CN107215240A - A kind of control system in slope of electric car - Google Patents
A kind of control system in slope of electric car Download PDFInfo
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- CN107215240A CN107215240A CN201710222298.4A CN201710222298A CN107215240A CN 107215240 A CN107215240 A CN 107215240A CN 201710222298 A CN201710222298 A CN 201710222298A CN 107215240 A CN107215240 A CN 107215240A
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- 239000000725 suspension Substances 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 9
- 230000004913 activation Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000013480 data collection Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000010358 mechanical oscillation Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- B60L15/2072—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 drive off
- B60L15/2081—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 drive off for drive off on a slope
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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
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
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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)
Abstract
The invention discloses a kind of control system in slope, including gradient module, speed module, brake module, throttle module and controller；The output end of the gradient module connects the first input end of controller, the output end of the speed module connects the second input of controller, the output end of the brake module connects the 3rd input of controller, and the output end of the throttle module connects the 4th input of controller；The gradient module is used to obtain road grade signal, the speed module is used to obtain GES, the brake module is used to obtain brake signal, the throttle module is used to obtain throttle signal, the controller is used for the operational mode that electric car is obtained according to the road grade and speed, while obtaining signal for faster according to throttle signal, and when the operational mode is step mode in hill start, output brake signal and signal for faster.
Description
Technical field
The invention belongs to electric car control field, more particularly, to a kind of control system in slope of electric car.
Background technology
It is manually operated that traditional in hill start step fully relies on driver, and the straight electric car that drives is to prevent throttle, brake while having
Effect situation occurs, and can do brake priority treatment, that is, braking effectively, then throttle is invalid.Above-mentioned policy optimization driving safety, but it is right
The semi-linkage of step in hill start operation causes difficulty.
The complex operation of step in hill start, driving force is difficult to grasp, and easily occurs slipping by slope and the not enough dangerous situation come down of driving force.
And electronic logistic car load-carrying is interval big, in the change of the unloaded driving force with needed for full load at double, misoperation is easily slipped
Driving dangerousness is caused on slope, while damaging motor.
Patent document CN103182952A discloses a kind of control of electric automobile electronics system in slope and method, and the patent is led to
Cross gear identification and speed judges that whether vehicle is in state in ramp shaped, and determine whether that car slipping is inclined by direction of motor rotation
To；Motor drive mode is only changed into rotating speed pattern from torque drive when motor is reversely rotated, it is 0 control to determine revolution, so that
Motor rotation blockage is set to reach ramp parking.But this method uses the ramp parking of motor speed control mode, parking slips by slope scheme and is
Passive type is detected, that is, has and motor rotations control is just carried out after car slipping trend.If vehicle is in the case of outside driving force, slip
Slope will be unavoidable；It is fully loaded in electric car, in addition under the extreme operating condition of overload, it is not enough in slope or upward slope vehicle driving force, slip by slope
It is unavoidable.Meanwhile, the electric car of prior art does not calculate driving force actively in accelerator, but only according to oil
Gate signal motor, then gathers speed and does closed loop feedback, this causes accelerator unstable, easily causes discomfort to passenger
Sense.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of control system in slope, its purpose
It is to obtain ramp state and vehicle condition by gradient module, load-carrying module and speed module, so as to solve load-carrying electric car
Safety step in hill start, simplify driver behavior.
To achieve the above object, according to one aspect of the present invention, there is provided a kind of control system in slope, including gradient mould
Block, speed module, brake module, throttle module and controller；
The output end of the gradient module connects the first input end of controller, the output end connection control of the speed module
Second input of device processed, the output end of the brake module connects the 3rd input of controller, the throttle module it is defeated
Go out the 4th input of end connection controller；
The gradient module is used to obtain road grade signal, and the speed module is used to obtain GES, described to stop
Car module is used to obtain brake signal, and the throttle module is used to obtain throttle signal, and the controller is used for according to the road
The road gradient and speed, obtain the operational mode of electric car, while signal for faster is obtained according to throttle signal, and in the operation mould
When formula is step mode in hill start, output brake signal and signal for faster.
Preferably, the control system in slope also includes load-carrying module, the output end connection controller of the load-carrying module
The 5th input, the load-carrying module be used for obtain load signal, the controller is additionally operable to according to load signal, road slope
Signal and throttle signal are spent, signal for faster is obtained and exports.
