considered table line step size as adaptation size M _Δ fully exhausted.

This also shows the following: In the case that the step S407 is performed, is returned as the adaptation quantity M _Δ, the right side of the equation (9), namely the current balance result M _delta , wherein in the case that the step S408 is carried out as an adaptation quantity M _Δ the left side of equation (9) is returned, namely the calculated according to the considered table row, absolute step by step for the currently considered power component.

The following is the right side of the diagram according to 4 explained in more detail:

In the step S403 the query already shown in equation (8) takes place. Only now the branching concerning the result is another; Namely, in the case that equation (8) is not satisfied, the method becomes the central step S405 continued, where as adaptation value M _Δ zero is returned. This is based on the idea that if the relative step size or degree of adaptation g positive, but the current balance result M _{delta is} negative, an adjustment or change of the power value of the considered power component according to the predetermined relative step size would not make sense, because this adjustment in would point the wrong direction.

Will against it in the query S403 If the condition M _delta currently valid in the iteration step of the inner iteration I is greater than or equal to zero, and the condition according to equation (8) is satisfied, then the method will be in a next step, again designed as a query S409 continued. In this step, the following condition is now tested analogously to the condition according to equation (9): $$\frac{G}{100\text{\%}}\left(M_{max}-M_{Opt}\right)>M_{delta},$$

Thus, on the left side of the comparator of equation (11), an absolute step size given in the table is calculated in the interval between the maximum power value M _max and the optimum power value M _opt , and this is then checked in equation (11). if it's really bigger than that - according to the one in step before S403 Query positive or zero identical - current balance sheet result M _delta .

If equation (11) is fulfilled, it again shows that the absolute step size to be taken as the adjustment exceeds the balance sheet result, ie would exceed the target to be achieved. Therefore, in this case again in one step S410 the adaptation variable M _Δ to be returned is limited to the balance result M _delta , ie M _Δ = M _{delta is} set.

If, otherwise, the condition according to equation (11) is not fulfilled, that is to say the absolute step size calculated here, at most corresponds to the current balance result M _delta or is smaller than this, is in a subsequent step S411 as the adaptation quantity M _Δ the term shown on the left of the comparator in equation (11), namely: $$M_{\mathrm{\Delta }}=\frac{G}{100\text{\%}}\left(M_{max}-M_{Opt}\right),$$

The step S7 .x.2 according to 4 thus ends with the fact that a specific value for the adaptation variable M _{Δ is} returned dependent on the concretely passed branches.

As already related to 3 is now shown in a further step S7 .x.3 depending on the 4 determined value of the adjustment variable M _Δ calculated a new value for the balance result M _delta according to equation (5). It turns out that in the cases where the adaptation quantity M _{Δ is} equal to the balance result M _delta , ie according to 4 in the steps S407 and S410 , the new balance sheet result M _delta is zero. This, however, the balance equation (2) is satisfied, if according to the equation (6) newly calculated setpoint values M _desired for the individual power components 6 . 8th or the system 1 or the motor vehicle 3 in equation (2). At the same time, it is shown that in the following iteration steps, due to the fact that the then current balance results M _{delta is} zero, only zero is always returned as the adaptation variable M _Δ , so that no further adaptation takes place.

It also shows that in the case of one for the motor vehicle 3 valid table row in Table (1) is achieved, at the same time then the currently valid balance sheet result M _delta is different from zero, and an adjustment quantity M _Δ calculated for the system setpoint M _S and this is either reduced or increased to the balance equation (2) to fulfill. In a case in which the corresponding table row is reached and at the same time then the currently valid balance results M _delta is zero, however, there is no adjustment of the system setpoint M _S , because this according to the already fulfilled balance equation (2) by the power components 6 . 8th can be applied.

The following also emerges: Since the power values for all components are recalculated in each cycle of the method, that is, within each external iteration step II, there is no dependence on the dynamics of the individual components in the context of the method. Likewise, there is no limit to the number of power components participating in the process 6 . 8th ,

The method can be applied to any conceivable performance form or performance variable whenever in a composite of performance components 6 . 8th according to the laws of physics, in particular according to the law of conservation of energy, a balance must prevail at all times.

