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CN112959896A - Four-wheel drive control method for pure electric vehicle with dual-drive electric bridge architecture - Google Patents

Four-wheel drive control method for pure electric vehicle with dual-drive electric bridge architecture Download PDF

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Publication number
CN112959896A
CN112959896A CN202110329357.4A CN202110329357A CN112959896A CN 112959896 A CN112959896 A CN 112959896A CN 202110329357 A CN202110329357 A CN 202110329357A CN 112959896 A CN112959896 A CN 112959896A
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CN
China
Prior art keywords
vehicle speed
torque
ratio
front motor
wheel
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Pending
Application number
CN202110329357.4A
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Chinese (zh)
Inventor
贺日升
宫庆伟
武贝贝
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Dayun Automobile Co Ltd
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Dayun Automobile Co Ltd
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Priority to CN202110329357.4A priority Critical patent/CN112959896A/en
Publication of CN112959896A publication Critical patent/CN112959896A/en
Pending legal-status Critical Current

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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
    • 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
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • 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
    • 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
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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)

Abstract

The invention relates to a pure electric vehicle control method, in particular to a pure electric vehicle four-wheel drive control method with a dual-drive electric bridge framework. The problem that the configuration of the output torque of the existing four-wheel drive control method of the pure electric vehicle with the dual-drive bridge architecture is unreasonable is solved. The control method reasonably configures the working state and the output torque of the front and rear driving systems, realizes a more flexible and refined four-wheel drive mode, and simultaneously ensures low power consumption of the electric automobile. And (3) carrying out limited slip judgment according to the rotation speed difference of the front wheel and the rear wheel: when the difference between the rotating speeds of the front wheel and the rear wheel is more than or equal to 2.5km/h, the front wheel enters a limited slip state; and in the limited slip state of the front wheels, redistributing the torques of the front motor and the rear motor by a linear interpolation method. The whole vehicle driving mode comprises the following steps: three modes of ECO, NORMAL and SPORT, wherein the three modes have respective accelerator pedal MAP and respective brake pedal MAP; the driving mode state of the last cycle needs to be saved after the power is turned on again.

Description

Four-wheel drive control method for pure electric vehicle with dual-drive electric bridge architecture
Technical Field
The invention relates to a pure electric vehicle control method, in particular to a pure electric vehicle four-wheel drive control method with a dual-drive electric bridge framework.
Background
The pure electric vehicle with the dual-drive bridge architecture comprises two motors, namely a front axle motor and a rear axle motor. The front wheel axle motor drives the front wheel axle through the front wheel axle gear box, and the rear wheel axle motor drives the rear wheel axle through the rear wheel axle gear box. An accelerator pedal (also called an accelerator pedal) gives an accelerator pedal opening (voltage) signal to a Vehicle Controller (VCU), the VCU converts the accelerator pedal opening signal into a request torque value according to an accelerator pedal MAP, the request torque value is divided into a front axle motor torque value and a rear axle motor torque value by combining the vehicle speed after passing through a primary filtering algorithm, and the front axle motor torque value and the rear axle motor torque value pass through a secondary filtering algorithm to become the control basis of a front axle motor and a rear axle motor. The VCU converts the opening signal of the brake pedal into the absolute value of the maximum negative torque and the upper limit of the electric power according to the MAP, and the absolute value is used as the control basis for feeding back the braking energy of the vehicle.
According to the existing pure electric vehicle four-wheel drive control method with the dual-drive bridge architecture, due to the fact that the output torque configuration of a front axle motor and the output torque configuration of a rear axle motor are unreasonable, the flexibility and the fineness of vehicle control are affected, and the power consumption of an electric vehicle is high.
Disclosure of Invention
The invention solves the problem that the output torque configuration of the existing four-wheel-drive control method of the pure electric vehicle with the dual-drive bridge architecture is unreasonable, and provides the four-wheel-drive control method of the pure electric vehicle with the dual-drive bridge architecture. The control method reasonably configures the working state and the output torque of the front and rear driving systems, realizes a more flexible and refined four-wheel drive mode, and simultaneously ensures low power consumption of the electric automobile.
