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    13 views27 pages

    Allvehicledrive

    Uploaded by

    mohit

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    © All Rights Reserved
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    of 27
    «2 United States Patent Tang (10) Patent No. 4s) Date of Patent: US 9,162,586 B2 Oct. 20, 2015 6 op oy 03) o ey @y ws) (60) oy 2) ‘CONTROL SYSTEM FOR AN ALL-WHEEL DRIVE ELECTRIC VEHICLE, Applicant: Tesla Motors, In., Palo Alto, CA (US) Inventor: Yifan Tang, Los Altos, CA (US) Assignee: Tesla Motors, Ine. Palo Ato, CA (US) Notice: Subject to any disclaimer, the tem ofthis patent is extended or adjusted under 35 USC. 154(b) by O days. Appl. Now 14/281,679 Filed: May 19, 2014 Prior Publication Data US 2014025761341 Sep. 11,2014 Related US. Application Data Continuation of application No. 13/866,214, fled on Apr. 19, 2013, now Pat. No. 8.761,985, anda division ‘of application No, 12/782,413, filed on May 18,2010, now Pat. No, 8,453,770, ad 9 pplication No. 12/380,427, filed now Pat, No, 7,739,008, a aco pplication No. 12/322.218, fled on Jan. 20, 200, now abandoned Incl. BOL. 1520 (2006.01) Bow 10708 (2006.01), ‘BOOK 1/02 (2006.01) 60K 1/00 (2006.01), us.cl. CPC soe BOUL 15/20 (2013.01), BOOL 15/2036 (G013.01); BooW 10708 2013.01): BOOK 1/02 (2013.01); B6OK 2001/001 (2013.01): Boor. 2240/24 (2013.01), BOOL, 2240/423 (2013.01) BOO 2240/486 (2013.01). BOOW 252038 (2013.01): Rood 2540/10 (2013.01); BOW 2540/12 (2013.01): B6OW 2710°083 (2013.01), Yo2T 101642 (2013.01); YO2T 1077275 (201301), (58) Fleld of Classification Seareh, cre B6OL. 15/2036; BGOL 15/20; B6OL, 33401423; OL 2260028; BOOW 1008; BooW 27100088; YO2T 10/7275; Voor 10642 ‘Se application Mle for complete search history. 66) References Clted US. PATENT DOCUMENTS 4se7sit A Shas A $1986 Leiber 1190) “Tanaka ea (Couinved) POREIGN PATENT DOCUMENTS. » 3706565 1012005 Primary Examiner — Michael J Zaneli (74) Auornes, Agen, oF Firm — J. Richard Soderberg on ABSTRACT leetre vehicles und, more particularly. a control system for an all-wheel drive electie vehicle, An electric vehicle deve ‘system comprises: fist and second electric motors: a torque splitunit configured to receive first input that includes atleast ‘Toll torque request forthe fist ad second electric moors, ‘nd respostve frst and second maximum tongues fr the first ‘nd second electric motors, the tore split unit configured t0 process the frst input without taking inte account wheel slip, ‘and to generate at leat respective fist and second torque roquests forthe stand secondelectrc motors: anda traction ‘and stability contol unit configured to receive sevond input ‘that includes at leat the fist and second toraue requests, the {otal tonque request a computed vehicle speed, and respective first and second slip errors relating to the fit and second clectri motors, the triton and stability contra unit eontig- ‘ured to process the second input and to generate respective first and second torque commands for the frst and second electric motors. 