CN112895917B - Multi-stage ladder-section torque control implementation method for electric automobile creeping running - Google Patents
Multi-stage ladder-section torque control implementation method for electric automobile creeping running Download PDFInfo
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- CN112895917B CN112895917B CN202110311115.2A CN202110311115A CN112895917B CN 112895917 B CN112895917 B CN 112895917B CN 202110311115 A CN202110311115 A CN 202110311115A CN 112895917 B CN112895917 B CN 112895917B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2063—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for creeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The invention discloses a multi-step torque control implementation method for creep running of an electric automobile, which mainly comprises the steps of monitoring a gear signal, an accelerator pedal signal, a brake pedal signal, a vehicle speed, a motor rotating speed and a motor actual output torque signal through a vehicle control unit, determining that the vehicle is in a creep working condition according to the monitored signals, judging whether the vehicle speed does not meet the creep target vehicle speed or not according to the acquired signals, and smoothly outputting the torque through a set multi-step torque. The method can reasonably utilize the driving and electric braking characteristics of the motor, and reduces the operation of a driver.
Description
Technical Field
The invention relates to a control method of a new energy electric automobile, in particular to a multi-step torque control implementation method for creep running of the electric automobile.
Background
Along with the rapid development of Chinese economy, the living standard of people is higher and higher, the purchasing ability of automobiles is also greatly improved, and the energy and environmental problems in China are increasingly severe. From the national situation, the research and development of the electric automobile are required to be enhanced. Because the electric passenger car works by the output torque of the motor, the running requirement of the vehicle is realized, and the vehicle generally has a crawling running function.
At present, the creep driving function of the passenger vehicle adopts a single torque control output form taking the vehicle speed as a target, and when the vehicle creeps to a small slope or a deceleration strip, the vehicle cannot achieve the purpose of continuing to move forward due to the fact that a single torque control maximum value is set. Or the vehicle runs on a downhill road condition, the characteristic of electromechanical braking is not utilized, and the vehicle speed under the creeping working condition is higher than the set creeping target vehicle speed due to the inertia of the vehicle even if no torque is output. The driver is required to manually step on an accelerator pedal or step on a brake pedal to reduce the crawling speed, so that excessive operation of the driver is increased.
Disclosure of Invention
Aiming at the prior art, the invention provides a multi-step torque control implementation method for the creeping running of an electric automobile, which is used for facilitating the operation of a driver on the automobile and reasonably utilizing the characteristics of the driving and the electric braking of a motor. After the vehicle speed is higher or lower than the crawling target vehicle speed, the crawling torque control of the crawling sections on different slopes is realized by setting the control torque of the crawling sections on different slope road conditions, so that the crawling vehicle speed of the vehicle is more stable, and the operation of a driver is reduced.
In order to solve the technical problems, the invention provides a multi-step torque control implementation method for the creeping running of an electric automobile, wherein the whole automobile has the creeping running function, and the automobile is in a forward gear and does not have the requirements of acceleration and braking of a driver; the method is characterized in that: the vehicle creep running method comprises the steps of monitoring a gear signal, an accelerator pedal signal, a brake pedal signal, a vehicle speed, a motor rotating speed and a motor actual output torque signal through a vehicle control unit, determining that the vehicle is in a creep working condition according to the monitored signals, judging whether the vehicle speed does not meet the creep target vehicle speed or not according to the collected signals, and outputting smoothly through set multi-step torque to realize the self-advancing creep running of the vehicle under the condition of a slope road.
Further, the invention relates to a method for realizing multi-step torque control during creep driving of an electric vehicle, wherein the method comprises the following steps:
the creep target speed is based on the design of the whole vehicle, and the setting of the target value of the control torque and the negative torque at each creep stage and the coefficient of smooth filtering are based on the actual calibration of each vehicle; the whole vehicle controller carries out multi-step torque control according to the set creep target vehicle speed, once the vehicle speed is lower than or higher than the creep target vehicle speed, the whole vehicle controller operates to the set torque of a higher or lower step section in the set torque control step section by the whole vehicle controller, so that the torque is smoothly increased and decreased, and the stability of the target vehicle speed of the vehicle is kept.
