CN107627901B - Output torque control method and device of motor and automobile - Google Patents
Output torque control method and device of motor and automobile Download PDFInfo
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- CN107627901B CN107627901B CN201710762853.2A CN201710762853A CN107627901B CN 107627901 B CN107627901 B CN 107627901B CN 201710762853 A CN201710762853 A CN 201710762853A CN 107627901 B CN107627901 B CN 107627901B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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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)
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- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a method and a device for controlling output torque of a motor and an automobile, relates to the field of motor control, and aims to solve the technical problem that the automobile cannot be driven and braked by one pedal in the prior art, wherein the method for controlling the output torque of the motor comprises the following steps: determining a driving mode of the automobile; acquiring the opening degree of an accelerator pedal and the rotating speed of a motor when the driving mode of the automobile is a single-pedal driving mode; determining the initial output torque of the motor according to the opening of the accelerator pedal and the rotating speed of the motor; and carrying out torque limit value processing on the initial output torque of the motor, obtaining the torque subjected to the torque limit value processing, and outputting the torque. According to the embodiment of the invention, the effect of braking or driving the automobile through one accelerator pedal and one pedal is realized.
Description
Technical Field
The invention relates to the field of motor control, in particular to a method and a device for controlling output torque of a motor and an automobile.
Background
In the running process of the automobile, if the automobile needs to be accelerated to run, an accelerator pedal of the automobile needs to be stepped, and then the output torque of the motor is controlled; when the automobile needs to run in a decelerating way, the braking is needed to be realized by stepping on a brake pedal of the automobile. That is, in the prior art, two pedals are required to brake or accelerate the automobile, and due to the dual-pedal driving mode, the situation that the driver uses the accelerator pedal as the brake pedal to cause traffic accidents often occurs.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide a method and a device for controlling the output torque of a motor and an automobile, which are used for realizing braking and driving of the automobile through one accelerator pedal and one pedal.
In order to solve the above technical problem, an output torque control method of a motor according to an embodiment of the present invention is applied to a vehicle control unit, and includes: determining a driving mode of the automobile;
acquiring the opening degree of an accelerator pedal and the rotating speed of a motor when the driving mode of the automobile is a single-pedal driving mode;
determining the initial output torque of the motor according to the opening of the accelerator pedal and the rotating speed of the motor;
and carrying out torque limit value processing on the initial output torque of the motor, obtaining the torque subjected to the torque limit value processing, and outputting the torque.
Preferably, the step of determining the driving mode of the car comprises:
determining the working state of a single pedal switch of the automobile;
acquiring a current gear and a current fault state when the working state of a single pedal switch of an automobile is an opening state;
and when the current gear is a preset gear and the current fault state is a non-fault state, determining that the driving mode of the automobile is a single-pedal driving mode.
Preferably, the step of determining the operating state of a single pedal switch of the vehicle comprises:
acquiring the current gear and the opening degree of a brake pedal of the automobile;
when the current gear of the automobile is a preset gear and the opening degree of the brake pedal is greater than a preset opening value, determining that a single pedal switch of the automobile is in an enabling state;
judging whether a processing signal for operating the single pedal switch by a user when the single pedal switch is in an enabling state is received;
and if so, determining that the working state of the single pedal switch of the automobile is an opening state.
Preferably, the step of determining the initial output torque of the motor according to the accelerator pedal opening and the motor speed comprises:
determining the working state of a crawling function key of the automobile;
when the working state of the crawling function key is an opening state, determining the initial output torque of the motor according to the opening degree of the accelerator pedal, the rotating speed of the motor and a first preset corresponding relation table among the opening degree of the accelerator pedal, the rotating speed of the motor and the initial output torque of the motor; or
When the working state of the crawling function key is a closed state, determining the initial output torque of the motor according to the opening degree of the accelerator pedal, the rotating speed of the motor and a second preset corresponding relation table among the opening degree of the accelerator pedal, the rotating speed of the motor and the initial output torque of the motor;
wherein, in the first predetermined correspondence table, when both the accelerator pedal opening degree and the motor rotation speed are zero, the initial output torque is not zero;
in the second predetermined correspondence table, when both the accelerator pedal opening degree and the motor rotation speed are zero, the initial output torque is zero.