The invention is realized by adopting the following technical scheme: the four-wheel-drive control method of the pure electric vehicle with the dual-drive bridge architecture is characterized in that the torque distribution of front and rear motors is realized through a linear interpolation method according to the following contents:
the requested torque (also referred to as the original torque) is 0: the ratio of the torque of the front motor is 0 when the vehicle speed is 0, the ratio of the torque of the front motor is 0 when the vehicle speed is 10km/h, the ratio of the torque of the front motor is 0 when the vehicle speed is 20km/h, and the ratio of the torque of the front motor is 100 when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 20N · m: the ratio of the front motor torque is 50% when the vehicle speed is 0, 50% when the vehicle speed is 10km/h, 50% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 40N · m: the ratio of the front motor torque is 75% when the vehicle speed is 0, the ratio of the front motor torque is 75% when the vehicle speed is 10km/h, the ratio of the front motor torque is 75% when the vehicle speed is 20km/h, and the ratio of the front motor torque is 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 60N · m: the ratio of the front motor torque is 67% when the vehicle speed is 0, the ratio of the front motor torque is 67% when the vehicle speed is 10km/h, the ratio of the front motor torque is 67% when the vehicle speed is 20km/h, and the ratio of the front motor torque is 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 80N · m: the ratio of the front motor torque is 75% when the vehicle speed is 0, the ratio of the front motor torque is 75% when the vehicle speed is 10km/h, the ratio of the front motor torque is 75% when the vehicle speed is 20km/h, and the ratio of the front motor torque is 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 100N · m: the ratio of the front motor torque is 80% when the vehicle speed is 0, 80% when the vehicle speed is 10km/h, 80% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 120N · m: the ratio of the front motor torque is 75% when the vehicle speed is 0, the ratio of the front motor torque is 75% when the vehicle speed is 10km/h, the ratio of the front motor torque is 75% when the vehicle speed is 20km/h, and the ratio of the front motor torque is 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 140N · m: the ratio of the front motor torque is 79% when the vehicle speed is 0, 79% when the vehicle speed is 10km/h, 79% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 160N · m: the ratio of the front motor torque is 81% when the vehicle speed is 0, 81% when the vehicle speed is 10km/h, 81% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 180N · m: the ratio of the front motor torque is 83% when the vehicle speed is 0, 83% when the vehicle speed is 10km/h, 83% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 200N · m: the ratio of the front motor torque is 80% when the vehicle speed is 0, 80% when the vehicle speed is 10km/h, 80% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 220N · m: the ratio of the front motor torque is 82% when the vehicle speed is 0, 82% when the vehicle speed is 10km/h, 82% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 240N · m: the ratio of the front motor torque is 83% when the vehicle speed is 0, 83% when the vehicle speed is 10km/h, 83% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 260N · m: the ratio of the front motor torque is 85% when the vehicle speed is 0, 85% when the vehicle speed is 10km/h, 85% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 280N · m: the ratio of the front motor torque is 82% when the vehicle speed is 0, 82% when the vehicle speed is 10km/h, 82% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
requested torque 290N · m: the ratio of the front motor torque is 79% when the vehicle speed is 0, 79% when the vehicle speed is 10km/h, 79% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h.
Further, the limited slip judgment is carried out according to the rotating speed difference of the front wheel and the rear wheel: when the difference between the rotating speeds of the front wheel and the rear wheel is more than or equal to 2.5km/h, the front wheel enters a limited slip state; when the difference between the rotating speeds of the front wheel and the rear wheel is less than 2.5km/h, the front wheel is out of the limited slip state; in the limited slip state of the front wheels, the torque redistribution of the front and rear motors is performed by a linear interpolation method as follows:
when the difference between the rotating speeds of the front wheel and the rear wheel is 2.5km/h, the torque of the front motor accounts for 83 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 5km/h, the torque of the front motor accounts for 80 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 8km/h, the torque of the front motor accounts for 75 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 10km/h, the torque ratio of the front motor is 66 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 13km/h, the torque of the front motor accounts for 50 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 15km/h, the torque of the front motor accounts for 33 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 18km/h, the torque of the front motor accounts for 25 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 20km/h, the torque of the front motor accounts for 20%;
when the difference between the rotating speeds of the front wheel and the rear wheel is 23km/h, the torque of the front motor accounts for 16%;
when the difference between the rotating speeds of the front wheel and the rear wheel is 25km/h, the torque of the front motor accounts for 16 percent.
