Method and system for controlling torque in an electric drive powertrain

• US 9,227,525 B2
• Filed: 10/14/2013
• Issued: 01/05/2016
• Est. Priority Date: 10/14/2013
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Fleege, Trent A., Worley, Stacy K., Vilar, Eric
• Primary Examiner(s): Nguyen, Kim T
• Application Number:
  US14/053,154
• Publication Number:
  US 20150105950A1
• Time in Patent Office: 813 Days
• Field of Search: 701/22, 701/50, 701/51, 701/54, 701/55, 701/61, 701/67, 701/68
• US Class Current: 1/1
• CPC Class Codes: B60L 15/10 for automatic control superimposed on human control to limit the acceleration of the vehicle, e.g. to prevent excessive motor current electric devices for safety purposes B60L3/00
• 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 15/2054 by controlling transmissions or clutches
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/486 Operating parameters
• CPC Class Codes: H02P 29/028 the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
• CPC Class Codes: H02P 29/032 Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

This disclosure provides a method of controlling an electric drive powertrain system. The method includes providing an electric motor capable of running between a motor minimum speed and a motor maximum speed such that the electric motor can produce different amounts of torque between a first region defined between the motor minimum speed and a motor base speed and a second region defined between the motor base speed and the motor maximum speed. The method includes receiving a signal from operator inputs and determining a desired transmission output torque based on the signal received from the operator inputs. The method also includes determining a desired motor torque based on the desired transmission output torque, operating the electric motor at a current corresponding to the desired motor torque and producing a greater amount of torque at the motor base speed than at the motor minimum speed.

Claims

1. A method of controlling an electric drive powertrain system of a machine, the machine including an inverter, a transmission having a plurality of selectable gears, and a transmission control unit including a memory unit and a processor, comprising:

providing an electric motor capable of running between a motor minimum speed and a motor maximum speed, the electric motor configured to produce torque between a first region defined between the motor minimum speed and a motor base speed and a second region defined between the motor base speed and the motor maximum speed;

receiving a signal from one or more operator control inputs;

determining a desired transmission output torque based on the signal received from the one or more operator inputs;

determining a desired motor torque based on the desired transmission output torque;

while operating the electric motor in the first region, controllably operating the electric motor at a current less than or equal to an amount of current required at a maximum motor torque at the motor base speed; and

producing a greater amount of torque at the motor base speed than an amount of torque produced at the motor minimum speed.

2. The method of claim 1, further comprising producing torque at a substantially linearly or nonlinearly increasing rate in the first region.

3. The method of claim 1, further comprising producing torque at a continuously or discontinuously increasing rate in the first region.

4. The method of claim 1, further comprising determining an amount of current in response to the desired motor torque.

5. The method of claim 1, further comprising producing a peak output torque at the motor base speed.

6. The method of claim 1, further comprising producing substantially constant power in the second region.

7. The method of claim 1, further comprising:

producing a shift overlap between the plurality of selectable gears; and

avoiding shift hunting between any of the plurality of selectable gears in the second region. of at least 100 RPM of transmission output speed.

8. The method of claim 1, further comprising:

storing a set of instructions for a vehicle control logic in the memory unit;

executing the vehicle control logic with the processor in response to the received signal from the one or more operator control inputs; and

determining the desired motor torque in response to an output from the vehicle control logic.

9. The method of claim 8, further comprising determining a torque limit at the motor minimum speed in response to the output from the vehicle control logic.

10. The method of claim 1, further comprising:

storing a maximum torque response curve in the memory unit;

running the electric motor at a motor speed between the motor minimum speed and the motor base speed;

determining a maximum torque limit from the maximum torque response curve based on the motor speed at which the electric motor is running;

comparing the desired motor torque with the maximum torque limit; and

producing the desired motor torque if the desired motor torque is less than the maximum torque limit.

