METHOD AND APPARATUS FOR VIBRATION DAMPING IN A POWERTRAIN SYSTEM

• US 20170317631A1
• Filed: 04/27/2016
• Published: 11/02/2017
• Est. Priority Date: 04/27/2016
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Lee, Young Joo, Bae, Bon Ho, Son, Yo Chan
• Granted Patent: US 10,411,631 B2
• Time in Patent Office: Days
• CPC Class Codes: B60K 1/00 Arrangement or mounting of electrical propulsion units B60K7/00 takes precedence; arrangement or mounting of plural diverse prime-movers for mutual or common propulsion B60K6/00; electric transmission arrangements B60K17/12; electric equipment or propulsion of electrically-propelled vehicles per se B60L; current-collectors for power supply lines of electrically-propelled vehicles B60L5/00
• CPC Class Codes: B60K 6/00 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 arrangement or mounting in vehicles of electrical gearing, in which an electrical machine serves only as reduction gearing and not as the prime mover and in which no electrical storing means are used B60K17/12; control and regulation of purely electrical prime movers B60L; prime-movers comprising electrical and internal combustion motors in a common engine block or housing per se F02B65/00; electric motors or motor-generators used for starting the combustion engine F02N11/04; electric motors for synchronising gearing F16H3/12 Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
• CPC Class Codes: B60K 6/48 Parallel type
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 50/15 with additional electric power supply with capacitors charged by engine-driven generators B60L50/40; with batteries charged by engine-driven generators B60L50/61
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• 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 2510/082 Speed change rate
• CPC Class Codes: B60W 2510/088 Inertia
• CPC Class Codes: B60W 2710/083 Torque
• CPC Class Codes: B60W 30/20 Reducing vibrations in the driveline
• CPC Class Codes: B60W 40/12 related to parameters of the vehicle itself , e.g. tyre models
• CPC Class Codes: F02D 31/00 Use of speed-sensing governors to control combustion engines, not otherwise provided for
• CPC Class Codes: F02D 41/021 Introducing corrections for particular conditions exterior to the engine conjoint control of vehicle sub-units for propelling the vehicle B60W30/18
• CPC Class Codes: F02N 11/006 using a plurality of electric motors
• CPC Class Codes: F02N 11/04 the motors being associated with current generators
• CPC Class Codes: F02N 11/0866 comprising several power sources, e.g. battery and capacitor or two batteries
• CPC Class Codes: F02N 15/08 : the gearing being of friction type
• CPC Class Codes: F02N 2011/0888 : DC/DC converters
• CPC Class Codes: F02N 2011/0896 : Inverters for electric machines, e.g. starter-generators
• CPC Class Codes: H02P 21/05 : specially adapted for damping motor oscillations, e.g. for reducing hunting
• CPC Class Codes: H02P 2101/45 : for motor vehicles, e.g. car alternators
• CPC Class Codes: H02P 23/12 : Observer control, e.g. using Luenberger observers or Kalman filters
• CPC Class Codes: H02P 27/085 : wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
• CPC Class Codes: H02P 6/08 : Arrangements for controlling the speed or torque of a single motor H02P6/10, H02P6/28 take precedence
• CPC Class Codes: H02P 6/10 : Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
• CPC Class Codes: H02P 6/17 : and for generating speed information
• CPC Class Codes: Y02T 10/62 : Hybrid vehicles
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

A powertrain system including an electric machine rotatably coupled to a crankshaft of an internal combustion engine via a belt is described, wherein the electric machine is disposed to generate torque. A method for controlling the electric machine includes monitoring rotational position of the electric machine, and periodically executing a speed observer to determine a rotational speed of the electric machine based upon the monitored rotational position of the electric machine. An acceleration observer is periodically executed to determine an acceleration rate, wherein the acceleration rate is determined based upon a time-based change in the rotational speed of the electric machine. A virtual inertia term is determined based upon the acceleration rate, and a torque compensation term is determined based upon the virtual inertia term and the acceleration rate. The electric machine is controlled to generate torque based upon the torque compensation term.

Claims

1. A method for controlling an electric machine disposed to generate torque in a powertrain system, wherein the powertrain system includes the electric machine rotatably coupled to a crankshaft of an internal combustion engine, the method comprising:

monitoring rotational position of the electric machine;

periodically executing a speed observer, via a controller, to determine a rotational speed of the electric machine based upon the monitored rotational position of the electric machine;

periodically executing an acceleration observer to determine an acceleration rate, wherein the acceleration rate is determined based upon a time-based change in the rotational speed of the electric machine;

determining, via the controller, a virtual inertia term based upon the acceleration rate;

determining a torque compensation term based upon the virtual inertia term and the acceleration rate; and

controlling the electric machine to generate torque based upon the torque compensation term.