As it is further preferred that the load-carrying module includes front axle suspension stroke measuring device and rear axle suspension stroke is surveyed
Measuring device, the front axle suspension stroke measuring device is arranged above the suspension of front wheel of electric motorcar, the rear axle suspension stroke measuring device
Above the suspension for being arranged at rear wheels of electric vehicle.
As it is further preferred that the control system in slope also includes alarm modules, the output end of the controller connects
Connect the input of alarm modules；
The controller be additionally operable to judge needed for signal for faster whether exceed carrying force scope, and more than when send police
The number of notifying, the alarm modules are used to make alarm response according to the alarm signal.
It is another aspect of this invention to provide that there is provided a kind of method that electric car is controlled using above-mentioned control system in slope,
Comprise the following steps：
S1. controller obtains road grade signal, GES, brake signal and throttle signal, and controller is according to oil
Gate signal obtains signal for faster；
S2. judge whether road grade signal is more than first threshold, while whether GES is less than Second Threshold, it is then
The operational mode is step mode in hill start, and into step S3, otherwise the operational mode is drive pattern, into step S4；
S3. controller exports brake signal and signal for faster, return to step S2 simultaneously；
S4. when the brake signal is state of activation, controller only exports brake signal, otherwise exports signal for faster.
It is preferred that, the first threshold is 4 °~7 °, and Second Threshold is 7km/h~15km/h.
Preferably, also include obtaining load signal in the step S1, the controller is according to load signal, road slope
Signal and throttle signal are spent, signal for faster is obtained.
As it is further preferred that also including in the step S1, whether the signal for faster needed for judging exceedes load-carrying
Power scope, and more than when signal an alert.
In general, by the contemplated above technical scheme of the present invention compared with prior art, due to adding the gradient
Module and speed module, can obtain following beneficial effect：
1st, the present invention obtains vehicle and road condition, so as to judge electric car by gradient module and speed module
Operational mode, and when in step mode in hill start, output brake signal and signal for faster so that electric car is in stabilization
While slope, it is unlikely to slip by slope；
2nd, the present invention obtains signal for faster by load signal, road grade signal and throttle signal, so as to actively
The driving force needed for electric car is calculated, the accurate control of hill-start on load-carrying electric car is realized, further avoids motor from reversing
And cause to slip by slope；
3rd, electric car is accelerated by actively calculating driving force, can guarantee that accelerator is steady, passenger and driver's sense
Feel more comfortable；
4th, by alarm signal, driver is reminded when driving force is not enough, the situation that vehicle can be avoided not start in advance.
Brief description of the drawings
Fig. 1 is control system architecture schematic diagram in slope of the invention；
Fig. 2 is the control system architecture schematic diagram in slope of the embodiment of the present invention 1；
Fig. 3 is the schematic diagram in slope of control system in slope of the embodiment of the present invention 1；
Fig. 4 is the uphill starting schematic diagram of control system in slope of the embodiment of the present invention 1.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Not constituting conflict each other can just be mutually combined.
Control system in slope of the invention includes obtaining the gradient module of road grade signal, obtains the speed mould of GES
Block, the brake module for obtaining brake signal, the throttle module and controller for obtaining throttle signal etc., as shown in Figure 1；
Wherein, the output end of the gradient module connects the first input end of controller, the output end of the speed module
The second input of controller is connected, the output end of the brake module connects the 3rd input of controller, the throttle mould
The output end of block connects the 4th input of controller；Wherein, speed module can carry out ranging using methods such as photoelectric tubes, to subtract
The interference of few vehicle shake and mechanical oscillation, brake module includes parking brake and service brake.
The control system in slope may also include the load-carrying module for obtaining load signal and the alarm mould for making alarm response
The parts such as block；Wherein, the output end of the load-carrying module connects the 5th input of controller, and load-carrying module is generally set by two
The front axle suspension stroke measuring device being placed in above the suspension of front wheel of electric motorcar and two are arranged on the suspension of rear wheels of electric vehicle
The rear axle suspension stroke measuring device composition of side, by the deformation of itself, can obtain the loading capacity i.e. load signal of the electric car；
And alarm modules can be single siren, it can also be replaced with the instrument board of electric car, the output of controller
The input of end connection alarm modules.