When the vehicle is accelerated to a creeping target vehicle speed from a static state or enters a slope or a deceleration strip, the vehicle controller controls torque output smoothly in a plurality of torque control steps through a set creeping target step torque output value and increases or reduces torque, so that the vehicle cannot stop or have too high vehicle speed due to insufficient single set torque, and stable running of the vehicle is met.
When the vehicle is in downhill creeping, if the vehicle speed is too high and the controlled input torque is reduced to 0Nm, the VCU controls the target input torque of the motor to smoothly drop to a set creeping negative torque target value through a preset negative torque transition coefficient, and the electric braking function of the motor is used for realizing the deceleration of the vehicle so that the vehicle can continuously run within the required creeping target vehicle speed.
When the vehicle is gradually accelerated to the crawling target speed from a static state, the vehicle controller controls the motor to operate a first section of control torque, so that the vehicle continuously moves through the road section at a constant speed at the set crawling target speed; when the vehicle enters a slope or a deceleration strip, the creeping target vehicle speed is lower than the lowest creeping vehicle speed set by a program or higher than the highest creeping vehicle speed, the vehicle controller slowly increases the torque or reduces the torque output through a torque step transition coefficient under the working condition, and the vehicle controller controls the motor to enter the second-stage torque control so that the vehicle continuously maintains the set creeping target vehicle speed; when the vehicle enters a road surface with a larger gradient again, the vehicle control unit controls the motor to enter torque control in the third stage, so that the vehicle can continue to stably run.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the vehicle controller monitors a gear signal, an accelerator pedal signal, a brake pedal signal, a vehicle speed, a motor rotating speed and a motor actual output torque signal, and the vehicle creeping normal use function under a slope road condition is realized through the set multi-step torque smooth output. When a small slope or a deceleration strip occurs, through the set good vehicle speed target value, the torque output is smoothly controlled in a plurality of torque control step sections, and the torque is increased or reduced, so that the vehicle cannot stop or have an excessively high vehicle speed due to insufficient single set torque.
Drawings
FIG. 1 is a schematic diagram of multi-step torque control during creep driving of an electric vehicle according to the present invention.
Detailed Description
The invention will be further described with reference to the following drawings and specific examples, which are not intended to limit the invention in any way.
The invention provides a multistage stepped torque control implementation method for creep driving of an electric vehicle, which mainly comprises the steps of acquiring a gear signal, an accelerator pedal signal, a brake pedal signal, a vehicle speed, a motor rotating speed and a motor actual output torque signal of the vehicle through a vehicle control unit, determining whether the vehicle is in a creep working condition according to the monitored signals, judging whether the vehicle speed does not meet the creep target vehicle speed or not according to the acquired signals, smoothly outputting through set multistage stepped torques, controlling the output torque of the motor after calculation to achieve the self-propelled operation of the vehicle, once the vehicle speed is lower than or higher than the creep target vehicle speed in the self-propelled creep process of the vehicle, enabling the vehicle control unit to automatically operate to the set torque of a higher or lower stepped section in a set torque control stepped section to realize the smooth increase and decrease of the torque and keep the stability of the target vehicle speed of the vehicle, the self-advancing creeping operation of the vehicle under the condition of the sloping road is realized. The method can reasonably utilize the driving and electric braking characteristics of the motor, reduces the operation of a driver, for example, when the vehicle encounters a small slope, such as an uphill road, a downhill road or a deceleration strip, the target speed of backing and crawling is lower than or higher than the minimum or maximum speed set by a program, and can slowly increase the torque or reduce the torque output under the working condition so as to ensure that the vehicle continuously advances through the uphill and downhill road sections at a constant speed by the set crawling target speed. When the vehicle is in downhill creeping, if the vehicle speed is too high and the controlled input torque is reduced to 0Nm, the VCU controls the target input torque of the motor to smoothly drop to a set creeping negative torque target value through a preset negative torque transition coefficient, and the electric braking function of the motor is used for realizing the deceleration of the vehicle so that the vehicle can continuously run within the required creeping target vehicle speed.