Preferably, the first predetermined correspondence table and the second predetermined correspondence table are both at least two;
in different first preset corresponding relation tables, the numerical values of the initial output torques of the motors corresponding to the same accelerator pedal opening and the same motor rotating speed are different;
in the different second predetermined correspondence tables, the values of the initial output torques of the motors corresponding to the same accelerator pedal opening and the same motor rotation speed are different.
Preferably, the torque limiting processing is performed on the initial output torque of the motor, and the step of obtaining the torque subjected to the torque limiting processing includes:
judging whether the initial output torque of the motor is larger than the maximum allowable output torque of the motor or not;
if the maximum allowable output torque is larger than the maximum allowable output torque, determining the maximum allowable output torque as the torque obtained after the torque limit value processing;
and if the initial output torque of the motor is smaller than or equal to the torque limit value, determining the initial output torque of the motor as the torque obtained after the torque limit value processing.
Preferably, the method further comprises:
obtaining the braking deceleration of the automobile;
and controlling a vehicle brake lamp to be started when the braking deceleration is larger than a preset deceleration value.
According to another aspect of the embodiments of the present invention, there is also provided an output torque control apparatus for a motor, applied to a vehicle control unit, including:
the device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining the driving mode of the automobile;
the first acquisition module is used for acquiring the opening degree of an accelerator pedal and the rotating speed of a motor when the driving mode of the automobile is a single-pedal driving mode;
the second determination module is used for determining the initial output torque of the motor according to the opening degree of the accelerator pedal and the rotating speed of the motor;
and the second acquisition module is used for carrying out torque limit value processing on the initial output torque of the motor, acquiring the torque subjected to the torque limit value processing and outputting the torque.
Preferably, the first determining module comprises:
the first determination unit is used for determining the working state of a single pedal switch of the automobile;
the first acquisition unit is used for acquiring the current gear and the current fault state when the working state of a single pedal switch of the automobile is an opening state;
and the second determination unit is used for determining that the driving mode of the automobile is a single-pedal driving mode when the current gear is a preset gear and the current fault state is a non-fault state.
Preferably, the first determination unit includes:
the first acquisition subunit is used for acquiring the current gear and the opening degree of a brake pedal of the automobile;
the first determining subunit is used for determining that a single pedal switch of the automobile is in an enabling state when the current gear of the automobile is a preset gear and the opening degree of the brake pedal is greater than a preset opening value;
the judging subunit is used for judging whether a processing signal for operating the single pedal switch by a user when the single pedal switch is in an enabling state is received;
and the second determining subunit is used for determining that the working state of the single pedal switch of the automobile is the starting state if the first determining subunit receives the signal.
Preferably, the second determining module includes:
the third determining unit is used for determining the working state of the crawling function key of the automobile;
the fourth determining unit is used for determining the initial output torque of the motor according to the opening degree of the accelerator pedal and the rotating speed of the motor and a first preset corresponding relation table among the opening degree of the accelerator pedal, the rotating speed of the motor and the initial output torque of the motor when the working state of the crawling function key is an opening state; or
A fifth determining unit, configured to determine an initial output torque of the motor according to a second predetermined correspondence table among the accelerator pedal opening, the motor rotation speed, and the initial output torque of the motor, according to the accelerator pedal opening, the motor rotation speed, and the initial output torque when the operating state of the crawling function key is a closed state;
wherein, in the first predetermined correspondence table, when both the accelerator pedal opening degree and the motor rotation speed are zero, the initial output torque is not zero;
in the second predetermined correspondence table, when both the accelerator pedal opening degree and the motor rotation speed are zero, the initial output torque is zero.
Preferably, the first predetermined correspondence table and the second predetermined correspondence table are both at least two;
in different first preset corresponding relation tables, the numerical values of the initial output torques of the motors corresponding to the same accelerator pedal opening and the same motor rotating speed are different;
in the different second predetermined correspondence tables, the values of the initial output torques of the motors corresponding to the same accelerator pedal opening and the same motor rotation speed are different.
