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KR101048138B1 - 자동차용 회생제동 제어장치 - Google Patents

자동차용 회생제동 제어장치 Download PDF

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Publication number
KR101048138B1
KR101048138B1 KR1020080120113A KR20080120113A KR101048138B1 KR 101048138 B1 KR101048138 B1 KR 101048138B1 KR 1020080120113 A KR1020080120113 A KR 1020080120113A KR 20080120113 A KR20080120113 A KR 20080120113A KR 101048138 B1 KR101048138 B1 KR 101048138B1
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KR
South Korea
Prior art keywords
vehicle
regenerative
motor
braking
control
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KR1020080120113A
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English (en)
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KR20100061208A (ko
Inventor
정상현
김연호
공승기
Original Assignee
기아자동차주식회사
현대자동차주식회사
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Application filed by 기아자동차주식회사, 현대자동차주식회사 filed Critical 기아자동차주식회사
Priority to KR1020080120113A priority Critical patent/KR101048138B1/ko
Priority to CN200910161696A priority patent/CN101746375A/zh
Priority to US12/511,900 priority patent/US20100133032A1/en
Publication of KR20100061208A publication Critical patent/KR20100061208A/ko
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Publication of KR101048138B1 publication Critical patent/KR101048138B1/ko

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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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
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    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
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    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
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    • B60T13/58—Combined or convertible systems
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    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

본 발명은 자동차의 제어장치에 관한 것으로, 보다 상세하게는 자동차의 회생제동 제어장치에 관한 것이다.
이를 위해, 본 발명은 구동륜과 상기 구동륜을 구동하는 구동용 모터를 구비하는 자동차에 적용되는 회생제동제어장치에 있어서,
상기 모터의 회생량을 연산하여 상기 회생량(회생에 의한 제동력)의 요구제동력에 대한 분배를 하기 위한 차량제어부; 및
상기 구동용 모터의 감속회생시에 상기 모터의 토크가 높아지도록 상기 변속기를 제어하는 제어수단을 포함하는 것을 특징으로 하는 자동차용 회생제동 제어장치를 제공한다.
하이브리드, 전기자동차, 회생제동

