Anti-jerk control system and method of eco-friendly vehicle

• US 10,144,413 B2
• Filed: 11/16/2016
• Issued: 12/04/2018
• Est. Priority Date: 05/02/2016
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Inventors: Yun, Young Min, Bang, Jae Sung, Shin, Hong Chul, Suh, Won Woo
• Primary Examiner(s): CHEUNG, CALVIN K
• Application Number:
  US15/352,789
• Publication Number:
  US 20170313299A1
• Time in Patent Office: 748 Days
• CPC Class Codes: B60K 6/22 characterised by apparatus, components or means specially adapted for HEVs
• CPC Class Codes: B60L 50/60 using power supplied by batteries in combination with fuel cells B60L50/75
• CPC Class Codes: B60W 20/11 using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance utilising navigation and traffic information in the control strategy B60W20/12
• CPC Class Codes: B60W 20/15 Control strategies specially adapted for achieving a particular effect
• CPC Class Codes: B60W 2510/081 Speed
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2710/081 Speed
• CPC Class Codes: B60W 2710/083 Torque
• CPC Class Codes: B60W 30/18027 Drive off, accelerating from standstill
• CPC Class Codes: B60W 30/20 Reducing vibrations in the driveline
• CPC Class Codes: B60Y 2200/91 Electric vehicles
• CPC Class Codes: B60Y 2200/92 Hybrid vehicles
• CPC Class Codes: B60Y 2300/181 Hill climbing or descending
• CPC Class Codes: B60Y 2300/20 Reducing vibrations in the driveline
• CPC Class Codes: B60Y 2300/60 Control of electric machines, e.g. problems related to electric motors or generators
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility
• CPC Class Codes: Y10S 903/903 having energy storing means, e.g. battery, capacitor

Abstract

An anti-jerk control system and method of an eco-friendly vehicle are provided to prevent a driver from sensing a difference in vehicle starting at an initial stage when the vehicle is parked on a downhill road. The anti-jerk control method uses a motor as a driving source and includes calculating an actual speed of the motor, calculating a model speed of the motor, and acquiring a gradient of a road, on which the vehicle is located, using a gradient detector. Additionally, the method includes determining a speed offset value that corresponds to the acquired gradient, compensating the model speed by the speed offset value, and calculating a motor vibration component using a difference between the compensated model speed and the actual speed of the motor. Then, anti-jerk compensation torque is calculated using the calculated motor vibration component.

Claims

1. An anti-jerk control method of an eco-friendly vehicle driving using a motor as a driving source, comprising:

calculating, by a controller, an actual speed of the motor;

calculating, by the controller, a model speed of the motor;

acquiring, by the controller, a gradient of a road, on which the vehicle is located, using a gradient detector;

determining, by the controller, a speed offset value that corresponds to the acquired gradient;

compensating, by the controller, the model speed by the speed offset value;

calculating, by the controller, a motor vibration component using a difference between the compensated model speed and the actual speed of the motor;

calculating, by the controller, anti-jerk compensation torque using the calculated motor vibration component;

compensating, by the controller, a motor torque command using the calculated anti-jerk compensation torque; and

adjusting, by the controller, driving of the motor based on the compensated motor torque command.

2. The anti-jerk control method of claim 1, wherein, in the determination of the speed offset value, the speed offset value that corresponds to the acquired gradient is determined using setup information including speed offset values set according to gradients.

3. An anti-jerk control system of an eco-friendly vehicle driving using a motor as a driving source, comprising:

a gradient detector configured to acquire a gradient of a road on which the vehicle is located; and

a motor control unit (MCU) configured to receive a value detected by the gradient detector and to adjust driving of the motor.

4. The anti-jerk control system of claim 3, wherein the MCU includes:

an actual speed calculator configured to calculate an actual speed of the motor;

a speed offset calculator configured to acquire the gradient of the road by receiving the value detected by the gradient detector, and to determine a speed offset value that corresponds to the acquired gradient;

a model speed calculator configured to calculate a model speed of the motor, to receive the determined speed offset value, and to calculate a compensated model speed by compensating the calculated model speed by the speed offset value;

a vibration component calculator configured to calculate a motor vibration component using a difference between the compensated model speed and the actual speed of the motor; and

a compensation torque generator configured to calculate anti-jerk compensation torque using the calculated motor vibration component.

5. The anti-jerk control system of claim 4, wherein the speed offset calculator is configured to calculate the speed offset value that corresponds to the acquired gradient using setup information including speed offset values set according to gradients.

6. The anti-jerk control system of claim 3, wherein the MCU is configured to compensate a motor torque command using the calculated anti-jerk compensation torque, and adjust driving of the motor based on the compensated motor torque command.

7. A non-transitory computer readable medium containing program instructions executed by a controller for anti-jerk control of an eco-friendly vehicle driving using a motor as a driving source, the computer readable medium comprising:

program instructions that calculate an actual speed of the motor;

program instructions that calculate a model speed of the motor;

program instructions that acquire a gradient of a road, on which the vehicle is located, using a gradient detector;

program instructions that determine a speed offset value that corresponds to the acquired gradient;

program instructions that compensate the model speed by the speed offset value;

program instructions that calculate a motor vibration component using a difference between the compensated model speed and the actual speed of the motor;

program instructions that calculate anti-jerk compensation torque using the calculated motor vibration component;

program instructions that compensate a motor torque command using the calculated anti-jerk compensation torque; and

program instructions that adjust driving of the motor based on the compensated motor torque command.

8. The non-transitory computer readable medium of claim 7, wherein, in the determination of the speed offset value, the speed offset value that corresponds to the acquired gradient is determined using setup information including speed offset values set according to gradients.