Preferably, the second obtaining module includes:
the judging unit is used for judging whether the initial output torque of the motor is larger than the maximum allowable output torque of the motor or not;
a fourth determining unit, configured to determine, if the maximum allowable output torque is greater than the maximum allowable output torque, the maximum allowable output torque as a torque obtained after the torque limit processing;
and the fifth determining unit is used for determining the initial output torque of the motor as the torque obtained after the torque limit value processing if the initial output torque is smaller than or equal to the torque obtained after the torque limit value processing.
Preferably, the apparatus further comprises:
the third acquisition module is used for acquiring the braking deceleration of the automobile;
and the control module is used for controlling the brake lamp of the vehicle to be turned on when the braking deceleration is greater than a preset deceleration value.
According to another aspect of the embodiments of the present invention, there is also provided an automobile including the output torque control device of the motor described above.
Compared with the prior art, the method, the device and the automobile for controlling the output torque of the motor provided by the embodiment of the invention at least have the following beneficial effects:
the automobile brake pedal has the advantages that the automobile is in an accelerating state or a braking state through the brake pedal, driving comfort of a driver is improved, and safe driving of the automobile can be guaranteed.
Drawings
Fig. 1 is a schematic flow chart of an output torque control method of an electric machine according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of step 1 in the embodiment of the present invention;
FIG. 3 is a schematic flow chart of step 11 in the embodiment of the present invention;
FIG. 4 is a schematic flow chart of step 3 in the embodiment of the present invention;
FIG. 5 is a schematic flow chart of step 4 in the embodiment of the present invention;
fig. 6 is a schematic structural diagram of an output torque control device of a motor according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
Referring to fig. 1, an embodiment of the present invention provides an output torque control method for a motor, which is applied to a vehicle control unit, and includes:
The driving modes of the automobile comprise a double-pedal driving mode and a single-pedal driving mode, wherein the double-pedal driving mode is an existing driving mode, vehicle braking is realized through a brake pedal, and vehicle driving is realized through an accelerator pedal; the single pedal driving mode is that the vehicle braking and the vehicle driving are performed by one pedal through an accelerator pedal.
Preferably, referring to fig. 2, step 1 comprises:
and step 13, when the current gear is a preset gear and the current fault state is a non-fault state, determining that the driving mode of the automobile is a single-pedal driving mode.
The working state of the single pedal switch of the automobile is the working state when the single pedal switch is in an enabling state.
The working state of the single pedal switch is the starting state, which means the state after the user operates the single pedal switch when the single pedal switch is in the enabling state. When the single pedal switch is in an disabled state, the single pedal switch is in a gray mode, and at the moment, a user cannot operate the single pedal switch; when the single pedal switch is in an enabling state, the single pedal switch is in a red mode, at the moment, a user can operate the single pedal switch, after the user presses the single pedal switch for the first time, the user indicates that the user wants to start the single pedal driving mode, and at the moment, the working state of the single pedal switch is in a starting state.
In order to ensure the safe running of the vehicle in the single-pedal driving mode, before the vehicle enters the single-pedal driving mode, all the operating parameters of the vehicle are required to be normal, and no abnormality occurs.
Preferably, with reference to fig. 3, step 11 comprises:
112, when the current gear of the automobile is a preset gear and the opening of the brake pedal is greater than a preset opening value, determining that a single pedal switch of the automobile is in an enabling state;
and step 114, if the signal is received, determining that the working state of the single pedal switch of the automobile is an opening state.
In the embodiment of the invention, the enabling state of the single pedal switch of the automobile which is set in a factory is defaulted to the disabling state. After determining that the single pedal switch of the vehicle is in the enabled state according to step 112, the vehicle controller sends a single pedal switch enabling signal to an EHU of the vehicle in the form of a CAN message, and the EHU determines whether to control the single pedal switch to be in the enabled state according to a message flag bit (for example, the message flag bit is 1, corresponding to the enabled state, and the message flag bit is 0, corresponding to the disabled state) of the received CAN message. After the EHU controls the single pedal switch to be in the enabling state according to the message flag bit of the received CAN message, the EHU feeds back a processing signal of the single pedal switch operated by the user when the single pedal switch is in the enabling state (namely the working state of the single pedal switch is the starting state) to the vehicle controller.