At the moment, the capacity of the rear motor is greatly exerted, and the output torque of the front motor is reduced.
The front drive bridge is responsible for power output, and the rear drive bridge is responsible for power assistance. Through the reasonable configuration of the working state and the output torque of the front and rear driving systems, a more flexible and refined four-wheel drive mode is realized, and the low power consumption of the electric automobile is ensured. And the four-wheel drive control is flexibly carried out by utilizing the structural advantage of the dual-drive electric bridge to realize the functions of power assistance and limited slip.
Detailed Description
The four-wheel-drive control method of the pure electric vehicle with the dual-drive bridge architecture is characterized in that the torque distribution of front and rear motors is realized through a linear interpolation method according to the following contents:
the requested torque (also referred to as the original torque) is 0: the ratio of the torque of the front motor is 0 when the vehicle speed is 0, the ratio of the torque of the front motor is 0 when the vehicle speed is 10km/h, the ratio of the torque of the front motor is 0 when the vehicle speed is 20km/h, and the ratio of the torque of the front motor is 100 when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 20N · m: the ratio of the front motor torque is 50% when the vehicle speed is 0, 50% when the vehicle speed is 10km/h, 50% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 40N · m: the ratio of the front motor torque is 75% when the vehicle speed is 0, the ratio of the front motor torque is 75% when the vehicle speed is 10km/h, the ratio of the front motor torque is 75% when the vehicle speed is 20km/h, and the ratio of the front motor torque is 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 60N · m: the ratio of the front motor torque is 67% when the vehicle speed is 0, the ratio of the front motor torque is 67% when the vehicle speed is 10km/h, the ratio of the front motor torque is 67% when the vehicle speed is 20km/h, and the ratio of the front motor torque is 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 80N · m: the ratio of the front motor torque is 75% when the vehicle speed is 0, the ratio of the front motor torque is 75% when the vehicle speed is 10km/h, the ratio of the front motor torque is 75% when the vehicle speed is 20km/h, and the ratio of the front motor torque is 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 100N · m: the ratio of the front motor torque is 80% when the vehicle speed is 0, 80% when the vehicle speed is 10km/h, 80% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 120N · m: the ratio of the front motor torque is 75% when the vehicle speed is 0, the ratio of the front motor torque is 75% when the vehicle speed is 10km/h, the ratio of the front motor torque is 75% when the vehicle speed is 20km/h, and the ratio of the front motor torque is 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 140N · m: the ratio of the front motor torque is 79% when the vehicle speed is 0, 79% when the vehicle speed is 10km/h, 79% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 160N · m: the ratio of the front motor torque is 81% when the vehicle speed is 0, 81% when the vehicle speed is 10km/h, 81% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 180N · m: the ratio of the front motor torque is 83% when the vehicle speed is 0, 83% when the vehicle speed is 10km/h, 83% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 200N · m: the ratio of the front motor torque is 80% when the vehicle speed is 0, 80% when the vehicle speed is 10km/h, 80% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 220N · m: the ratio of the front motor torque is 82% when the vehicle speed is 0, 82% when the vehicle speed is 10km/h, 82% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 240N · m: the ratio of the front motor torque is 83% when the vehicle speed is 0, 83% when the vehicle speed is 10km/h, 83% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 260N · m: the ratio of the front motor torque is 85% when the vehicle speed is 0, 85% when the vehicle speed is 10km/h, 85% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 280N · m: the ratio of the front motor torque is 82% when the vehicle speed is 0, 82% when the vehicle speed is 10km/h, 82% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
requested torque 290N · m: the ratio of the front motor torque is 79% when the vehicle speed is 0, 79% when the vehicle speed is 10km/h, 79% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h. The following table specifically shows:
Figure DEST_PATH_IMAGE002
