CN101659219B - System and method for controlling output torque of motor in ascent state of vehicle - Google Patents
System and method for controlling output torque of motor in ascent state of vehicle Download PDFInfo
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- CN101659219B CN101659219B CN2008102101660A CN200810210166A CN101659219B CN 101659219 B CN101659219 B CN 101659219B CN 2008102101660 A CN2008102101660 A CN 2008102101660A CN 200810210166 A CN200810210166 A CN 200810210166A CN 101659219 B CN101659219 B CN 101659219B
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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
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Abstract
The invention discloses a method for controlling an output torque of a motor in an ascent state of a vehicle. The controlling method comprises the following steps: detecting a vehicle gear Rank and a vehicle speed V; judging whether the vehicle is in an ascent backward slide state or not according to the vehicle gear Rank and the vehicle speed V; and if the vehicle is in the ascent backward slide state, executing the following steps: carrying out proportional-integral regulation on the vehicle speed V to obtain a current value I which is required by the motor and ensures that the vehicle cannot slide backwards and control the motor to operate with the required current value I. Through the controlling method, the vehicle can control the output torque of the motor according to a vehicle condition at that time when the vehicle goes up a slope, and inhibit the vehicle from having backward slide conditions so as to increase the safety and the comfort of vehicle traveling.
Description
Technical field
The present invention relates to the motor output torque control system and the control method of automobile, relate in particular to motor output torque control system and the control method of automobile under the upward slope state.
Background technology
Traditional fuel-engined vehicle adopts driving engine as the takeoff output source, and not flame-out in order to guarantee driving engine, the speed of a motor vehicle of engine running must be more than idling.When automobile was on the highway section, slope, even chaufeur step on the accelerator not, driving engine also can have a moment forward because of operating in more than the idling, guaranteed the vehicle downslide that can not fall back.And mostly electronlmobil and hybrid vehicle are to adopt motor as the takeoff output source, and according to the electric current given value, the control motor drives wheel with the response torque, makes automobile reach the desired speed of a motor vehicle by CPU.Motor itself does not need idling to guarantee automotive operation, so when chaufeur not during stepping on accelerator pedal, motor does not have moment output.But when automobile is on the uphill way, if the chaufeur release the gas pedal, because motor has moment output, the vehicle downslide that may fall back, so then may produce serious consequence, in the upward slope process, not wish the downslide that falls back that takes place so wish to suppress vehicle.
Summary of the invention
Main purpose of the present invention is in order to address the above problem, and proposes a kind ofly can suppress motor output torque control system and control method under the downslide situation that falls back that takes place appears not wishing in vehicle in the upward slope process the automobile upward slope state.
For achieving the above object, the invention provides motor output torque control method under a kind of automobile upward slope state, may further comprise the steps:
S1) detect automobile gear level Rank and vehicle velocity V;
S2) judge according to gear Rank and vehicle velocity V whether vehicle is in the upward slope slip-down state, and if vehicle be in the upward slope slip-down state, then carry out following steps:
S3) vehicle velocity V is carried out proportional integral (PI) and regulate, obtain the required current value I of motor that vehicle is not glided;
S4) the control motor rotation is in required current value I.
Motor output torque control system under a kind of automobile upward slope state, this system comprises:
Gear position sensor is used to detect the gear Rank of vehicle;
Car speed sensor is used to detect the vehicle velocity V of vehicle; And
Motor ECU, be used to receive detected gear Rank and vehicle velocity V, judge according to gear Rank and vehicle velocity V whether vehicle is in the upward slope slip-down state, if vehicle is in the upward slope slip-down state, then vehicle velocity V being carried out proportional integral (PI) regulates, obtain the required current value I of motor that vehicle is not glided, the control motor rotation is in required current value I.
Beneficial effect of the present invention is: when the present invention judges vehicle and is in the upward slope state according to the output of gear position sensor and car speed sensor, it is that PI regulates that vehicle velocity V is carried out the proportional integral (PI) adjusting, obtain the required current value I of motor that vehicle is not glided, the control speed of a motor vehicle is 0, thereby can suppress vehicle downslides that when going up a slope, fall back, the safety and the traveling comfort of enhancing vehicular drive.