If the EHU determines that the command issued by the vehicle controller is to control the single pedal switch to be in the disabled state according to the CAN message sent by the vehicle controller, the EHU controls the single pedal switch according to the working state of the single pedal switch stored by the EHU when the vehicle is powered off last time, namely, when the vehicle is powered off last time, the working state of the single pedal switch stored by the EHU is in the on state, and the single pedal switch is controlled to be in the on state at the moment; when the automobile is powered off at the front time, the working state of the single pedal switch stored by the EHU is in an off state, and the single pedal switch is controlled to be in the off state at the moment.
And 2, acquiring the opening degree of an accelerator pedal and the rotating speed of a motor when the driving mode of the automobile is a single-pedal driving mode.
And 3, determining the initial output torque of the motor according to the opening of the accelerator pedal and the rotating speed of the motor.
Preferably, referring to fig. 4, step 3 comprises:
Step 33, when the operating state of the crawling function key is a closed state, determining the initial output torque of the motor according to the opening degree of the accelerator pedal, the rotating speed of the motor and a second preset corresponding relation table among the opening degree of the accelerator pedal, the rotating speed of the motor and the initial output torque of the motor;
wherein, in the first predetermined correspondence table, when both the accelerator pedal opening degree and the motor rotation speed are zero, the initial output torque is not zero;
in the second predetermined correspondence table, when both the accelerator pedal opening degree and the motor rotation speed are zero, the initial output torque is zero.
In the first predetermined correspondence table, there are included: when a driver steps on an accelerator pedal, the opening of each accelerator pedal and the initial output torque of the motor corresponding to the rotating speed of each motor are obtained; and when the accelerator pedal is released by a driver, the opening of each accelerator pedal and the initial output torque of the motor corresponding to the rotating speed of each motor.
In the second predetermined correspondence table, similarly, the following are included: when a driver steps on an accelerator pedal, the opening of each accelerator pedal and the initial output torque of the motor corresponding to the rotating speed of each motor are obtained; and when the accelerator pedal is released by a driver, the opening of each accelerator pedal and the initial output torque of the motor corresponding to the rotating speed of each motor.
When a driver steps on an accelerator pedal, the initial output torque of the motor determined according to the data in the first preset corresponding relation table or the second preset corresponding relation table is driving torque, and the driving torque is used for accelerating the automobile.
When the driver releases the accelerator pedal, the automobile may be in an acceleration state, a sliding state or a deceleration state according to the difference of the specific value of the opening degree of the accelerator pedal. In the embodiment of the invention, the opening degree of the accelerator pedal is divided into three sections: the accelerator pedal opening degree of the sliding area is larger than that of the deceleration area. When the opening degree of the accelerator pedal is in an acceleration zone, determining the initial output torque of the motor as a driving torque according to data in the first preset corresponding relation table or the second preset corresponding relation table, wherein the driving torque is used for realizing acceleration of the automobile; when the opening degree of the accelerator pedal is in a sliding area, determining that the initial output torque of the motor is zero according to data in the first preset corresponding relation table or the second preset corresponding relation table, at the moment, the motor does not output the torque, and the vehicle enters a sliding state; when the opening degree of the accelerator pedal is in the deceleration zone, according to the difference of the rotation speed values of the motor, the initial output torque of the motor determined from the data in the first predetermined corresponding relation table or the second predetermined corresponding relation table may be: braking torque or driving torque.
Preferably, the first predetermined correspondence table and the second predetermined correspondence table are both at least two; in different first preset corresponding relation tables, the numerical values of the initial output torques of the motors corresponding to the same accelerator pedal opening and the same motor rotating speed are different; in the different second predetermined correspondence tables, the values of the initial output torques of the motors corresponding to the same accelerator pedal opening and the same motor rotation speed are different.