By the standardized performance values, which through each of the power components 6 . 8th can be provided, namely the optimal, the minimum and the maximum power value, an exchange of individual components with different specific properties, for example, in terms of their dynamics, can be implemented quickly and qualitatively. It is not necessary, an interaction of a replaced power component 6 . 8th with the other power components 6 . 8th to know or to consider. Furthermore, the standardized values can easily be verified, since they directly correspond to the physical behavior of the considered power component 6 . 8th - assigned in particular in a component test - or can be transferred from this.

It is particularly apparent that the method can be carried out without difficulty as part of a superordinate software structure which has defined interfaces to subordinate software structures which control the individual, actually used, power components 6 . 8th serve.

Claims (11)

A method of operating a system (1) having at least two power components (6, 8), comprising the steps of: a) determining a system setpoint (M _S ) for a system (1) to be replaced by an environment of the system (1) power rating; b) determining an actual operating state for each of the at least two power components (6, 8) of the system (1) and c) determining an optimum power _value (M _opt ) of the power _magnitude for each of the at least two power components (6, 8) as a function of the respective operating condition; d) determining a balance result (M _delta ) from a balance equation into which the system setpoint (M _S ) and the optimal power values (M _opt ) are received; e) determining in each case a minimum and a maximum power value (M _min , M _max ) at least for the at least two power components (6, 8) as a function of the operating state; f) calculating an adaptation quantity (M _Δ ) for a power value within an interval between the minimum power value (M _min ) and the maximum power value (M _max ) as a function of the balance result (M _delta ); g) recalculating the balance result (M _delta ) on the basis of the adaptation quantity (M _Δ ), and h) repeating steps f) and g) until a certain termination condition is met, and i) driving the at least two power components (6, 8) on the basis of the calculated adaptation quantities (M _Δ ). Method according to Claim 1 , characterized in that the process is carried out cyclically overall. Method according to one of the preceding claims, characterized in that an adaptation quantity (M _Δ ) for the system (1) is calculated. Method according to one of the preceding claims, characterized in that in steps f) and g) in each case an adaptation quantity (M _Δ ) for the power components (6, 8) and / or for the system (1) is calculated component by component in a specific sequence , Method according to one of the preceding claims, characterized in that the adaptation quantities (M _Δ ) in each case on the basis of predetermined, the distance between the maximum power value (M _max ) and the optimum power _value (M _opt ) or the distance between the minimum power value (M _min ) and the optimum power value (M _opt ) relative increments (g) are calculated. Method according to one of the preceding claims, characterized in that it is checked whether the maximum power value (M _max ) is greater than or equal to the optimum power value (M _opt ), and whether the minimum power value (M _min ) is less than or equal to the optimal power _value (M _opt ), wherein the optimum power _value (M _opt ) is limited to the maximum and / or the minimum power value (M _min , M _max ) if at least one of these conditions is not met. Method according to one of the preceding claims, characterized in that a power variation value for a currently considered power component (6, 8) and / or the system (1) is calculated as the adaptation quantity (M _Δ ), wherein after fulfillment of the termination condition a target component value (M M _setpoint ) for the power component (6, 8) or a new system setpoint for the system (1) is calculated from the optimum power value (M _opt ) and the power variation value. Method according to one of the preceding claims, characterized in that at least one optimum power _value (M _opt ) is determined for at least one non-controllable power component, wherein the at least one optimal power _value (M _opt ) of the non-controllable power component is included in the balance equation. Control unit (11) for a system (1), characterized in that the control unit (11) is set up to carry out a method according to one of Claims 1 to 8th , Computer program product comprising machine-readable instructions, based on which a method according to any one of Claims 1 to 8th is performed when the computer program product is running on a computer. System (1), with a control unit (11) according to Claim 9 and at least two power components (6,8).

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