22 Claims, 17 Drawing Sheets US 9,162,586 B2 Page 2 66) References Cited 20020147539 AL 102002 Serothmann aooat046o9 AL 62004 Nishikawa eal USS. PATENT DOCUMENTS 2oou222791 AL 11/2004 Iwataet al 20600166530 AL ‘1/006 Yang pee A se 2ousrss01s AL 82006 Kaneko Siaoso6 A 1905 doonon%ss4o AL 22007 Sekiguchi et a Saosoo A ‘a 1906 aou7irs4isy AL 122007 “Takamte l. SS@.72 A 81990 doowoow21@ AL 22008 Hiskate Sess A S:1008 20080251246 AL 102008 Onkuma eta 6909989 B2 62005 Hallowell 200w0276825 AL 112008 King eal. nssaos 22000. Weiret a ao10O198318 AL ‘82010. Aso U.S. Patent Oct. 20, 2015 Sheet 1 of 17 US 9,162,586 B2 100 413 c ESSTPoweH ontrol Module TAL Pre] Assist PrimaryfTranr]_19> Motor Mtoe 109, 103: 107 101 FIG. 1 20 205 Ef 7 gmp 305 z 201 z Boob 3 om 301 é 203 é ‘9 ->—~—$____| i 303 ple eee 7 Toit ‘Speed (rpm) ‘Speed (rpm) FIG. 2 FIG. 3 U.S. Patent Oct. 20, 2015 Sheet 2 of 17 US 9,162,586 B2 4 Primary Assist paety Motor Control Gear Selection 4S7L_Sensor Wode Selection Sensor_|439 Brake Sensor ‘Accelerator ‘Sensor q hy, 431 1433, ‘Steering 4] Sensor 43 FIG. 4 U.S. Patent Oct. 20, 2015 Sheet 3 of 17 US 9,162,586 B2 [Secondan] antral Module Gear Selection Selection aS7L_Sensor sensor_|a49 Brake ‘Accelerator aoe Sensor [Ds Steering aS FIG. 5 US 9,162,586 B2 Sheet 4 of 17 Oct. 20, 2015 U.S, Patent 5 Saas aie I aan 4, r 2a BSS uoges0u95) sno, ebor5] Puruwon jewndo OY Tomboy er nen at wb oi Sommer & aa ST ETAT enw eat Tana) emu 9°Sld pesues-peeds sojour AIEUig 09, U.S, Patent Oct. 20, 2015 Sheet 5 of 17 Read C_torque, C_vspeed, C_maxtorquet, C_maxtorque2 ¥ Determine C_temptorque1, C_temptorque2, C_fluxt, C_flux2 from look-up table ¥ Compare C_temptorque1 to C_maxtorquet, compare C_temptorque2 to C_maxtorque2 ¥ Limit C_temptorque1 by C_maxtorquet, limit C_temptorque2 by C_maxtorque2 y Output C_torquete, output C_torque2e, output C_flux1, output C_flux2 FIG. 7 US 9,162,586 B2 701 703 705 707 709 U.S. Patent Oct. 20, 2015 Sheet 6 of 17 US 9,162,586 B2 801 Gag a eed WTO] L009 ‘Woax in stops of Wstep 203 03 op through total vehicle torque, Tina range from Tminto |, T Loop Tmaxin stops of Tstep 85 [aap trough pinay notrlone Ta range ron Timin[,T1 Loop tothe salon imax and tps of sop a HomelmnntoF nani stops of iste 88 (ata primary moor rk ower, PY for eas vale oF Ft 209 + © (Fi oman pray mer axa, Flops ache anim np omer a at ‘Gatalate assist motor torque, Ta. om TH toe tT 8°2 [Tap rough asset motor Tax, FE na range from Fann FIc.8 Fama stpeo Favep a3 + °S Carers ass motor poner Po for eachvaue P72 Pe ate + 1 Ba onimam ast not fox ale, Floph ache annum np power Prin ¥ ool Calclate Pmin (emin = Pimins Pani 817 ¥ yy Dalene anaes Prin a9 + 19 Fare aod Pah, ouput 1 73, Fom Fon ore Canettr ana US 9,162,586 B2 Sheet 7 of 17 Oct. 20, 2015 U.S, Patent 6 Old tous uowoen joo verze Beis pees 6eye (asu98-po0ds 1 H58¥) Ge szanbuoi-D ' rot vous dH be soyonuog be} 906: ¥ 206 nb eougro | an hp nas 306 2 tonbigr 2 enw 0 le | e007 F t t = ventuepeeu"9 worD (osuas-poods ojo Kaew) zioweds"9, ‘antvor“9 Lrowsdaso US 9,162,586 B2 Sheet 8 of 17 Oct. 20, 2015 U.S, Patent | Tana Tanai Paar faau inpony + ¥ ramog wow [1 resey fF] rv vogei0499 1d ono abr} euewWOD lessmmars} miso ‘onbo ET 222 LF ancany sour sama fo —| b hs 09. 