Specifically, the first predetermined correspondence table and the second predetermined correspondence table are three types, each of the first predetermined correspondence table and the second predetermined correspondence table corresponds to a braking intensity, and the corresponding predetermined correspondence table is selected to perform step 3 according to a difference in the braking intensity selected by the user.
And 4, carrying out torque limit value processing on the initial output torque of the motor to obtain the torque subjected to the torque limit value processing, and outputting the torque.
Preferably, referring to fig. 5, step 4 comprises:
and 43, if the torque is smaller than or equal to the preset torque limit value, determining the initial output torque of the motor as the torque obtained after the torque limit value processing.
When the initial output torque of the motor determined in the step 3 is the braking torque, the maximum allowable output torque in the step 41 corresponds to the maximum allowable braking output torque; when the initial output torque of the motor determined in step 3 is the drive torque, the maximum allowable output torque in step 41 corresponds to the maximum allowable drive output torque.
Preferably, the method further comprises:
step 5, obtaining the braking deceleration of the automobile;
and 6, controlling a vehicle brake lamp to be turned on when the braking deceleration is greater than a preset deceleration value.
The braking deceleration of the vehicle can be detected by an acceleration sensor provided on the vehicle.
The steps 5 and 6 are provided to prompt the driver of the rear vehicle that the vehicle is in a braking state and to prompt the driver of the rear vehicle to pay attention to the traveling when the braking torque is excessively large in the single-pedal driving mode.
The method for controlling the output torque of the motor mainly achieves the following effects of ① reducing the fatigue of a driver, wherein when the vehicle is driven under the ordinary urban road conditions, the driver only needs to control an accelerator pedal without switching the accelerator pedal and a brake pedal back and forth to reduce the fatigue, ② reducing the loss of a brake system, when the vehicle is driven under the ordinary urban road conditions, the motor brake can be completely adopted to replace a traditional hydraulic brake system, so that the loss of the hydraulic brake system is reduced, ③ improves the driving range of the vehicle, and the energy utilization rate of the whole vehicle can be improved when the vehicle is in the single-pedal driving mode functional state, so that the driving range is improved, ④ the whole vehicle configuration requirement is low.
In conclusion, the method of the invention realizes that the automobile is in an accelerating state or a braking state through one brake pedal, improves the driving comfort performance of a driver, and can ensure the safe driving of the automobile.
Referring to fig. 6, according to another aspect of the embodiment of the present invention, there is also provided an output torque control apparatus of an electric motor for a vehicle control unit, including:
the first determining module 1 is used for determining the driving mode of the automobile;
the first acquisition module 2 is used for acquiring the opening degree of an accelerator pedal and the rotating speed of a motor when the driving mode of the automobile is a single-pedal driving mode;
the second determining module 3 is used for determining the initial output torque of the motor according to the opening degree of the accelerator pedal and the rotating speed of the motor;
and the second acquisition module 4 is used for performing torque limit processing on the initial output torque of the motor, acquiring the torque subjected to the torque limit processing, and outputting the torque.
Preferably, the first determining module comprises:
the first determination unit is used for determining the working state of a single pedal switch of the automobile;
the first acquisition unit is used for acquiring the current gear and the current fault state when the working state of a single pedal switch of the automobile is an opening state;
and the second determination unit is used for determining that the driving mode of the automobile is a single-pedal driving mode when the current gear is a preset gear and the current fault state is a non-fault state.
Preferably, the first determination unit includes:
the first acquisition subunit is used for acquiring the current gear and the opening degree of a brake pedal of the automobile;
the first determining subunit is used for determining that a single pedal switch of the automobile is in an enabling state when the current gear of the automobile is a preset gear and the opening degree of the brake pedal is greater than a preset opening value;
the judging subunit is used for judging whether a processing signal for operating the single pedal switch by a user when the single pedal switch is in an enabling state is received;
and the second determining subunit is used for determining that the working state of the single pedal switch of the automobile is the starting state if the first determining subunit receives the signal.
