CN103287426A - Control device of parallel connection type slight power-mixed motorbike - Google Patents
Control device of parallel connection type slight power-mixed motorbike Download PDFInfo
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Abstract
The invention provides a control device of a parallel connection type slight power-mixed motorbike and belongs to the technical field of power-mixed motorbikes. The control device solves the problem that the output and operation of an engine and a motor of an existing power-mixed motorbike are not optimized. The control device comprises a finished motorbike ECU, a battery, an accelerator aperture sensor, a motorbike speed sensor, an engine rotating speed sensor and a brake position sensor. An engine ECU, a motor ECU and a battery management device are connected to the finished motorbike ECU. A converter is connected to the motor ECU. The battery management device is connected with the control end of the battery. The output end of the battery is connected with the power end of the converter. The control device enables the overall output and the operation performance of the power of the engine and the power of the motor to be optimized.
Description
Technical field
The invention belongs to technical field of motorcycles, relate to a kind of parallel light hybrid motor bike, particularly a kind of control setup of parallel light hybrid motor bike and control method thereof.
Background technology
The pollution that hybrid vehicle is used for reducing consumption of fuel and suppresses to bring owing to the discharging nuisance.Known hybrid power is the assembly power of driving engine and motor, according to its array mode difference, can be divided into three kinds of assembled schemes:
First kind is series hybrid, a driving engine drive current producer generating, and current feedback circuit the driven by power motor rotation is provided and is driven the wheel rotation by battery, so this drive scheme is influenced by motor fully battery charge.The advantage of this scheme is, when driving engine only needed to provide average power and moves under fixing and optimized state, this scheme basically can low consumption.
Second kind is in parallel the mixing, and driving engine and motor are connected with drive wheel by transmission device separately, and engine power is provided by fuel, and motor power is provided by battery.Hybrid vehicle can be delivered to drive wheel together with engine power and motor power.Simultaneously, hybrid vehicle has by utilizing motor to come the structure of auxiliary engine, thereby has reduced consumption of fuel, has suppressed the pollution that causes owing to the discharging nuisance simultaneously.
The third is the series parallel type mixing of above-mentioned two kinds of structure compositions.Series parallel type mix be with motor parallel to engine crankshaft, drive bent axle jointly with driving engine and rotate, bent axle is connected with axle drive shaft in the power drive by change-speed box and reducing gear.Motor in this scheme plays the effect of actuating motor, electrical motor and electrical generator.
The control setup of three kinds of above-mentioned hybrid vehicles is to adopt accelerator open degree sensor and car speed sensor to detect control, in travelling, accelerator open degree sensor inspection vehicle driver is to the operational ton of accelerator open degree, car speed sensor detects the speed of a motor vehicle, controls driving engine and machine operation according to the detection signal of accelerator open degree and the detection signal of the speed of a motor vehicle.Because the maximum speed of revolution of motor is different with the maximum speed of revolution of driving engine, so that the driving engine in this control setup and motor do not have the actv. combination, total output output and the drive ability of engine power and motor power do not reach optimization.In addition, battery needs frequent discharging and recharging in this hybrid vehicle, to the battery unprotect.
Summary of the invention
The present invention is directed to prior art and have the problems referred to above, proposed a kind of control setup and control method thereof of parallel light hybrid motor bike, can make total output output and the drive ability of engine power and motor power reach optimization after this control setup and control method cooperate.
The present invention realizes by following technical proposal: a kind of control setup of parallel light hybrid motor bike, comprise car load ECU, battery, the accelerator open degree sensor and the car speed sensor that all are connected with car load ECU, it is characterized in that, this control setup also comprises engine speed sensor and the normal danger sensor that is connected with car load ECU, on car load ECU, also be connected with the Engine ECU for the control driving engine, the battery manager that is used for controlling the motor ECU of motor and is used for the control battery charging and discharging, be connected with frequency converter on the motor ECU, battery manager is connected with the control end of above-mentioned battery, the mouth of battery is connected with the power end of frequency converter, accelerator open degree sensor, car speed sensor, engine speed sensor and normal danger sensor send to car load ECU with the electric signal that detects, car load ECU handles the back to Engine ECU according to the signal that receives, motor ECU and battery manager send control command, Engine ECU is controlled driving engine according to control command, motor ECU controls motor speed according to control command by the control frequency converter, and battery manager is controlled battery charging and discharging and inoperative driving engine when electric weight is not enough according to control command.