60h sunny er Sombeneara |] eet PaRSE poo BU EY funn ‘ontop reuse OL -Sld pesues-paeds Joyous Aves, 209 U.S. Patent Oct. 20, 2015 Sheet 9 of 17 US 9,162,586 B2 1108 1109: | 403 1113] Senet Lio] 10 5 401—Jess PrInay Terman] Tan 1115 Module ctoe] ECTS Fat ‘Control Module M1 1111 i fe Assist Tran |" totor 1107 24 t ai 1108 LY seiecion adr_Sensor sensor_Jaho Brake ‘Accelerator Sensor Sensor 4311 1433 Steering en FIG. 11 U.S. Patent Oct. 20, 2015 Sheet 10 of 17 US 9,162,586 B2 so I sss7 Pemany TTorgue Limiting maxtorguot 1 Asie motor speedsensed I i I! I! I i it I! Cre) Asset [6 manors, I i Ung ql T ° ! I! I! i 193 ! ae I! caaeeed maxtorque2t Torque C=marauge I > citing I Ea i 7 ti 208 HM oct \ Hite rH be | er vow FANT Ca yee rave Torque Split Carp Tome FS ns I, =—>[zaean commana We oes Ca —| Somat Ie [sex ; eye Mite 1 z Assit 5 Ife | ‘conn Emo | Sarome 2 ME | Hee CET) traction | C_stperort ie CH] Cont Traction & SF Pinay = command | 6 sper ‘Sanen ff] cont oan cat Fle | seaie fal sano te C2 T s207 ‘00 I FIG. 12 U.S. Patent Oct. 20, 2015 Sheet 11 of 17 US 9,162,586 B2 1301 Read C_torque, C_yspeed, C_maxtorque1, C_maxtorque2r, C_maxtorque2l + 1303 Determine C_temptorque1, C_temptorque2, |_/ C_flux1, C_flux2 from look-up table = 1305 ‘Split C_temptorque2 into C_temptorque2r and |_/ C_temptorque2 Set C_flux2 as C_flux2r and C_flux2 ~ 1307 Compare C_temptorquet to C_maxtorquet, | _// Compare C_temptorque2r to C_maxtorque2r, Compare C_temptorque2! to C_maxtorque2I ¥ 1309 Limit C_temptorque1 by C_maxtorque’, | / Limit C_temptorque2r by C_maxtorque2r, Limit C_temptorque2! by C_maxtorque2! = 1311 Output C_torquete, C_torquezer, C_torquezel, |_7 C_fluxt, C_flux2r, C_flux2l FIG. 13 US 9,162,586 B2 Sheet 12 of 17 Oct. 20, 2015 U.S, Patent vb Old roquoo vorsenn ‘9661s pu02es 19009 seu, ronuoo| Bes = szontiorD izontuopeur) pazonbsor“o re) ezenbsoi“5 4} | enone {er }<] ssxon09) zor win ff eI rs fed izondSro t <= Lenitor bows | seyenue) 602 (peoes soyou eum) | resauocys~9 enbior"9, owed 9 U.S. Patent Oct. 20, 2015 Sheet 13 of 17 US 9,162,586 B2 m a2 _ ot 423. ESS 425 “42 493 108: Pont e198 Control Motor | [30 Module Lut 1501 107 >| 444 Gear Te selection selection aS Senaor cereor_ labo Brake Aeseeraor Senter Sensor 431 1433. ‘ieerng ase seen FIG. 15 US 9,162,586 B2 Sheet 14 of 17 Oct. 20, 2015 U.S, Patent 9b Sls TonedsO oe jomop voneioveg femuc =) eee ents ember] Puma : soon 3 409) | s ! {Szr] oy —_ Ss sug jamiog onsen Lee) uoyoes| onbioxew Keuug | ize] q 7 ale 1 i pasuse-pseds OR) U.S, Patent Oct. 20, 2015 Sheet 15 of 17 Read C_torque, C_vspeed, C_maxtorque ¥ Determine C_temptorque and C_fiux from look-up table ¥ Compare C_temptorque to C_maxtorque y Limit C_temptorque by C_maxtorque y Output C_torquee and C_flux FIG. 17 US 9,162,586 B2 1701 1703 1705 1707 1709 U.S, Patent Oct. 20, 2015 Sheet 16 of 17 1801 XI Loop through vehicle speed, W, in a range from Win to ‘Wmax in steps of Wstep I US 9,162,586 B2 W Loop Te

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