Preferably, the second determining module includes:
the third determining unit is used for determining the working state of the crawling function key of the automobile;
the fourth determining unit is used for determining the initial output torque of the motor according to the opening degree of the accelerator pedal and the rotating speed of the motor and a first preset corresponding relation table among the opening degree of the accelerator pedal, the rotating speed of the motor and the initial output torque of the motor when the working state of the crawling function key is an opening state; or
A fifth determining unit, configured to determine an initial output torque of the motor according to a second predetermined correspondence table among the accelerator pedal opening, the motor rotation speed, and the initial output torque of the motor, according to the accelerator pedal opening, the motor rotation speed, and the initial output torque when the operating state of the crawling function key is a closed state;
wherein, in the first predetermined correspondence table, when both the accelerator pedal opening degree and the motor rotation speed are zero, the initial output torque is not zero;
in the second predetermined correspondence table, when both the accelerator pedal opening degree and the motor rotation speed are zero, the initial output torque is zero.
Preferably, the first predetermined correspondence table and the second predetermined correspondence table are both at least two;
in different first preset corresponding relation tables, the numerical values of the initial output torques of the motors corresponding to the same accelerator pedal opening and the same motor rotating speed are different;
in the different second predetermined correspondence tables, the values of the initial output torques of the motors corresponding to the same accelerator pedal opening and the same motor rotation speed are different.
Preferably, the second obtaining module includes:
the judging unit is used for judging whether the initial output torque of the motor is larger than the maximum allowable output torque of the motor or not;
a fourth determining unit, configured to determine, if the maximum allowable output torque is greater than the maximum allowable output torque, the maximum allowable output torque as a torque obtained after the torque limit processing;
and the fifth determining unit is used for determining the initial output torque of the motor as the torque obtained after the torque limit value processing if the initial output torque is smaller than or equal to the torque obtained after the torque limit value processing.
Preferably, the apparatus further comprises:
the third acquisition module is used for the braking deceleration of the automobile;
and the control module is used for controlling the brake lamp of the vehicle to be turned on when the braking deceleration is larger than a preset deceleration value.
The output torque control device of the motor in the embodiment of the invention is a device corresponding to the output torque control method of the motor, and all implementation manners in the method are applicable to the embodiment of the device, and the same technical effect can be achieved. The automobile brake pedal has the advantages that the automobile is in an accelerating state or a braking state through the brake pedal, driving comfort of a driver is improved, and safe driving of the automobile can be guaranteed.
According to another aspect of the embodiments of the present invention, there is also provided an automobile including the output torque control device of the motor described above.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (11)
1. An output torque control method of a motor is applied to a vehicle control unit, and is characterized by comprising the following steps:
determining a driving mode of an automobile, wherein the driving mode of the automobile comprises a double-pedal driving mode and a single-pedal driving mode;
acquiring the opening degree of an accelerator pedal and the rotating speed of a motor when the driving mode of the automobile is a single-pedal driving mode;
determining the initial output torque of the motor according to the opening of the accelerator pedal and the rotating speed of the motor;
carrying out torque limit value processing on the initial output torque of the motor to obtain and output the torque subjected to the torque limit value processing;
wherein the step of determining the driving mode of the vehicle comprises:
determining the working state of a single pedal switch of the automobile;
acquiring a current gear and a current fault state when the working state of a single pedal switch of an automobile is an opening state;
when the current gear is a preset gear and the current fault state is a non-fault state, determining that the driving mode of the automobile is a single-pedal driving mode;
wherein the step of determining the operating state of a single pedal switch of the vehicle comprises:
acquiring the current gear and the opening degree of a brake pedal of the automobile;
when the current gear of the automobile is a preset gear and the opening degree of the brake pedal is greater than a preset opening value, determining that a single pedal switch of the automobile is in an enabling state;
judging whether a processing signal for operating the single pedal switch by a user when the single pedal switch is in an enabling state is received;
and if so, determining that the working state of the single pedal switch of the automobile is an opening state.