Description

자동차용 회생제동 제어장치{DEVICE FOR CONTROL REGENERATIVE BRAKING OF VEHICLE}
본 발명은 자동차의 제어장치에 관한 것으로, 보다 상세하게는 자동차의 회생제동 제어장치에 관한 것이다.
일반적으로, 배터리에 저장된 전기에너지를 이용하여 모터를 구동하고 모터의 구동력을 자동차의 전체 또는 일부 동력원으로 사용하는 자동차를 전기자동차라 한다.
전기자동차의 용어는 좁은 의미로, 하이브리드 전기자동차와 구별될 수 있도록, 순수 전기자동차만을 의미하기도 한다.
그러나 본 명세서에서 전기자동차의 용어는 순수 전기자동차와 하이브리드 전기자동차를 포괄하는 넓은 의미로서 하나 이상의 배터리가 구비되고 그 배터리에 저장된 전기에너지가 자동차의 구동력으로 사용되는 임의의 자동차를 지칭하는 의미로 사용된다.
전기자동차는 제동시에 제동력의 일부를 발전에 사용하여 발생된 전기에너지를 배터리의 충전에 사용하는 시도가 이루어지고 있다.
즉, 자동차의 주행속도에 의한 운동에너지(kinetic energy)의 일부를 발전기의 구동에 필요한 에너지로 사용함으로써, 운동에너지의 저감(즉, 주행속도의 감소)과 전기에너지의 발전을 동시에 구현하는 것이다.
전기자동차 주행시 운전자가 주행 방향을 전환하면 전기차량은 관성에 의해 주행하던 방향으로 계속 주행하려고 하기 때문에, 주행 모터의 전기적인 제동력에 의해 장비를 일단 멈춘 후 주행 방향을 전환하여 주행하도록 되어 있다.
이러한 작업을 플러깅(plugging)이라 하는데, 플러깅에 의한 제동은 배터리의 전기 에너지를 기계적 제동 에너지로 변환하여 전기차량에 제동을 걸어 주도록 되어 있다.
플러깅 동작시 주행 모터는 관성력에 의해 회전하여 발전 전기를 발생하게 되는데, 이때 발생된 전기를 배터리로 되돌려 충전하는 것을 회생제동이라 한다.
상기와 같은 회생제동시 전기에너지의 생성은 별도의 발전기로써 혹은 상기 모터를 역구동함으로써 이루어질 수 있다.
또한, 유압에 의해 제동력을 일으키는 유압제동시스템(hydraulic brake system)은 전기자동차에서도 갖추어진다.
회생제동력만으로는 충분한 제동효과를 얻을 수 없는 경우가 있으며, 또한 회생제동력은 모터와 연결된 구동륜(drive wheel)에서만 발생되므로 구동류만의 제동으로는 바람직한 차량거동제어(vehicle dynamics control)가 얻어질 수 없기 때문이다.
따라서, 종래의 회생제동 제어방법/장치에 의하면 운전자에 의해 브레이크페 달이 조작됨에 따라 발생되는 유압제동력에 더하여 회생제동 제어를 수행하게 된다.
그러나 차량의 정지 전 변속제어 시, 도 3에 도시한 종래기술에 의한 실험값을 보면 알 수 있듯이 'B' 부근에서 모터의 역회전이 발생하므로 이러한 모터의 역토크에 의한 자동변속기의 역회전으로 내부의 오일이 토출되면서 제어 불능 상태가 되고 변속충격이 과다하게 발생되므로 자동변속기의 내구 성능에 악영향을 끼치게 된다.
따라서, 본 발명은 상기한 바와 같은 문제점을 해결하기 위하여 창출된 것으로, 본 발명의 목적은 변속 전 모터토크의 상승제어를 수행함으로써 회생제동 중 발생하는 변속에 대해 역회전을 방지하므로 변속기의 내구 성능을 보완하며 운전자에게 편안한 변속감을 제공하는데 있다.
이러한 목적을 달성하기 위한 본 발명의 실시예에 따른 자동차용 회생제동 제어장치는 구동륜과 상기 구동륜을 구동하는 구동용 모터를 구비하는 자동차에 적용되는 회생제동제어장치에 있어서,
상기 모터의 회생량을 연산하여 상기 회생량(회생에 의한 제동력)의 요구제동력에 대한 분배를 하기 위한 차량제어부; 및
상기 구동용 모터의 감속회생시에 상기 모터의 토크가 높아지도록 상기 변속기를 제어하는 제어수단을 포함하는 것을 특징으로 한다.
또한, 상기 구동용 모터의 감속회생은 다운시프트 주행인 것을 특징으로 하는 전기자동차용 회생제동 제어장치.
또한, 상기 자동차의 속도를 검출하는 차속센서를 더 포함하고,
상기 제어수단은 상기 차속센서로부터의 속도가 상기 소정속도로 저하하면 상기 감속비가 높아지도록 상기 변속기를 제어하는 것을 특징으로 한다.
또한, 상기 구동륜을 제동하는 유압브레이크를 더욱 구비하고,
상기 제어수단은 상기 소정의 기간, 상기 회생량의 억제에 의한 상기 구동륜 제동력의 저하를 보충하도록 상기 유압브레이크를 제동하는 제동력보강제어를 더욱 행하도록 하는 것을 특징으로 한다.
상술한 바와 같이 본 발명에 따른 자동차용 회생제동 제어장치에 의하면, 변속 전 모터토크의 상승제어를 수행함으로써 회생제동 중 발생하는 변속에 대해 역회전을 방지하므로 변속기의 내구 성능을 보완하며 운전자에게 편안한 변속감을 제공한다.
이하, 본 발명의 바람직한 실시예를 첨부한 도면에 의거하여 상세하게 설명하면 다음과 같다.