further, the limited slip judgment is carried out according to the rotating speed difference of the front wheel and the rear wheel: when the difference between the rotating speeds of the front wheel and the rear wheel is more than or equal to 2.5km/h, the front wheel enters a limited slip state; when the difference between the rotating speeds of the front wheel and the rear wheel is less than 2.5km/h, the front wheel is out of the limited slip state; in the limited slip state of the front wheels, the torque redistribution of the front and rear motors is performed by a linear interpolation method as follows:
when the difference between the rotating speeds of the front wheel and the rear wheel is 2.5km/h, the torque of the front motor accounts for 83 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 5km/h, the torque of the front motor accounts for 80 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 8km/h, the torque of the front motor accounts for 75 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 10km/h, the torque ratio of the front motor is 66 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 13km/h, the torque of the front motor accounts for 50 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 15km/h, the torque of the front motor accounts for 33 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 18km/h, the torque of the front motor accounts for 25 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 20km/h, the torque of the front motor accounts for 20%;
when the difference between the rotating speeds of the front wheel and the rear wheel is 23km/h, the torque of the front motor accounts for 16%;
when the difference between the rotating speeds of the front wheel and the rear wheel is 25km/h, the torque of the front motor accounts for 16%; the following table specifically shows:
differential speed (V)F-VR） 2.5 5 8 10 13 15 18 20 23 25
Proportion of front motor to total torque (%) 83 80 75 66 50 33 25 20 16 16
When the method is specifically implemented, the driving mode of the whole vehicle is divided into: three modes of ECO, NORMAL and SPORT, wherein the three modes have respective accelerator pedal MAP and respective brake pedal MAP; the driving mode state of the last cycle needs to be saved after the power is turned on again.
In the ECO mode, the primary filtering algorithm is as follows: tqout = Tqn-1 (1-10/(10+ T) + Tqn 10/(10+ T)), wherein: tqout is the requested torque value after one filtering, Tqn is the requested torque value at the current moment, Tqn-1 is the requested torque value at the previous moment, and the filtering time T is 120 ms; the secondary filtering algorithm adopts first-order linear filtering, and the filtering time parameter is 80 ms; the highest speed limit is 120 km/h; when the SOC of the vehicle power battery is less than 20%, the current driving mode automatically enters the ECO mode.
In NORMAL mode, the first filtering algorithm is as follows: tqout = Tqn-1 (1-10/(10+ T) + Tqn 10/(10+ T)), wherein: tqout is the requested torque value after one filtering, Tqn is the requested torque value at the current moment, Tqn-1 is the requested torque value at the last moment, and the filtering time T is 80 ms; the secondary filtering algorithm adopts first-order linear filtering, and the filtering time parameter is 80 ms; the highest speed limit is 120 km/h.
In the SPORT mode, the primary filtering algorithm is as follows: tqout = Tqn-1 (1-10/(10+ T) + Tqn 10/(10+ T)), wherein: tqout is the requested torque value after one filtering, Tqn is the requested torque value at the current moment, Tqn-1 is the requested torque value at the last moment, and the filtering time T is 40 ms; the secondary filtering algorithm adopts first-order linear filtering, and the filtering time parameter is 80 ms; the highest speed limit is 120 km/h; the dynamic property is stronger.
Through the distinguishing of the three driving modes and the difference of the MAP and the filtering parameters of the accelerator pedal in different modes, different torque outputs of the three driving modes are realized, so that the power consumption of the vehicle is reduced, and the endurance mileage is increased; meanwhile, the recovery rate of the braking energy of the vehicle is improved through the brake pedal MAP in different modes.
Braking energy feedback control:
meanwhile, the following conditions are met to enter a braking energy feedback function:
the motor speed (MCUF _ MotorSpeed) is more than 1500 rpm;
vehicle Ready state (VCU _ vehicle Ready signal);
accelerator pedal state (VCU _ AccelerationPedalValue) is not depressed;
the SOC (BMS _ BatterySoc) of the power battery is less than 100% (calibrated according to the feedback request of the BMS);
the gear is a gear D;
the ABS is in a non-faulted state and is not activated.