Behind the car load ECU sensor-lodging, accelerator open degree signal, vehicle speed signal are compared, correctly judge the car load operating condition of this moment, calculate the required power under the current working, mode of operation by control battery, motor and driving engine provides driving power required under this operating mode.If detect the electric weight of battery when inadequate, inoperative driving engine prevents the excessive power consumption of battery, thereby influences battery life.When accelerating mode, also outputting power of motor in the time of engine output power has improved the acceleration capability of car load.When decelerating mode, the resistance that electric power generation produces is as braking force, and electric power generation charges to battery, and energy is reclaimed.
In the control setup of above-mentioned parallel light hybrid motor bike, described engine output and described motor horsepower output sum are near the maximum output power of driving engine.Motor only plays booster action, relies on motor to provide and accelerates the additional power required with climbing, has consequently improved overall efficiency, does not sacrifice performance simultaneously.
In the control setup of above-mentioned parallel light hybrid motor bike, before described engine speed reaches first rotating speed, first rotating speed is 4000rpm, engine speed sensor is passed to car load ECU with tach signal, send control command after car load ECU compares this signal and give motor ECU, the increase along with engine speed increases motor ECU according to control command control rotating speed of motor; When engine speed arrived second rotating speed above first rotating speed, second rotating speed was 9000rpm, and the increase along with engine speed reduces motor ECU according to control command control rotating speed of motor, and when engine speed reached second rotating speed, motor speed was zero.This mode is for controlling engine power and the motor power sum maximum output power near driving engine, after engine speed surpasses first rotating speed, reduce described motor power along with the engine speed increase, make the synthetic horsepower output of driving engine be no more than the maximum output power of former driving engine, and when engine starting, additionally increase horsepower output by motor, improve the acceleration capability of car load.
In the control setup of above-mentioned parallel light hybrid motor bike, described battery manager stops electric motor starting when receiving the signal of electric weight deficiency; When receiving the signal that battery electric quantity is full of, stop charging.Way to manage by this battery is protected battery, improves the service life of battery.
In the control setup of above-mentioned parallel light hybrid motor bike, when described car load ECU received the brake signal that the normal danger sensor transports, motor ECU control electric power generation also stored in the battery by frequency converter.In common regenerative brake ratio, the resistance that produces during with electric power generation is braked, and therefore can carry out energy to a part of braking energy and reclaim.
In the control setup of above-mentioned parallel light hybrid motor bike, described car load ECU, Engine ECU, motor ECU and battery manager adopt the CAN line to carry out mutual information transmission.
A kind of control method of parallel light hybrid motor bike is characterized in that, this control method comprises the steps:
1) ignition trigger: connect source switch, after car load ECU detected ignition signal, battery manager detected the electric weight of battery, when battery electric quantity is sufficient, and the electric motor starting driving engine; When battery electric quantity is not enough, the inoperative driving engine of motor;
2) read in the vehicle condition signal: behind engine starting, the brake signal that accelerator open degree signal, engine rotational speed signal and the vehicle speed signal that the accelerator open degree sensor that car load ECU receives successively, engine speed sensor and car speed sensor send and normal danger sensor transmit;
3) braking and energy reclaim: when car load ECU judges that brake signal is emergency brake signal, by original mechanical braking sytem or the hydraulic brake system on the motor bike; When car load ECU judged that brake signal is non-emergent speed-slackening signal, motor ECU controlled electric power generation, and battery manager control battery charge is with the energy recovery of braking;
4) battery electric quantity is judged: when not detecting the brake signal of normal danger sensor transmission in car load ECU institute, battery manager detects the electric weight of battery again, when battery electric quantity was sufficient, car load ECU judged the vehicle condition running state according to accelerator open degree signal, engine rotational speed signal and vehicle speed signal; When battery electric quantity is not enough, finish the starting of driving engine;
5) the car load operating mode is judged: detect accelerator open degree signal and vehicle speed signal and be operating mode at the uniform velocity when all constant; Detect the accelerator open degree signal and when becoming big, be accelerating mode; It is constant to detect the accelerator open degree signal, and vehicle speed signal is the after-acceleration operating mode when becoming big; When the after-acceleration operating mode, when detecting current vehicle speed signal more than or equal to default vehicle speed signal, car load accelerates to finish, and motor stops electronic, and car load switches at the uniform velocity operating mode; Detecting the accelerator open degree signal is reducing, is being decelerating mode when vehicle speed signal reduces; It is constant to detect the accelerator open degree signal, and vehicle speed signal is reducing and vehicle speed signal also is the back decelerating mode greater than default vehicle speed signal; In the back during decelerating mode, vehicle speed signal reduces and current vehicle speed signal during smaller or equal to default vehicle speed signal, and motor stops generating, and car load switches at the uniform velocity operating mode; It is constant to detect the accelerator open degree signal, and vehicle speed signal is becoming big, and current vehicle speed signal is the descending operating mode during greater than default vehicle speed signal;
6) car load ECU control power output: when car load ECU judged the car load operating mode, by Engine ECU control engine speed, the required rotating speed of motor calculated according to the current rotating speed of driving engine, and by motor ECU control motor speed; When vehicle condition at the uniform velocity, electric power generation is to battery charge, when accelerating mode and after-acceleration operating mode, and the motor horsepower output, when decelerating mode, back decelerating mode and descending operating mode, the electric power generation recuperated energy; In the change process of these operating modes, accelerator open degree sensor, engine speed sensor and car speed sensor are transported to car load ECU with real-time detected signal, to realize circulation.