2. The method of claim 1, wherein periodically executing the acceleration observer to determine the acceleration rate comprises determining the acceleration rate based upon a time-based change in the rotational speed of the electric machine from a previous iteration.

3. The method of claim 1, further comprising controlling the electric machine to generate torque based upon the torque compensation term and a motor torque command.

4. The method of claim 1, wherein monitoring rotational position of the electric machine comprises monitoring signal output from a position sensor arranged to monitor rotational position of a rotor of the electric machine.

5. The method of claim 1, wherein determining the virtual inertia term based upon the acceleration rate comprises selecting the virtual inertia term from an array of inertia terms determined for the electric machine based upon the acceleration rate.

6. The method of claim 1, wherein determining the torque compensation term based upon the virtual inertia term and the acceleration rate comprises multiplying the virtual inertia term and the acceleration rate.

7. The method of claim 1, comprising:

periodically executing the speed observer and the acceleration observer at a first periodic rate; and

determining the torque compensation term based upon the virtual inertia term and the acceleration rate at a second periodic rate;

wherein the first periodic rate is greater than the second periodic rate.

8. The method of claim 7, wherein the first periodic rate comprises a 2 microsecond rate and the second periodic rate comprises a 100 microsecond rate.

9. The method of claim 1, wherein controlling the motor torque based upon the torque compensation term comprises determining a torque command for the electric machine, and adjusting the torque command for the electric machine based upon the torque compensation term.

10. A method for controlling an electric machine disposed to generate torque in a powertrain system, wherein the powertrain system includes the electric machine rotatably coupled to a crankshaft of an internal combustion engine that is coupled via a torque converter to a transmission, and wherein an output member of the transmission is coupled to an axle of a driveline, the method comprising:

monitoring a rotational position of the electric machine;

periodically determining, at a first periodic rate, a speed of the electric machine based upon the rotational position of the electric machine, a time-based change in the motor speed, and an acceleration rate based upon the change in the motor speed;

periodically determining, at a second periodic rate, a virtual inertia term based upon the acceleration rate and a torque compensation term based upon the virtual inertia term and the acceleration rate; and

controlling the electric machine to generate torque based upon the torque compensation term.

11. A powertrain system, comprising:

an electric machine rotatably coupled to a crankshaft of an internal combustion engine, and a controller;

the controller operatively connected to the internal combustion engine and the electric machine, the controller including an instruction set, the instruction set executable to;

monitor, via a position sensor, a rotational position of the electric machine;

periodically execute a speed observer to determine a rotational speed of the electric machine based upon the monitored rotational position of the electric machine;

periodically execute an acceleration observer to determine an acceleration rate, wherein the acceleration rate is determined based upon a time-based change in the rotational speed of the electric machine;

determine a virtual inertia term based upon the acceleration rate;

determine a torque compensation term based upon the virtual inertia term and the acceleration rate; and

control the electric machine to generate torque based upon the torque compensation term.

12. The powertrain system of claim 11, wherein the instruction set periodically executes the acceleration observer to determine the acceleration rate based upon a time-based change in the rotational speed of the electric machine from a previous iteration.

13. The powertrain system of claim 11, wherein the instruction set is further executable to control the electric machine to generate torque based upon the torque compensation term and a motor torque command.

14. The powertrain system of claim 11, wherein the instruction set is executable to determine the virtual inertia term based upon the acceleration rate from a predetermined array of inertia terms that are based upon the acceleration rate.

15. The powertrain system of claim 11, wherein the instruction set is executable to determine the torque compensation term based upon the virtual inertia term and the acceleration rate by multiplying the virtual inertia term and the acceleration rate.

16. The powertrain system of claim 11, comprising:

the speed observer and the acceleration observer being periodically executed at a first periodic rate; and

the instruction set executable to determine the torque compensation term based upon the virtual inertia term and the acceleration rate at a second periodic rate;

wherein the first periodic rate is greater than the second periodic rate.

17. The powertrain system of claim 16, wherein the first periodic rate comprises a 2 microsecond rate and the second periodic rate comprises a 100 microsecond rate.

18. The powertrain system of claim 11, comprising the instruction set executable to determine a torque command for the electric machine, and adjust the torque command for the electric machine based upon the torque compensation term.

19. The powertrain system of claim 11, wherein the electric machine rotatably couples to the crankshaft of the internal combustion engine via a continuous belt.