The braking energy feedback function is exited under the following conditions:
the rotating speed of the motor is less than 600 rpm;
a non-Ready state;
the accelerator pedal (VCU _ accelerationpedalvue) state is depressed;
the gear is a non-D gear;
SOC (BMS _ BatterySoc) is more than or equal to 100%;
the ABS is in a fault state or activated.

Claims (10)

1. A four-wheel drive control method of a pure electric vehicle with a dual-drive bridge architecture is characterized in that the torque distribution of front and rear motors is realized through a linear interpolation method according to the following contents:
the requested torque is 0: the ratio of the torque of the front motor is 0 when the vehicle speed is 0, the ratio of the torque of the front motor is 0 when the vehicle speed is 10km/h, the ratio of the torque of the front motor is 0 when the vehicle speed is 20km/h, and the ratio of the torque of the front motor is 100 when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 20N · m: the ratio of the front motor torque is 50% when the vehicle speed is 0, 50% when the vehicle speed is 10km/h, 50% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 40N · m: the ratio of the front motor torque is 75% when the vehicle speed is 0, the ratio of the front motor torque is 75% when the vehicle speed is 10km/h, the ratio of the front motor torque is 75% when the vehicle speed is 20km/h, and the ratio of the front motor torque is 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 60N · m: the ratio of the front motor torque is 67% when the vehicle speed is 0, the ratio of the front motor torque is 67% when the vehicle speed is 10km/h, the ratio of the front motor torque is 67% when the vehicle speed is 20km/h, and the ratio of the front motor torque is 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 80N · m: the ratio of the front motor torque is 75% when the vehicle speed is 0, the ratio of the front motor torque is 75% when the vehicle speed is 10km/h, the ratio of the front motor torque is 75% when the vehicle speed is 20km/h, and the ratio of the front motor torque is 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 100N · m: the ratio of the front motor torque is 80% when the vehicle speed is 0, 80% when the vehicle speed is 10km/h, 80% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 120N · m: the ratio of the front motor torque is 75% when the vehicle speed is 0, the ratio of the front motor torque is 75% when the vehicle speed is 10km/h, the ratio of the front motor torque is 75% when the vehicle speed is 20km/h, and the ratio of the front motor torque is 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 140N · m: the ratio of the front motor torque is 79% when the vehicle speed is 0, 79% when the vehicle speed is 10km/h, 79% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 160N · m: the ratio of the front motor torque is 81% when the vehicle speed is 0, 81% when the vehicle speed is 10km/h, 81% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 180N · m: the ratio of the front motor torque is 83% when the vehicle speed is 0, 83% when the vehicle speed is 10km/h, 83% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 200N · m: the ratio of the front motor torque is 80% when the vehicle speed is 0, 80% when the vehicle speed is 10km/h, 80% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 220N · m: the ratio of the front motor torque is 82% when the vehicle speed is 0, 82% when the vehicle speed is 10km/h, 82% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 240N · m: the ratio of the front motor torque is 83% when the vehicle speed is 0, 83% when the vehicle speed is 10km/h, 83% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 260N · m: the ratio of the front motor torque is 85% when the vehicle speed is 0, 85% when the vehicle speed is 10km/h, 85% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
the requested torque is 280N · m: the ratio of the front motor torque is 82% when the vehicle speed is 0, 82% when the vehicle speed is 10km/h, 82% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h;
requested torque 290N · m: the ratio of the front motor torque is 79% when the vehicle speed is 0, 79% when the vehicle speed is 10km/h, 79% when the vehicle speed is 20km/h, and 100% when the vehicle speed is 30 km/h-120 km/h.