Default vehicle speed signal is the vehicle speed signal value according to the preset amount of accelerator open degree.Along with the change of accelerator open degree is big, it is big that the vehicle speed signal value becomes, and like this, is that benchmark comes more current vehicle speed signal with the vehicle speed signal value, when the current vehicle speed signal value equaled predefined vehicle speed signal, the operating mode of car load just entered at the uniform velocity operating mode by after-acceleration operating mode or back decelerating mode.Owing to will detect battery at prestart, in the process of exercising, when detecting other sensors such as accelerator open degree sensor at every turn and changing, the electric weight of battery is detected in the capital again, will shutting theengine down when if the electric weight of battery is not enough, prevent the battery overdischarge, therefore, this control method can improve the service life of battery.
Compared with prior art, the control setup of this parallel light hybrid motor bike has following advantage:
1, this control setup is except adopting accelerator open degree sensor and car speed sensor, engine speed sensor and normal danger sensor have also been adopted in addition, flow to the multiple vehicle condition of the signal judgement car load of car load ECU by these four kinds of sensors, vehicle condition according to car load is come, car load ECU calculates the output speed of motor according to the rotating speed of driving engine, it is more accurate to judge, can make total output output and the drive ability of engine power and motor power reach optimization after cooperating this control method, improve the efficient of car load, and need not sacrifice the performance of car load.
2, this control setup adopts motor that the energy of braking is reclaimed when braking, reduces the car load oil consumption.During recovery, the electricity that motor sends springs back in the battery by the electric capacity in the frequency converter, and circuit structure is simplified.
3, this control method will detect battery except prestart, if the real electric weight that detects battery when also wanting in the process of exercising will shutting theengine down during the electric weight of battery deficiency, prevents the battery overdischarge, therefore, improved the service life of battery.
Description of drawings
Fig. 1 represents the schematic diagram of the control setup of parallel light hybrid motor bike.
Fig. 2 represents the communication structure schematic diagram between the car load control unit.
Fig. 3 represents that hybrid power motorcycle synthesizes the horsepower output exemplary plot.
Fig. 4 represents the control policy example logic figure of car load control setup.
Among the figure, 1, car load ECU; 2, accelerator open degree sensor; 3, car speed sensor; 4, engine speed sensor; 5, normal danger sensor; 6, instrument; 7, driving engine; 8, Engine ECU; 9, motor ECU; 10, battery manager; 11, battery; 12, frequency converter; 13, motor.
The specific embodiment
Below be specific embodiments of the invention, and by reference to the accompanying drawings technical scheme of the present invention be further described, but the present invention is not limited to these embodiment.