The method for controlling electric car using above-mentioned control system in slope comprises the following steps：
S1. gradient module, speed module, brake module, throttle module and load-carrying module obtain grade signal, car respectively
Fast signal, brake signal, throttle signal and load signal；；
S2. controller obtains signal for faster, and judge institute according to load signal, road grade signal and throttle signal
Whether the signal for faster needed exceedes carrying force scope, is then to enter step S6, otherwise into next step；
S3. judge whether road grade signal is more than first threshold, while whether GES is less than Second Threshold, it is then
Illustrate that the road grade residing for electric car is larger, while vehicle does not start completely, the operational mode is step mode in hill start,
Into step S4, otherwise the operational mode is drive pattern, into step S5；First threshold is usually 4 °~7 °, the second threshold
Value is usually 7km/h~15km/h；
S4. controller exports brake signal and signal for faster, return to step S2 simultaneously；
S5. when the brake signal is state of activation, controller only exports brake signal, otherwise exports signal for faster；
S6. siren signal an alert.
Embodiment 1
As shown in figure 1, the control system in slope of embodiment 1 includes front axle suspension stroke measuring device, ramp angles measurement mould
Block, speed data collection module, brake pedal, gas pedal, rear axle suspension stroke measuring device, entire car controller, electric machine controller with
And the part such as motor；The system can be applied to the pure electric direct-drive logistic cars of 4.5T.
Wherein, front axle suspension stroke measuring device has two, defeated directly over the suspension for being respectively arranged in two front-wheels of electric car
Go out the first input end of end connection entire car controller, rear axle suspension stroke measuring device there are two, is respectively arranged in electric car two
Directly over the suspension of trailing wheel, output end connects the second input of entire car controller；Front axle suspension stroke measuring device and rear axle
Suspension travel measuring appliance is arranged on wheel, be can guarantee that deformation is maximum, then can be obtained wheel according to the compression travel of suspension
Because of the stroke that load-bearing is compressed, load signal can be obtained with reference to the compressed coefficient of bearing spring；
Ramp detection module is installed on middle part below driving cabin, it is possible to reduce the measurement error caused by wheel is shaken, together
When be easy to cabling, its output end connect entire car controller the 3rd input；Ramp angles measurement module is indulged by measuring vehicle
To the angle with horizontal direction, the road grade residing for vehicle is measured with this；
Speed data collection module uses photoelectric tube ranging scheme, and shake and mechanical disturbance are reduced as far as possible, and the connection of its output end is whole
4th input of vehicle controller；The output end of brake pedal connects the 5th input of entire car controller, gas pedal it is defeated
Go out the 6th input of end connection entire car controller；
The interaction end of entire car controller connects the interaction end of the electric machine controller, and the output end of the electric machine controller connects
Motor is connect, the motor connection rear bridge driven wheel exports power, controls vehicle operation.
As shown in Figure 3-4, entire car controller gathers road grade signal, the front and rear axle suspension row of ramp angles measurement module
The load signal and GES of journey measuring appliance, are then read by ramp angles measurement module at the angle of collection, filtering
Reason, is converted into the present road gradient；Then by load signal combination vehicle sole mass, vehicle gross mass is calculated.By power
Learning formula can calculate, and when being still in ramp, vehicle is along the downward component F1 in ramp.In the case of without outer braking forces thereto, if
Need vehicle to continue to be still on ramp, then need motor to provide the power-F1 of corresponding opposite direction.Vehicle motor is maximum
Driving force Fmax can be calculated by motor maximum torque, gear of vehicle speed reducing ratio, radius of wheel.If the electric car on ramp is
Through gliding, and brake pedal and parking brake do not send brake signal to entire car controller yet in 3s, then instrument sends early warning department
Machine.
It is as follows in the course of work of the system exemplified by being walked in hill start：
At vehicle step in hill start (i.e. speed is 0), collects road ramp and sent for 10% (5 ° of ≈), gas pedal
When accelerator open degree and effective brake signal, and gear is D grades (forward gears) or R grades (reverse gear), entire car controller (VCU)
Hill start pattern is switched to, so that the signal that brake pedal, parking brake and gas pedal are sent is effective.Calculated with entire car controller
The driving force demand F1 gone out is target, so that fixed cumulative driving force, makes the slow gentle start of car, until speed is more than 10km/h
After (accelerating to the speed in usual 5 seconds), normal manipulation mode is switched back into.(i.e. when brake pedal or parking brake send brake signal
When, throttle signal is shown).
Meanwhile, if driving force demand F1 >=Fmax, entire car controller can shift to an earlier date in instrument then to instrument signal an alert
Upper warning.