2. The four-wheel-drive control method of the pure electric vehicle with the dual-drive bridge architecture according to claim 1, characterized by performing limited slip judgment according to the difference in the rotation speeds of the front wheel and the rear wheel: when the difference between the rotating speeds of the front wheel and the rear wheel is more than or equal to 2.5km/h, the front wheel enters a limited slip state; when the difference between the rotating speeds of the front wheel and the rear wheel is less than 2.5km/h, the front wheel is out of the limited slip state; in the limited slip state of the front wheels, the torque redistribution of the front and rear motors is performed by a linear interpolation method as follows:
when the difference between the rotating speeds of the front wheel and the rear wheel is 2.5km/h, the torque of the front motor accounts for 83 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 5km/h, the torque of the front motor accounts for 80 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 8km/h, the torque of the front motor accounts for 75 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 10km/h, the torque ratio of the front motor is 66 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 13km/h, the torque of the front motor accounts for 50 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 15km/h, the torque of the front motor accounts for 33 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 18km/h, the torque of the front motor accounts for 25 percent;
when the difference between the rotating speeds of the front wheel and the rear wheel is 20km/h, the torque of the front motor accounts for 20%;
when the difference between the rotating speeds of the front wheel and the rear wheel is 23km/h, the torque of the front motor accounts for 16%;
when the difference between the rotating speeds of the front wheel and the rear wheel is 25km/h, the torque of the front motor accounts for 16 percent.
3. The four-wheel drive control method of the pure electric vehicle with the dual-drive electric bridge framework according to claim 1 or 2, wherein the whole vehicle driving mode comprises the following steps: ECO, NORMAL, and SPORT modes, each having a respective accelerator pedal MAP.
4. The four-wheel-drive control method of the dual-drive-bridge-architecture pure electric vehicle according to claim 3, wherein the three modes have respective brake pedal MAPs.
5. The four-wheel-drive control method of the pure electric vehicle with the dual-drive bridge architecture according to claim 4, wherein the driving mode state of the previous cycle needs to be saved after the power is re-powered on.
6. The four-wheel-drive control method of the pure electric vehicle with the dual-drive bridge architecture according to claim 4, wherein in the ECO mode, a primary filtering algorithm is as follows: tqout = Tqn-1 (1-10/(10+ T) + Tqn 10/(10+ T)), wherein: tqout is the requested torque value after one filtering, Tqn is the requested torque value at the current moment, Tqn-1 is the requested torque value at the previous moment, and the filtering time T is 120 ms;
in NORMAL mode, the first filtering algorithm is as follows: tqout = Tqn-1 (1-10/(10+ T) + Tqn 10/(10+ T)), wherein: tqout is the requested torque value after one filtering, Tqn is the requested torque value at the current moment, Tqn-1 is the requested torque value at the last moment, and the filtering time T is 80 ms;
in the SPORT mode, the primary filtering algorithm is as follows: tqout = Tqn-1 (1-10/(10+ T) + Tqn 10/(10+ T)), wherein: tqout is the requested torque value after one filtering, Tqn is the requested torque value at the current moment, Tqn-1 is the requested torque value at the last moment, and the filtering time T is 40 ms.
7. The four-wheel-drive control method for the pure electric vehicle with the dual-drive bridge architecture according to claim 6, wherein in the three modes, the secondary filtering algorithm adopts first-order linear filtering, and the filtering time parameter is 80 ms.
8. The four-wheel-drive control method of the pure electric vehicle with the dual-drive bridge architecture according to claim 7, wherein when the SOC of a vehicle power battery is less than 20%, the current driving mode automatically enters an ECO mode.
9. The four-wheel-drive control method of the pure electric vehicle with the dual-drive bridge architecture according to claim 8, wherein the highest speed limit of the three modes is 120 km/h.
10. The four-wheel drive control method of the pure electric vehicle with the dual-drive bridge architecture according to claim 1 or 2, characterized by comprising the following brake energy feedback control:
meanwhile, the following conditions are met to enter a braking energy feedback function:
the rotating speed of the motor is more than 1500 rpm;
the Ready state of the whole vehicle;
the accelerator pedal is not stepped;
the SOC of the power battery is less than 100%;
the gear is a gear D;
the ABS is in a no fault state and not activated;
the braking energy feedback function is exited under the following conditions:
the rotating speed of the motor is less than 600 rpm;
a non-Ready state;
the accelerator pedal is in a treading state;
the gear is a non-D gear;
SOC is more than or equal to 100 percent;
the ABS is in a fault state or activated.
CN202110329357.4A 2021-03-28 2021-03-28 Four-wheel drive control method for pure electric vehicle with dual-drive electric bridge architecture Pending CN112959896A (en)

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