Description of drawings
Fig. 1 is the electrical drive system simplified structure diagram that include automobile upward slope state under the automobile of motor output torque control system of expression according to an embodiment of the invention;
Fig. 2 is the diagram of circuit according to motor output torque control method under the automobile upward slope state of the present invention;
Fig. 3 is the diagram of circuit according to motor output torque control method under the automobile upward slope state of preferred implementation of the present invention;
Fig. 4 is a constructional drawing of realizing motor output torque control system under the automobile upward slope state of the preferred embodiment for the present invention.
The specific embodiment
With reference now to accompanying drawing, preferred implementation is described in detail.
As shown in Figure 1, expression is as the electrical drive system simplified structure diagram of the automobile of an embodiment of the invention.Auto electric drive system 100 in the embodiment comprises: battery pack 1, car speed sensor 2, brake pedal 11, gear position sensor 3, capacitor bank 4, motor electronic control unit (ECU) 5, inverter 6, driving isolated location 7, motor 8, magslip 9.
Wherein, described battery pack 1 adopts high-performance battery pack, and voltage 200V～330V is the energy source of whole electrical drive system; Described brake pedal 11 is fixed on the place identical with orthodox car, is used for transmitting the brake depth signal to motor ECU5; Described car speed sensor 2 links to each other with average speed indicator, is used for transmitting vehicle speed signal to motor ECU5; Described gear position sensor links to each other with the gear-shifting actuating mechanism of automobile, is used for transmitting to motor ECU5 the gear signal of vehicle; Described capacitor bank 4 positive poles are connected with the positive electrode bus of described battery pack 1, and negative pole is connected with the negative pole bus of described battery pack 1, is used for the absorbing high-frequency surge voltage, the smooth dc voltage waveform; Described motor ECU5 is used to calculate pwm signal, sends into inverter 6 by driving isolated location; Described inverter 6 is by three IPM (Intelligent Power Module, also available IGBT, transistor equipower device) forms, IPM is divided into upper and lower bridge arm, the input end of the last brachium pontis of described three IPM is connected with the positive electrode bus of battery pack 1, following brachium pontis is connected with the negative pole bus of battery pack 1, and each point of connection between each IPM is connected with the three-phase coil of described motor 8 (U mutually, V phase, W phase) respectively; Described motor 8 is permanent magnet type synchronous motors, as the takeoff output source of automobile; Described magslip 9 is connected with the rotor of described motor 8, is used to detect the rotary angle position of the rotor of described motor 8, and passes to described motor ECU5.
The present invention is based on the gear signal of gear position sensor output and the vehicle speed signal of car speed sensor output and judge whether vehicle is in the upward slope state, then vehicle velocity V is carried out the proportional integral (PI) adjusting if be in the upward slope state, obtain the required current value I of motor that vehicle is not glided, control motor 8 then and operate at required current value I, thereby make the motor 8 corresponding torques of output and restrain the vehicle downslide that falls back.
As shown in Figure 2, the diagram of circuit for motor output torque control method under the automobile upward slope state of the present invention may further comprise the steps:
At step S1, gear position sensor detects automobile gear level Rank, and car speed sensor detects the vehicle velocity V of vehicle.
At step S2, motor ECU judges according to gear Rank and vehicle velocity V whether vehicle is in the upward slope slip-down state.Be in the upward slope slip-down state if be judged as vehicle, then execution in step 3; If being judged as vehicle is not in the upward slope slip-down state, then according to mode control motor output respective torque of the prior art.
Wherein, judge according to gear Rank and vehicle velocity V whether vehicle is in the upward slope state and comprises: receive the gear signal of gear position sensor output and the vehicle speed signal of car speed sensor output, if gear Rank is a D Drive, but vehicle velocity V is then judged vehicle and is in the upward slope slip-down state for negative.