In the invention, the creep target speed is based on the design of the whole vehicle, and the setting of the control torque and negative torque target value at each creep stage and the coefficient of smooth filtering are based on the actual calibration of each vehicle. The actual calibration of the vehicle is to calibrate an engineer to perform a crawling experiment, and in the process of controlling the crawling of the vehicle, the vehicle is driven to crawl according to a crawling target step torque output value obtained by calibration; obtaining a torque step transition coefficient, a creep target vehicle speed, a lowest creep vehicle speed value, a highest creep vehicle speed value, a creep negative torque transition coefficient and a creep negative torque target value of the VCU through calibration; the process is as follows:
step 1, designing a plurality of crawling target torque output tables based on a vehicle speed difference and a speed change period of a crawling target vehicle speed and an actual vehicle speed of a vehicle, and obtaining a reverse crawling torque target through table look-up;
step 2, when the maximum creep torque target value of the first step cannot drive the vehicle to meet the creep target vehicle speed, transitioning to a higher step target torque through a torque step transition coefficient until the transition reaches a set step target torque to meet the creep target vehicle speed; or when the vehicle cannot be driven to meet the creep target vehicle speed even if the minimum creep torque target value in the first step is the minimum creep torque target value, the vehicle is transited to the creep negative torque target value through the negative torque transition coefficient until the creep negative torque target value is transited to or meets the creep target vehicle speed.
And calculating to obtain a current creep torque output value by using the obtained creep target step torque step transition coefficient, the creep target vehicle speed, the lowest creep vehicle speed value, the highest creep vehicle speed value, the creep negative torque transition coefficient and the creep negative torque target value, so that the vehicle can realize creep.
In this embodiment, the method for implementing multistage stepped torque control for creep driving of an electric vehicle mainly includes torque control output and a vehicle driving speed, as shown in fig. 1, a curve 1 is a torque output curve, a curve 2 is a vehicle driving speed, and in this embodiment, a maximum creep driving vehicle speed is set to be 5 km/h. When the vehicle enters a good straight road surface to run, the torque control of the first stage is used, so that the vehicle can creep at the speed of 5km/h at most slowly, and at the moment, the vehicle runs on a road condition such as a slope and the like, the torque of the first stage cannot meet the maintained speed, and the whole vehicle controller controls the motor to enter the torque control of the second stage, so that the vehicle can continuously maintain 5 km/h. When the vehicle enters a road surface with a larger gradient again, the vehicle controller controls the motor to enter the torque control of the third stage, so that the vehicle can continue to stably run.
When the vehicle exits from the downhill road condition, the vehicle controller reduces the output of torque according to the change condition of the vehicle speed, so that the vehicle can stably run. The vehicle is in a creeping running working condition and runs on a small slope road surface, the vehicle speed is not too high or too low, and the vehicle still runs at a creeping target speed set by a program.
According to the method, the whole vehicle controller can perform multi-step torque control according to the set creep target vehicle speed, namely, when the vehicle speed is lower than or higher than the creep target vehicle speed, a program is operated to the set torque of a higher or lower step section, so that the target vehicle speed is stabilized.
Although the present invention has been described in connection with the accompanying drawings, the present invention is not limited to the above-described embodiments, which are intended to be illustrative rather than restrictive, and many modifications may be made by those skilled in the art without departing from the spirit of the present invention as disclosed in the appended claims.
Claims (5)
1. A multi-step torque control implementation method for electric automobile creeping running is characterized in that the whole automobile has the creeping running function, and the automobile is in a forward gear without the requirements of a driver for acceleration and braking; the method is characterized in that: monitoring a gear signal, an accelerator pedal signal, a brake pedal signal, a vehicle speed, a motor rotating speed and a motor actual output torque signal through a vehicle controller, determining that the vehicle is in a creeping working condition according to the monitored signals, judging whether the vehicle speed does not meet the creeping target vehicle speed or not through the acquired signals, and realizing self-advancing creeping operation of the vehicle under a slope road condition through the set multi-step torque smooth output;
the creep target speed is based on the design of the whole vehicle, and the setting of the target value of the control torque and the negative torque at each creep stage and the coefficient of smooth filtering are based on the actual calibration of each vehicle; the whole vehicle controller carries out multi-step torque control according to the set creep target vehicle speed, once the vehicle speed is lower than or higher than the creep target vehicle speed, the whole vehicle controller automatically operates to the set torque of a higher or lower step section in the set torque control step section, the torque is smoothly increased and decreased, and the stability of the vehicle target vehicle speed is kept.