As shown in Figure 1, the control setup of parallel light hybrid motor bike comprises car load ECU, battery, the accelerator open degree sensor 2 that is connected with car load ECU1, car speed sensor 3, engine speed sensor 4 and normal danger sensor 5 and the instrument 6 that shows the vehicle performance data, on car load ECU1, also be connected with the Engine ECU 8 for control driving engine 7, motor ECU9 and battery manager 10, battery manager 10 is used for discharging and recharging of control battery 11, battery manager 10 is connected with the control end of battery 11, the mouth of battery 11 is connected with the power end of frequency converter 12, the mouth of frequency converter 12 connects motor, motor 13 is by on the bent axle that is parallel to driving engine 7, the bent axle of driving engine 7 is connected with the trailing wheel of car load with speed reduction gearing by power-transfer clutch, motor ECU9 is connected with the control end of frequency converter 12, is used for control motor 13 by frequency converter 12.This motor 13 is made actuating motor when starting, as electrical motor, as electrical generator, this motor 13 is ISG motor common on the market when descending or deceleration when accelerating.Accelerator open degree sensor 2, car speed sensor 3, driving engine 7 tachogens 4 and normal danger sensor 5 send to car load ECU1 with the electric signal that detects, car load ECU1 handles the back according to the signal that receives and sends control command to Engine ECU 8, motor ECU9 and battery manager 10, Engine ECU 8 is according to control command control driving engine 7, motor ECU9 controls motor 13 according to control command by control frequency converter 12, and battery manager 10 discharges and recharges according to control command control battery 11.
Behind the car load ECU1 sensor-lodging, accelerator open degree signal, vehicle speed signal are compared, correctly judge the car load operating condition of this moment, by control battery 11, motor 13 and driving engine 7 work, provide driving power required under this operating mode.When accelerating mode, also horsepower output of motor 13 in the time of driving engine 7 horsepower outputs improves the acceleration capability of car load.Work as decelerating mode, motor 13 generatings are charged to battery 11, and energy is reclaimed.
Specifically, as shown in Figure 2, car load ECU1, Engine ECU 8, motor ECU9 and battery manager 10 adopt the CAN line to carry out mutual information transmission.
Motor 13 control nodes: be used for connecting motor ECU9, the information that this motor ECU9 will be referred to motor 13 startings is delivered on the CAN line and from identical line and is received various activation command signals;
Driving engine 7 control nodes: be used for connecting Engine ECU 8, the information that this Engine ECU 8 will be referred to driving engine 7 is delivered on the CAN line and from identical line and is received various activation command signals;
Instrument 6 shows nodes: be used for connecting instrument 6, this instrument 6 will be referred to information that instrument 6 shows and delivers on the CAN line and from identical line and receive various signals, and selects the back to transmit signal.
Battery 11 control nodes: be used for connecting battery manager 10, the information that battery manager 10 will be referred to its charge condition sends on the CAN line and receives various command and the control incoming signal.
Car load control unit node: be used for connecting car load ECU, this device receives from the signal of motor ECU9, Engine ECU 8, instrument 6 and battery manager 10 transmissions and with various command and control signal from the CAN line and is sent to each device.
Car load ECU1 reads driving engine 7 tachogens 4, accelerator open degree sensor 2, car speed sensor 3 and normal danger sensor 5 every a time by the CAN line and carries the signal of coming, signal is transformed, and the signal that receives in the instrument 6 also imports among the car load ECU1 simultaneously.Compare analysis according to the signal that receives by control program, 7 work of Engine ECU 8 control driving engines, motor ECU9 controller control motor 13 cooperates driving engine 7 work simultaneously, improves the acceleration capability of car load.
Because motor 13 is auxiliary powers, so the power sum of the power of driving engine 7 outputs and motor 13 outputs is near the maximum output power of driving engine 7.As shown in Figure 3, before driving engine 7 speed reach first rotating speed, first rotating speed is 4000rpm, engine speed sensor 4 is passed to car load ECU1 with tach signal, send control command after car load ECU1 compares this signal and give motor ECU9, the increase along with driving engine 7 rotating speeds increases motor ECU9 according to the rotating speed of control command control motor 13; When driving engine 7 speed arrive second rotating speed above first rotating speed, second rotating speed is 9000rpm, increase along with driving engine 7 rotating speeds reduces motor ECU9 according to the rotating speed of control command control motor 13, and when driving engine 7 rotating speeds reached second rotating speed, motor 13 rotating speeds were zero.
For battery 11 is protected, prolong the service life of battery 11, battery manager 10 stops motor 13 startings when receiving the signal of electric weight deficiency; When receiving the signal that battery 11 electric weight are full of, stop charging.