도 1은 본 발명의 일 실시예에 의한 자동차용 회생제동 제어장치에 적용되는 장치구성을 개략적으로 도시한 것이고, 도 2는 본 발명의 일 실시예에 의한 자동차용 회생제동 제어장치에 따른 실험값을 나타낸 그래프이다.
도 1을 참조하여 본 발명의 일 실시예에 의한 자동차용 회생제동 제어장치를 구성하기 위하여 통상적으로 적용되는 병렬식 하이브리드 자동차의 개략적인 기술구성을 설명하면 다음과 같다.
통상적으로 하이브리드 자동차의 구동시스템은 주배터리(100), 인버터(101), 모터(102), 차량제어부(103), 엔진(104), 동력전달부(105), 변속기(106) 및 구동륜(107)으로 구성된다.
주배터리(100)는 통상적으로 사용되는 배터리로서, fuel cell의 축전기 등이 사용될 수 있다.
인버터(101)는 하이브리드ECU(미도시)로부터의 구동신호에 따라 주배터리(100)로부터의 직류전압을 교류전압으로 변환하고, 그 변환된 교류전압을 3상전력선(미도시)을 통하여 모터(102)로 공급하여 모터(102)를 역행모드 또는 회생모드로 구동한다.
상기와 같이 모터(102)는 상기 인버터(101)에 의해 구동되고, 소정의 토크를 변속기(106)로 출력한다.
또한, 모터(102)는 구동륜(107)의 동력에 의해 교류전압을 발생하고 그 발전된 교류전압을 3상전력선을 통하여 인버터(101)로 공급한다.
상기와 같은 구동륜(107)은 샤프트(미도시) 및 타이어(미도시)로 이루어진다.
타이어는 샤프트에 조립되고, 동력전달기어를 통하여 샤프트에 전달되는 구동에 의해 회전하도록 구성된다.
모터(102)는 회전속도센서(미도시)를 내재하여서 회전속도센서에 의해 검출되는 회전속도신호를 차량제어부(103)로 출력한다.
이때, 상기 차량제어부(103)는 통상적으로 적용되는 하이브리드ECU로 이루어 질 수 있으며 브레이크페달포지션(미도시)에 의해 하이브리드 자동차의 감속을 검지하면 변속기(106)에 의한 감속비가 높아지도록 변속기(106)를 제어하기 위한 변속신호를 생성하여 변속기(106)로 출력한다.
또한, 차량제어부(103)는 브레이크페달포지션에 기초로 하여 요구제동력을 연산한다.
그리고 차량제어부(103)는 연산한 요구제동력과 주배터리(100)의 Soc(State Of Charge) 및 회전속도신호에 의해 나타나는 모터(102)의 회전속도에 기초로 하여 모터(102)에 의한 회생량을 연산하고, 그 연산한 회생량(회생에 의한 제동력)의 요구제동력에 대한 분배를 더욱 연산한다.
그렇게 하면 차량제어부(103)는 연산한 분배를 나타내는 회생량신호를 생성하여 브레이크ECU(미도시)로 출력한다.
그리고 차량제어부(103)는 브레이크ECU로부터 회생허가량 신호를 받고, 그 받은 회생허가량 신호에 기초로 하여 모터(102)가 회생가능한 회생량을 연산하고 그 연산한 회생량을 모터(102)가 회생하도록 인버터(101)를 구동하기 위한 구동신호를 생성하여 인버터(101)로 출력한다.
또한, 차량제어부(103)는 엔진(104)이 출력해야 할 동력을 엔진ECU(미도시)로 지시한다.
엔진ECU는 차량제어부(103)로부터 지시되는 동력을 엔진(104)이 출력하도록 엔진(104)을 구동한다.
보다 구체적으로는 엔진ECU는 연료분사량 및 회전수 등을 제어하여 소정의 동력을 출력하도록 엔진(104)을 구동한다.
상기와 같은 구성으로 이루어진 본 발명의 일 실시예에 의한 자동차용 회생제동 제어장치의 작동관계를 상술하면 다음과 같다.
우선, 모터제어유닛에서는 차량의 변속시에 발생되는 모터(102)의 역회전을 판단하게 된다.
이때, 상기 모터(102)의 역회전이 시도되고 있음을 감지하게 되면 모터의 상승 제어량을 증가시키게 된다.
일 예로, 도 2에 도시한 바와 같이 4속에서 3속으로 다운시프트가 수행될 때 모터토크상승(토크인터벤션; torque intervention)제어되고 변속기(106)의 결합듀티를 상승시킴으로써 변속을 완료하게 된다.
즉, 상기와 같이 모터(102)의 토크를 상승시킴으로써 도 2의 'A' 부근에서 알 수 있듯이 모터(102)의 회전수는 소폭으로 감소하다가 역회전되지 않는 것을 알 수 있다.
따라서, 상기 모터(102)의 역회전으로 인한 변속쇼크가 발생되지 않으므로 운전자의 변속감이 향상되는 효과를 나타낸다.
이상으로 본 발명에 관한 바람직한 실시 예를 설명하였으나, 본 발명은 상기 실시 예에 한정되지 아니하며, 본 발명의 실시 예로부터 당해 발명이 속하는 기술분야에서 통상의 지식을 가진 자에 의한 용이하게 변경되어 균등하다고 인정되는 범위의 모든 변경을 포함한다.
도 1은 본 발명의 일 실시예에 의한 자동차용 회생제동 제어장치에 적용되는 장치구성의 개략도.
도 2는 본 발명의 일 실시예에 의한 자동차용 회생제동 제어장치에 따른 실험값을 나타낸 그래프.
도 3은 종래기술에 의한 실험값의 그래프.