2. The output torque control method of the motor according to claim 1, wherein the step of determining the initial output torque of the motor based on the accelerator pedal opening degree and the motor rotation speed includes:
determining the working state of a crawling function key of the automobile;
when the working state of the crawling function key is an opening state, determining the initial output torque of the motor according to the opening degree of the accelerator pedal, the rotating speed of the motor and a first preset corresponding relation table among the opening degree of the accelerator pedal, the rotating speed of the motor and the initial output torque of the motor; or
When the working state of the crawling function key is a closed state, determining the initial output torque of the motor according to the opening degree of the accelerator pedal, the rotating speed of the motor and a second preset corresponding relation table among the opening degree of the accelerator pedal, the rotating speed of the motor and the initial output torque of the motor;
wherein, in the first predetermined correspondence table, when both the accelerator pedal opening degree and the motor rotation speed are zero, the initial output torque is not zero;
in the second predetermined correspondence table, when both the accelerator pedal opening degree and the motor rotation speed are zero, the initial output torque is zero.
3. The output torque control method of an electric motor according to claim 2, wherein the first predetermined correspondence table and the second predetermined correspondence table are at least two kinds each;
in different first preset corresponding relation tables, the numerical values of the initial output torques of the motors corresponding to the same accelerator pedal opening and the same motor rotating speed are different;
in the different second predetermined correspondence tables, the values of the initial output torques of the motors corresponding to the same accelerator pedal opening and the same motor rotation speed are different.
4. The output torque control method of the motor according to claim 1, wherein the step of performing torque limiting processing on the initial output torque of the motor to obtain the torque after the torque limiting processing includes:
judging whether the initial output torque of the motor is larger than the maximum allowable output torque of the motor or not;
if the maximum allowable output torque is larger than the maximum allowable output torque, determining the maximum allowable output torque as the torque obtained after the torque limit value processing;
and if the initial output torque of the motor is smaller than or equal to the torque limit value, determining the initial output torque of the motor as the torque obtained after the torque limit value processing.
5. The output torque control method of the motor according to claim 1, characterized by further comprising:
obtaining the braking deceleration of the automobile;
and controlling a vehicle brake lamp to be started when the braking deceleration is larger than a preset deceleration value.
6. The utility model provides an output torque control device of motor, is applied to vehicle control unit, its characterized in that includes:
the device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining the driving mode of the automobile, and the driving mode of the automobile comprises a double-pedal driving mode and a single-pedal driving mode;
the first acquisition module is used for acquiring the opening degree of an accelerator pedal and the rotating speed of a motor when the driving mode of the automobile is a single-pedal driving mode;
the second determination module is used for determining the initial output torque of the motor according to the opening degree of the accelerator pedal and the rotating speed of the motor;
the second acquisition module is used for carrying out torque limit value processing on the initial output torque of the motor, acquiring the torque subjected to the torque limit value processing and outputting the torque;
wherein the first determining module comprises:
the first determination unit is used for determining the working state of a single pedal switch of the automobile;
the first acquisition unit is used for acquiring the current gear and the current fault state when the working state of a single pedal switch of the automobile is an opening state;
the second determination unit is used for determining that the driving mode of the automobile is a single-pedal driving mode when the current gear is a preset gear and the current fault state is a non-fault state;
wherein the first determination unit includes:
the first acquisition subunit is used for acquiring the current gear and the opening degree of a brake pedal of the automobile;
the first determining subunit is used for determining that a single pedal switch of the automobile is in an enabling state when the current gear of the automobile is a preset gear and the opening degree of the brake pedal is greater than a preset opening value;
the judging subunit is used for judging whether a processing signal for operating the single pedal switch by a user when the single pedal switch is in an enabling state is received;
and the second determining subunit is used for determining that the working state of the single pedal switch of the automobile is the starting state if the first determining subunit receives the signal.
