Method and motor controller for operating a drive motor of a vehicle

Patent metadata

Field	Value
Publication number	US-12403775-B2
Application number	US-202118257755-A
Country	US
Kind code	B2
Filing date	Nov 25, 2021
Priority date	Feb 17, 2021
Publication date	Sep 2, 2025
Grant date	Sep 2, 2025

Abstract

A method for operating a drive motor which is coupled to at least one wheel of a vehicle via a drive train. The drive motor is controlled using a dynamic model of the drive train. The model maps a relationship between a drive torque transmitted via the drive train and a deformation of the drive train.

First claim

What is claimed is:

1. A method for operating a drive motor coupled to at least one wheel of a vehicle via a drive train, the method comprising:
actuating the drive motor using a dynamic model of the drive train, wherein the model maps a relationship between a drive torque transmitted via the drive train and a deformation of the drive train, wherein, as the deformation, the model maps a transmission backlash of the drive train as a function of the drive torque, wherein the drive motor is actuated at a zero crossing of the drive torque taking into account the transmission backlash.

2. The method according to claim 1 , wherein, as the deformation, the model further maps a torsion of the drive train as a function of the drive torque, wherein the drive motor is actuated taking into account the torsion.

3. The method according to claim 2 , wherein a drive speed of the drive motor is controlled using a speed specification and the torsion.

4. The method according to claim 1 , wherein a drive speed of the drive motor is controlled at the zero crossing using a speed specification and the transmission backlash.

5. The method according to claim 1 , wherein the model further maps at least one control condition for the drive motor as a function of the drive torque, wherein the drive motor is actuated in the event of a change in the drive torque using a control condition of the at least one control condition read out from the model.

6. A method for operating a drive motor coupled to at least one wheel of a vehicle via a drive train, the method comprising:
actuating the drive motor using a dynamic model of the drive train, wherein the model maps a relationship between a drive torque transmitted via the drive train and a deformation of the drive train, wherein the model further maps at least one control condition for the drive motor as a function of the drive torque, wherein the drive motor is actuated in the event of a change in the drive torque using a control condition of the at least one control condition read out from the model, wherein, as the control condition, a waiting time dependent on the change in the drive torque is read out from the model, wherein the drive motor is actuated with a delay by the waiting time.

7. A motor controller for a drive motor, wherein a dynamic model of a drive train coupled to the drive motor is stored in the motor controller, wherein the motor controller is configured to:
actuate the drive motor using the dynamic model of the drive train, wherein the model maps a relationship between a drive torque transmitted via the drive train and a deformation of the drive train, wherein, as the deformation, the model maps a transmission backlash of the drive train as a function of the drive torque, wherein the drive motor is actuated at a zero crossing of the drive torque taking into account the transmission backlash.

8. A non-transitory machine-readable storage medium on which is stored a computer program for operating a drive motor coupled to at least one wheel of a vehicle via a drive train, the computer program, when executed by a processor, causing the processor to perform the following:
actuating the drive motor using a dynamic model of the drive train, wherein the model maps a relationship between a drive torque transmitted via the drive train and a deformation of the drive train, wherein, as the deformation, the model maps a transmission backlash of the drive train as a function of the drive torque, wherein the drive motor is actuated at a zero crossing of the drive torque taking into account the transmission backlash.

Assignees

• Bosch Gmbh Robert

Inventors

• Leibeling Frank
• Kuehl Julien
• Erden Michael
• Koschlig Stefan
• Geiger Tina
• Riegger Lea

Classifications

• B60L2240/421

  Speed · CPC title

• B60L3/106

  for maintaining or recovering the adhesion of the drive wheels · CPC title

• B60L3/102

  of individual wheels · CPC title

• B60L2270/145

  Structure borne vibrations · CPC title

• B60L15/20 Primary

  for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed · CPC title