11. A system for controlling an electric motor of an electric drive powertrain for a work machine, comprising:

a plurality of operator inputs configured to control the machine;

a transmission having a plurality of selectable gears;

a transmission control unit for controlling the transmission, the transmission control unit including a memory unit and a processor; and

an electric motor coupled to an output of the inverter and an input of the transmission, the electric motor being operable between a motor minimum speed and a motor maximum speed;

wherein, the motor is controllable to produce torque between a first region of motor speeds defined between the motor minimum speed and a motor base speed and a second region of motor speeds defined between the motor base speed and the motor maximum speed;

further wherein, a set of instructions is stored in the memory unit of the transmission control unit and executed by the processor, the set of instructions being executed to receive a signal from each of the plurality of operator inputs, determine a desired transmission output torque based on the signal received, determine a desired motor torque based on the desired transmission output torque, controllably operate the electric motor at a current less than or equal to an amount of current required at a maximum motor torque at the motor base speed, and produce a greater amount of torque at the motor base speed than a first amount of torque produced at the motor minimum speed.

12. The system of claim 11, wherein the set of instructions is executed by the processor to control the electric motor such that a second amount of torque produced in the first region increases at one of a linear rate a nonlinear rate, a continuous rate, or a discontinuous rate.

13. The system of claim 11, further comprising a second set of instructions stored in the memory unit and executable by the processor, the second set of instructions being executable to run a vehicle control logic in response to the signal received from the plurality of operator control inputs and determine the desired motor torque in response to an output from the vehicle control logic.

14. The system of claim 11, wherein the set of instructions is executable to produce a shift overlap between each of the plurality of selectable gears and avoid shift hunting between any of the plurality of selectable gears in the second region.

15. The system of claim 11, wherein as the motor is running at a motor speed, the set of instructions stored in the memory unit is executable by the processor to determine a maximum torque limit from a maximum torque curve at the motor speed, compare the desired motor torque with the maximum torque limit at the motor speed, and control the electric motor to produce the desired motor torque only if the desired motor torque is less than the maximum torque limit.

16. A method of controlling an amount of torque produced by an electric drive powertrain system of a machine, the machine including one or more operator inputs, an inverter, a transmission having a plurality of selectable gears, and a transmission control unit including a memory unit and a processor, comprising:

providing an electric motor capable of running between a motor minimum speed and a motor maximum speed, the electric motor configured to produce torque between a first range of motor speeds defined between the motor minimum speed and a motor base speed and a second range of motor speeds defined between the motor base speed and the motor maximum speed;

storing a maximum torque curve in the memory unit;

operating the electric motor at a motor speed between the motor minimum speed and the motor maximum speed;

receiving a signal from the one or more operator control inputs;

determining a desired transmission output torque based on the signal received from the one or more operator inputs;

determining a desired motor torque based on the desired transmission output torque;

determining a maximum torque limit from the maximum torque curve at the motor speed;

comparing the desired motor torque with the maximum torque limit;

determining an amount of current to supply to the electric motor to produce the desired motor torque;

producing the desired motor torque if the desired motor torque is less than the maximum torque limit; and

producing a first amount of torque at the motor minimum speed and a second amount of torque at the motor base speed, wherein the first amount of torque is less than the second amount of torque.

17. The method of claim 16, further comprising controlling the electric motor to produce an increasing amount of torque from the motor minimum speed to the motor base speed.

18. The method of claim 16, further comprising while operating the electric motor in the first region, controllably operating the electric motor at a current less than or equal to an amount of current required at a maximum motor torque at the motor base speed.

19. The method of claim 16, further comprising:

determining a current gear ratio of the transmission;

calculating the desired motor torque as a function of the desired transmission output torque and current gear ratio;

producing a shift overlap between the plurality of selectable gears; and

avoiding shift hunting between any of the plurality of selectable gears in the second region.

20. The method of claim 16, further comprising:

storing a set of instructions for a vehicle control logic in the memory unit;

executing the vehicle control logic with the processor in response to the received signal from the one or more operator inputs;

determining a torque limit at the minimum motor speed in response to the output from the vehicle control logic; and

determining the desired motor torque in response to an output from the vehicle control logic.