At step S3, motor ECU carries out proportional integral (PI) to vehicle velocity V to be regulated, and promptly PI regulates, and obtains the required current value I of motor that vehicle is not glided.Proportional integral (PI) is regulated by following formula and is carried out the proportional integral (PI) adjusting:
Its medium velocity V is unit with m/s; T is for being the integration time of unit with s; K
PiBe the ratio coefficient of amplification; τ is the integration time constant.
Wherein, the parameter that proportional integral (PI) is regulated is according to because the quality of concrete vehicle, wheel size, the difference that vehicle speed variation compares etc. and different, K
PiPreferred range is 5000-10000, and the preferable range of τ is that 0.001s is to 0.005s.
As shown in Figure 3, preferably, step S1 also utilizes the brake depth transducer to detect brake pedal and is jammed on the pairing brake depth B of degree of depth rake, in step S3, the result that motor ECU regulates based on proportional integral (PI) again, the brake depth B rake that obtains according to step S1 calculates the required electric current I of motor.
Linearity reduces required current value I along with the increase of brake depth B rake.Generally speaking, when the brake degree of depth increases to 40%, this brake degree of depth can be so that automobile brake have stopped, and the downslide that can not fall back, thereby be preferably when the brake degree of depth is 0, required current value I equals that vehicle velocity V is carried out proportional integral (PI) and regulates the end value that obtains, and when the brake degree of depth increased to 40%, required current value I was 0.
At step S4, motor ECU in required current value I, exports respective torque T thereby control motor by the control motor rotation.
Realize above control method system structure as shown in Figure 3, comprise gear position sensor 3, car speed sensor 2, motor ECU5, preferred, also comprise brake depth transducer 12.Gear position sensor 3 is used to detect the gear Rank of vehicle; Car speed sensor 2 is used to detect the vehicle velocity V of vehicle; Brake depth transducer 12 is used for detecting brake and is jammed on the pairing brake depth B of degree of depth rake; Motor ECU5 is used to receive detected gear Rank, vehicle velocity V and brake depth B rake, judge according to gear Rank and vehicle velocity V whether vehicle is in the upward slope slip-down state, if vehicle is in the upward slope slip-down state, then vehicle velocity V is carried out proportional integral (PI) and regulate, promptly PI regulates, and obtains the required current value I of motor that vehicle is not glided, preferably, the result who regulates based on proportional integral (PI) according to the required electric current I of brake depth B rake calculating motor, thereby controls motor output respective torque T again.
Wherein preferably include judging unit 51 among the motor ECU, be used for judging according to gear Rank and vehicle velocity V whether vehicle is in the upward slope state, be in the upward slope state, then export to the PI regulon and send the beginning conditioning signal if be judged as vehicle; Calculating unit 52 is used for that vehicle velocity V is carried out proportional integral (PI) and regulates, and obtains the required current value I of motor that vehicle is not glided, and is preferred, and the result that this calculating unit is regulated based on proportional integral (PI) calculates the required electric current I of motor according to brake depth B rake; Motor control unit 53 is used to control the required current value I of motor.
According to above explanation, adopt motor as the automobile in takeoff output source when hanging D Drive and be in the slope and go up, the acceleration pedal even chaufeur comes loose fully, this moment, system regulated motor output torque according to the speed of a motor vehicle, was 0 up to the speed of a motor vehicle, promptly restrained the automobile downslide.
Claims (14)
1. motor output torque control method under the automobile upward slope state, this control method may further comprise the steps:
S1) detect automobile gear level and vehicle velocity V;
S2) judge according to gear and vehicle velocity V whether vehicle is in the upward slope slip-down state, and if vehicle be in the upward slope slip-down state, then carry out following steps:
S3) vehicle velocity V is carried out proportional integral (PI) and regulates, obtain the required current value I of motor that vehicle is not glided, wherein carry out proportional integral (PI) and regulate according to following formula:
Its medium velocity V is unit with m/s; T is for being the integration time of unit with s; K
PiBe the ratio coefficient of amplification; τ is the integration time constant;
S4) the control motor rotation is in required current value I.