2. The method for realizing the multi-step torque control of the creep running of the electric automobile according to claim 1, characterized in that: when the vehicle is accelerated to a creeping target vehicle speed from a static state or enters a slope or a deceleration strip, the vehicle controller controls torque output smoothly in a plurality of torque control steps through a set creeping target step torque output value and increases or reduces torque, so that the vehicle cannot stop or have too high vehicle speed due to insufficient single set torque, and stable running of the vehicle is met.
3. The method for realizing the multi-step torque control of the creep running of the electric automobile according to claim 1, characterized in that: when the vehicle is in downhill creeping, if the vehicle speed is too high and the controlled input torque is reduced to 0Nm, the VCU controls the target input torque of the motor to smoothly drop to a set creeping negative torque target value through a preset negative torque transition coefficient, and the electric braking function of the motor is used for realizing the deceleration of the vehicle so that the vehicle can continuously run within the required creeping target vehicle speed.
4. The method for realizing the multistage stepped torque control of the crawling running of the electric automobile according to claim 2, wherein the actual calibration of the vehicle is to calibrate an engineer to perform a crawling experiment, and in the process of controlling the crawling running of the vehicle, the vehicle is driven to crawl according to a crawling target stepped torque output value obtained by calibration; obtaining a torque step transition coefficient, a creep target vehicle speed, a lowest creep vehicle speed value, a highest creep vehicle speed value, a creep negative torque transition coefficient and a creep negative torque target value of the VCU through calibration; the process is as follows:
step 1, designing a plurality of crawling target torque output tables based on a vehicle speed difference and a speed change period of a crawling target vehicle speed and an actual vehicle speed of a vehicle, and obtaining a reverse crawling torque target through table look-up;
step 2, when the maximum creep torque target value of the first step cannot drive the vehicle to meet the creep target vehicle speed, transitioning to a higher step target torque through a torque step transition coefficient until the transition reaches a set step target torque to meet the creep target vehicle speed; or:
when the minimum creep torque target value of the first step stage still can not drive the vehicle to meet the creep target vehicle speed, the vehicle is transited to the creep negative torque target value through the negative torque transition coefficient until the transition reaches the set creep negative torque target value or meets the creep target vehicle speed;
and calculating to obtain a current creep torque output value by using the obtained creep target step torque step transition coefficient, the creep target vehicle speed, the lowest creep vehicle speed value, the highest creep vehicle speed value, the creep negative torque transition coefficient and the creep negative torque target value, so that the vehicle can realize creep.
5. The method for realizing the multistage stepped torque control of the electric automobile in the crawling running process according to claim 4, wherein when the vehicle is gradually accelerated from a static state to a crawling target speed, the vehicle controller controls the motor to operate the first stage of control torque so that the vehicle continuously moves through the road section at a constant speed at the set crawling target speed; when the vehicle enters a slope or a deceleration strip, the creeping target vehicle speed is lower than the lowest creeping vehicle speed set by a program or higher than the highest creeping vehicle speed, the vehicle controller slowly increases the torque or reduces the torque output through a torque step transition coefficient under the working condition, and the vehicle controller controls the motor to enter the second-stage torque control so that the vehicle continuously maintains the set creeping target vehicle speed; when the vehicle enters the road surface with a larger gradient again, the vehicle controller controls the motor to enter the torque control of the third stage, so that the vehicle can continue to stably run.
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| CN115703364A (en) * | 2021-08-09 | 2023-02-17 | 比亚迪股份有限公司 | Vehicle slope stabilizing control method and device and vehicle |
| CN114056126B (en) * | 2022-01-17 | 2022-04-05 | 深圳佑驾创新科技有限公司 | Method and device for controlling longitudinal motion of electric vehicle based on deceleration strip detection |
| CN114954035A (en) * | 2022-05-25 | 2022-08-30 | 中国第一汽车股份有限公司 | Motor control method and device and vehicle |
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