7. The output torque control device of the motor according to claim 6, wherein the second determination module includes:
the third determining unit is used for determining the working state of the crawling function key of the automobile;
the fourth determining unit is used for determining the initial output torque of the motor according to the opening degree of the accelerator pedal and the rotating speed of the motor and a first preset corresponding relation table among the opening degree of the accelerator pedal, the rotating speed of the motor and the initial output torque of the motor when the working state of the crawling function key is an opening state; or
A fifth determining unit, configured to determine an initial output torque of the motor according to a second predetermined correspondence table among the accelerator pedal opening, the motor rotation speed, and the initial output torque of the motor, according to the accelerator pedal opening, the motor rotation speed, and the initial output torque when the operating state of the crawling function key is a closed state;
wherein, in the first predetermined correspondence table, when both the accelerator pedal opening degree and the motor rotation speed are zero, the initial output torque is not zero;
in the second predetermined correspondence table, when both the accelerator pedal opening degree and the motor rotation speed are zero, the initial output torque is zero.
8. The output torque control device of an electric motor according to claim 7, wherein the first predetermined correspondence table and the second predetermined correspondence table are at least two kinds each;
in different first preset corresponding relation tables, the numerical values of the initial output torques of the motors corresponding to the same accelerator pedal opening and the same motor rotating speed are different;
in the different second predetermined correspondence tables, the values of the initial output torques of the motors corresponding to the same accelerator pedal opening and the same motor rotation speed are different.
9. The output torque control device of the motor according to claim 6, wherein the second acquisition module includes:
the judging unit is used for judging whether the initial output torque of the motor is larger than the maximum allowable output torque of the motor or not;
a fourth determining unit, configured to determine, if the maximum allowable output torque is greater than the maximum allowable output torque, the maximum allowable output torque as a torque obtained after the torque limit processing;
and the fifth determining unit is used for determining the initial output torque of the motor as the torque obtained after the torque limit value processing if the initial output torque is smaller than or equal to the torque obtained after the torque limit value processing.
10. The output torque control device of the motor according to claim 6, characterized by further comprising:
the third acquisition module is used for acquiring the braking deceleration of the automobile;
and the control module is used for controlling the brake lamp of the vehicle to be turned on when the braking deceleration is greater than a preset deceleration value.
11. An automobile characterized by comprising an output torque control device of the motor of any one of claims 6 to 10.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710762853.2A CN107627901B (en) | 2017-08-30 | 2017-08-30 | Output torque control method and device of motor and automobile |
| PCT/CN2018/100630 WO2019042129A1 (en) | 2017-08-30 | 2018-08-15 | Method and device for controlling output torque of electric motor, and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710762853.2A CN107627901B (en) | 2017-08-30 | 2017-08-30 | Output torque control method and device of motor and automobile |
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| Publication Number | Publication Date |
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| CN107627901A CN107627901A (en) | 2018-01-26 |
| CN107627901B true CN107627901B (en) | 2020-04-28 |
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| CN201710762853.2A Active CN107627901B (en) | 2017-08-30 | 2017-08-30 | Output torque control method and device of motor and automobile |
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| CN (1) | CN107627901B (en) |
| WO (1) | WO2019042129A1 (en) |
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| CN107627901B (en) * | 2017-08-30 | 2020-04-28 | 北京新能源汽车股份有限公司 | Output torque control method and device of motor and automobile |
| CN108284771B (en) * | 2018-02-01 | 2020-03-10 | 北京新能源汽车股份有限公司 | Single-pedal driving control method and device and electric automobile |
| CN108909711B (en) * | 2018-06-07 | 2020-08-04 | 北京车和家信息技术有限公司 | Vehicle, control method thereof, control device, and computer-readable storage medium |
| CN109398096B (en) * | 2018-11-12 | 2021-03-23 | 北京新能源汽车股份有限公司 | Braking energy recovery control method and device and automobile |
| CN109466323B (en) * | 2018-11-12 | 2021-02-19 | 广州小鹏汽车科技有限公司 | Automobile control method and device and automobile |
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| CN107627901B (en) * | 2017-08-30 | 2020-04-28 | 北京新能源汽车股份有限公司 | Output torque control method and device of motor and automobile |
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- 2017-08-30 CN CN201710762853.2A patent/CN107627901B/en active Active
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2018
- 2018-08-15 WO PCT/CN2018/100630 patent/WO2019042129A1/en active Application Filing
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| WO2019042129A1 (en) | 2019-03-07 |
| CN107627901A (en) | 2018-01-26 |
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