Claims (8)

  1. 구동륜과 상기 구동륜을 구동하는 구동용 모터를 구비하는 자동차에 적용되는 회생제동제어장치에 있어서,
    변속단을 구현하는 변속기;
    상기 모터의 회생량을 연산하여 상기 회생량(회생에 의한 제동력)의 요구제동력에 대한 분배를 하기 위한 차량제어부; 및
    상기 구동용 모터의 감속회생시에 상기 모터의 토크가 높아지도록 상기 변속기를 제어하는 제어수단을 포함하는 것을 특징으로 하는 자동차용 회생제동 제어장치.
  2. 제1항에 있어서,
    상기 구동용 모터의 감속회생은 다운시프트 주행인 것을 특징으로 하는 자동차용 회생제동 제어장치.
  3. 제1항에 있어서,
    상기 자동차의 속도를 검출하는 차속센서를 더 포함하고,
    상기 제어수단은 상기 차속센서로부터의 속도가 소정속도로 저하하면 감속비가 높아지도록 상기 변속기를 제어하는 것을 특징으로 하는 자동차용 회생제동 제어장치.
  4. 제1항에 있어서,
    상기 구동륜을 제동하는 유압브레이크를 더욱 구비하고,
    상기 제어수단은 상기 회생량의 억제에 의한 상기 구동륜 제동력의 저하를 보충하도록 상기 유압브레이크를 제동하는 제동력보강제어를 더욱 행하도록 하는 것을 특징으로 하는 자동차용 회생제동 제어장치.
  5. 삭제
  6. 제1항에 있어서,
    상기 제어수단은 결합제어시 듀티제어를 하는 것을 특징으로 하는 자동차용 회생제동 제어장치.
  7. 삭제
  8. 삭제
KR1020080120113A 2008-11-28 2008-11-28 자동차용 회생제동 제어장치 KR101048138B1 (ko)

Priority Applications (3)

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KR1020080120113A KR101048138B1 (ko) 2008-11-28 2008-11-28 자동차용 회생제동 제어장치
CN200910161696A CN101746375A (zh) 2008-11-28 2009-07-28 用于控制车辆的再生制动的设备
US12/511,900 US20100133032A1 (en) 2008-11-28 2009-07-29 Device for Controlling Regenerative Braking of Vehicle

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