When car load ECU1 received the brake signal that normal danger sensor 5 transports, 13 generatings of motor ECU9 control motor were also stored in the battery 11.Engine ECU 8 and motor ECU9 export to motor 13 according to the driving signal (SU, SV, SW) that control signal and battery 11 voltages are tried to achieve.Motor 13 be by will driving the three-phase coil that signal (SU, SV, SW) flows to U phase, V phase, W phase, driven or regeneration, and motor 13 torques are exported to drive wheel or given battery 11 chargings by regeneration.In common regenerative brake ratio, the resistance that produces during with motor 13 generatings is braked, and therefore can carry out energy to a part of braking energy and reclaim.If emergency braking then adopts mechanical braking or hydraulic braking.
As shown in Figure 4, the control method of parallel light hybrid motor bike comprises the steps:
1) ignition trigger: connect source switch, after car load ECU1 detected ignition signal, battery manager 10 detected the electric weight of battery 11, when battery 11 electric weight are sufficient, and motor 13 fire an engines 7; When battery 11 electric weight are not enough, motor 13 inoperative driving engines 7;
2) read in the vehicle condition signal: after driving engine 7 startings, the brake signal that accelerator open degree signal, engine rotational speed signal and the vehicle speed signal that the accelerator open degree sensor 2 that car load ECU1 receives successively, engine speed sensor 4 and car speed sensor 3 send and normal danger sensor 5 transmit;
3) braking and energy reclaim: when car load ECU1 judges that brake signal is emergency brake signal, by original mechanical braking sytem or the hydraulic brake system on the motor bike; When car load ECU1 judged that brake signal is non-emergent speed-slackening signal, motor ECU9 controlled motor 13 generatings, and 11 chargings of battery manager 10 control batteries are with the energy recovery of braking;
4) battery 11 electric weight are judged: when not detecting the brake signal of normal danger sensor 5 transmission in car load ECU1 institute, battery manager 10 detects the electric weight of battery 11 again, when battery 11 electric weight were sufficient, car load ECU1 judged the vehicle condition running state according to accelerator open degree signal, engine rotational speed signal and vehicle speed signal; When battery 11 electric weight are not enough, finish the starting of driving engine 7;
5) the car load operating mode is judged: detect accelerator open degree signal and vehicle speed signal and be operating mode at the uniform velocity when all constant; Detect the accelerator open degree signal and when becoming big, be accelerating mode; It is constant to detect the accelerator open degree signal, and vehicle speed signal is the after-acceleration operating mode when becoming big; When the after-acceleration operating mode, when detecting current vehicle speed signal more than or equal to default vehicle speed signal, car load accelerates to finish, and motor 13 stops electronic, and car load switches at the uniform velocity operating mode; Detecting the accelerator open degree signal is reducing, is being decelerating mode when vehicle speed signal reduces; It is constant to detect the accelerator open degree signal, and vehicle speed signal is reducing and vehicle speed signal also is the back decelerating mode greater than default vehicle speed signal; In the back during decelerating mode, vehicle speed signal reduces and current vehicle speed signal during smaller or equal to default vehicle speed signal, and motor 13 stops generating, and car load switches at the uniform velocity operating mode; It is constant to detect the accelerator open degree signal, and vehicle speed signal is becoming big, and current vehicle speed signal is the descending operating mode during greater than default vehicle speed signal;
6) car load ECU1 control power output: when car load ECU1 judged the car load operating mode, by Engine ECU 8 control driving engines 7 rotating speeds, motor 13 required rotating speeds calculated according to driving engine 7 current rotating speeds, and by motor ECU9 control motor 13 rotating speeds; When vehicle condition at the uniform velocity, motor 13 generatings are to battery 11 chargings, when accelerating mode and after-acceleration operating mode, and motor 13 horsepower outputs, when decelerating mode, back decelerating mode and descending operating mode, motor 13 generating recuperated energies; In the change process of these operating modes, accelerator open degree sensor 2, engine speed sensor 4 and car speed sensor 3 are transported to car load ECU1 with real-time detected signal, to realize circulation.
Claims (6)
1. the control setup of a parallel light hybrid motor bike, comprise car load ECU(1), battery (11), with car load ECU(1) accelerator open degree sensor (2) and the car speed sensor (3) that all are connected, it is characterized in that, this control setup also comprises and car load ECU(1) driving engine (7) tachogen (4) and the normal danger sensor (5) that are connected, at car load ECU(1) on also be connected with for control driving engine (7) Engine ECU (8), be used for controlling the motor ECU(9 of motor (13)) and be used for the battery manager (10) that control battery (11) discharges and recharges, motor ECU(9) is connected with frequency converter (12) on, battery manager (10) is connected with the control end of above-mentioned battery (11), the mouth of battery (11) is connected with the power end of frequency converter (12), accelerator open degree sensor (2), car speed sensor (3), engine speed sensor (4) and normal danger sensor (5) send to car load ECU with the electric signal that detects, car load ECU(1) handles the back to Engine ECU (8) according to the signal that receives, motor ECU(9) and battery manager (10) send control command, Engine ECU (8) is according to control command control driving engine (7), motor ECU(9) control motor (13) rotating speed according to control command by control frequency converter (12), battery manager (10) discharges and recharges and inoperative driving engine (7) when electric weight is not enough according to control command control battery (11).