Brake signal motor also can be exchanged into generator operation state, auxiliary braking in normal mode of operation, and generate electricity
To electrokinetic cell feedback energy.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
Claims (8)
1. a kind of control system in slope, it is characterised in that including gradient module, speed module, brake module, throttle module and
Controller；
The output end of the gradient module connects the first input end of controller, the output end connection controller of the speed module
The second input, the output end of the brake module connects the 3rd input of controller, the output end of the throttle module
Connect the 4th input of controller；
The gradient module is used to obtain road grade signal, and the speed module is used to obtain GES, the brake mould
Block is used to obtain brake signal, and the throttle module is used to obtain throttle signal, and the controller is used for according to the road slope
Degree and speed, obtain the operational mode of electric car, while obtaining signal for faster according to throttle signal, and are in the operational mode
During step mode in hill start, output brake signal and signal for faster.
2. control system in slope as claimed in claim 1, it is characterised in that also including load-carrying module, the load-carrying module
Output end connects the 5th input of controller, and the load-carrying module is used to obtain load signal, and the controller is additionally operable to root
According to load signal, road grade signal and throttle signal, obtain signal for faster and export.
3. control system in slope as claimed in claim 2, it is characterised in that the load-carrying module is surveyed including front axle suspension stroke
Measuring device and rear axle suspension stroke measuring device, the front axle suspension stroke measuring device are arranged above the suspension of front wheel of electric motorcar,
The rear axle suspension stroke measuring device is arranged above the suspension of rear wheels of electric vehicle.
4. control system in slope as claimed in claim 2, it is characterised in that the control system in slope also includes alarm mould
Block, the output end of the controller connects the input of alarm modules；
The controller be additionally operable to judge needed for signal for faster whether exceed carrying force scope, and more than when send alarm signal
Number, the alarm modules are used to make alarm response according to the alarm signal.
5. controlling the method for electric car using the control system in slope described in any one in claim 1-4, its feature exists
In comprising the following steps：
S1. controller obtains road grade signal, GES, brake signal and throttle signal, and controller is believed according to throttle
Number obtain signal for faster；
S2. judge whether road grade signal is more than first threshold, while whether GES is less than Second Threshold, it is to enter
Step S3, otherwise into step S4；
S3. controller exports brake signal and signal for faster, return to step S2 simultaneously；
S4. when the brake signal is state of activation, controller only exports brake signal, otherwise exports signal for faster.
6. method as claimed in claim 5, it is characterised in that the first threshold is 4 °~7 °, Second Threshold be 7km/h~
15km/h。
7. method as claimed in claim 5, it is characterised in that also include in the step S1：Load signal is obtained, it is described
Controller obtains signal for faster according to load signal, road grade signal and throttle signal.
8. method as claimed in claim 7, it is characterised in that also include in the step S1：Acceleration letter needed for judging
Number whether exceed carrying force scope, and more than when signal an alert.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710222298.4A CN107215240A (en) | 2017-04-07 | 2017-04-07 | A kind of control system in slope of electric car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710222298.4A CN107215240A (en) | 2017-04-07 | 2017-04-07 | A kind of control system in slope of electric car |
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| CN201710222298.4A Pending CN107215240A (en) | 2017-04-07 | 2017-04-07 | A kind of control system in slope of electric car |
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Cited By (6)
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| CN109017441A (en) * | 2018-07-10 | 2018-12-18 | 金龙联合汽车工业（苏州）有限公司 | A kind of adaptive ramp way control method of new-energy automobile |
| CN109572448A (en) * | 2018-12-29 | 2019-04-05 | 中国重汽集团济南动力有限公司 | A kind of pure electric automobile auxiliary control method and its control system based on ramp sensor |
| CN111284494A (en) * | 2020-02-28 | 2020-06-16 | 北汽福田汽车股份有限公司 | Hill start assist device, hill start assist control method, and vehicle |
| CN111746301A (en) * | 2020-06-19 | 2020-10-09 | 安徽安凯汽车股份有限公司 | Pure electric vehicles is with starting drive that parks in slope |
| CN112248825A (en) * | 2020-11-11 | 2021-01-22 | 徐州徐工矿业机械有限公司 | Electric drive mining dump truck pre-torque control system and control method |
| CN112757911A (en) * | 2021-01-22 | 2021-05-07 | 台州蓝德电子科技有限公司 | Anti-slip control system and method for electric vehicle hill start |
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Application publication date: 20170929 |