2. the control setup of parallel light hybrid motor bike according to claim 1 is characterized in that, described driving engine (7) horsepower output and described motor (13) horsepower output sum are near the maximum output power of driving engine (7).
3. the control setup of parallel light hybrid motor bike according to claim 2, it is characterized in that, before described driving engine (7) speed reaches first rotating speed, first rotating speed is 4000rpm, engine speed sensor (4) is passed to car load ECU(1 with tach signal), car load ECU(1) send control command after this signal is compared and give motor ECU(9), motor ECU(9) increase along with driving engine (7) rotating speed increases according to the rotating speed of control command control motor (13); When driving engine (7) speed arrives second rotating speed above first rotating speed, second rotating speed is 9000rpm, motor ECU(9) increase along with driving engine (7) rotating speed reduces according to the rotating speed of control command control motor (13), when driving engine (7) rotating speed reached second rotating speed, motor (13) rotating speed was zero.
4. according to the control setup of claim 1 or 2 or 3 described parallel light hybrid motor bikes, it is characterized in that described battery manager (10) stops motor (13) starting when receiving the signal of electric weight deficiency; When receiving the signal that battery (11) electric weight is full of, stop charging.
5. the control setup of parallel light hybrid motor bike according to claim 4, it is characterized in that, when described car load ECU(1) receiving the brake signal that normal danger sensor (5) transports, motor ECU(9) control motor (13) generating and store in the battery (11) by frequency converter (12).
6. the control setup of parallel light hybrid motor bike according to claim 5, it is characterized in that described car load ECU(1), Engine ECU (8), motor ECU(9) and battery manager (10) adopt the CAN line to carry out mutual information transmission.
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| CN107415928A (en) * | 2016-05-11 | 2017-12-01 | 福特全球技术公司 | Hybrid electric vehicle, which is wriggled, to be controlled |
| CN108168899A (en) * | 2017-12-28 | 2018-06-15 | 凯迈(洛阳)机电有限公司 | A kind of motor heating break-in control system |
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| EP3098482B1 (en) * | 2014-01-23 | 2020-08-05 | Kabushiki Kaisha F.C.C. | Saddled vehicle |
| CN103888032A (en) * | 2014-02-28 | 2014-06-25 | 成都宇能通能源开发有限公司 | Mechanical in-parallel modularized combined type electric driving system with batteries serving as energy sources |
| CN109062085A (en) * | 2018-06-20 | 2018-12-21 | 武汉志力拓贸易有限公司 | Locomotive wireless location auto-power-cutting system |
| CN115503635B (en) * | 2022-09-23 | 2024-02-23 | 广州市立睿升电子有限公司 | Fuel-saving and power-enhancing method for fuel-oil vehicle |
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| CN101570131A (en) * | 2009-06-03 | 2009-11-04 | 奇瑞汽车股份有限公司 | Four-wheel driven hybrid vehicle driving system and driving management method thereof |
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| CN107415928A (en) * | 2016-05-11 | 2017-12-01 | 福特全球技术公司 | Hybrid electric vehicle, which is wriggled, to be controlled |
| CN107415928B (en) * | 2016-05-11 | 2022-07-22 | 福特全球技术公司 | Hybrid electric vehicle creep control |
| CN107097687A (en) * | 2017-04-28 | 2017-08-29 | 北京新能源汽车股份有限公司 | Automobile jitter control method and device |
| CN107097687B (en) * | 2017-04-28 | 2019-09-03 | 北京新能源汽车股份有限公司 | Automobile jitter control method and device |
| CN108168899A (en) * | 2017-12-28 | 2018-06-15 | 凯迈(洛阳)机电有限公司 | A kind of motor heating break-in control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103287426B (en) | 2015-12-02 |
| CN102069798A (en) | 2011-05-25 |
| CN102069798B (en) | 2013-11-06 |
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