2. control method according to claim 1, wherein step S2 comprises:
If gear is a D Drive, and vehicle velocity V is then judged vehicle and is in the upward slope slip-down state for negative.
3. control method according to claim 1, wherein said proportional integral (PI) is regulated K in the formula
PiScope be 5000 to 10000, the scope of τ is that 0.001s is to 0.005s.
4. control method according to claim 1, wherein step S1 also comprises: detect the brake degree of depth;
Step S3 also comprises: based on the result of proportional integral (PI) adjusting, according to the required electric current I of brake depth calculation motor.
5. control method according to claim 4, linearity reduces wherein required current value I along with the increase of the brake degree of depth.
6. control method according to claim 5, wherein:
When the brake degree of depth was 0, required current value I equaled that vehicle velocity V is carried out proportional integral (PI) and regulates the end value that obtains;
When the brake degree of depth increased to 40%, required current value I equaled 0.
7. motor output torque control system under the automobile upward slope state, this system comprises:
Gear position sensor (3) is used to detect the gear of vehicle;
Car speed sensor (2) is used to detect vehicle velocity V; And
Motor ECU (5), be used to receive detected gear and vehicle velocity V, judge according to gear and vehicle velocity V whether vehicle is in the upward slope slip-down state, if vehicle is in the upward slope slip-down state, then vehicle velocity V being carried out proportional integral (PI) regulates, obtain the required current value I of motor that vehicle is not glided, the control motor rotation wherein carries out proportional integral (PI) by following formula and regulates in required current value I:
Its medium velocity V is unit with m/s; T is for being the integration time of unit with s; K
PiBe the ratio coefficient of amplification; τ is the integration time constant.
8. control system according to claim 7, this system also comprises:
Brake depth transducer (12) is used for detecting the brake degree of depth;
Motor ECU (5) also is used to receive the detected brake degree of depth, and the result who regulates based on proportional integral (PI), according to the required electric current I of brake depth calculation motor.
9. control system according to claim 7, wherein said motor ECU comprises:
Judging unit (51) is used for judging according to gear and vehicle velocity V whether vehicle is in the upward slope slip-down state, and if be judged as vehicle and be in the upward slope slip-down state, then export to the proportional integral (PI) regulon and send the signal that begins to regulate;
Calculating unit (52) is used for that vehicle velocity V is carried out proportional integral (PI) and regulates, and obtains the required current value I of motor that vehicle is not glided, wherein carries out proportional integral (PI) by following formula and regulates:
Its medium velocity V is unit with m/s; T is for being the integration time of unit with s; K
PiBe the ratio coefficient of amplification; τ is the integration time constant;
Motor control unit (53) is used to control motor rotation in required current value I.
10. control system according to claim 9, this system also comprises:
Brake depth transducer (12) is used for detecting the brake degree of depth;
Described calculating unit (52) also is used to receive the detected brake degree of depth, and the result who regulates based on proportional integral (PI), according to the required electric current I of brake depth calculation motor.
11. control system according to claim 9, wherein said judging unit judge as follows whether vehicle is in the upward slope slip-down state:
If gear is a D Drive, and vehicle velocity V is then judged vehicle and is in the upward slope slip-down state for negative.
12. control system according to claim 7, wherein said proportional integral (PI) is regulated K in the formula
PiScope be 5000 to 10000, the scope of τ is that 0.001s is to 0.005s.
13. the result that control system according to claim 10, wherein said calculating unit are regulated based on proportional integral (PI) as follows, according to the required electric current I of brake depth calculation motor:
Linearity reduces required current value I along with the increase of the brake degree of depth.
14. the result that control system according to claim 13, wherein said calculating unit are regulated based on proportional integral (PI) as follows, according to the required electric current I of brake depth calculation motor:
When the brake degree of depth was 0, required current value I equaled that vehicle velocity V is carried out proportional integral (PI) and regulates the end value that obtains;
When the brake degree of depth increased to 40%, required current value I equaled 0.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008102101660A CN101659219B (en) | 2008-08-29 | 2008-08-29 | System and method for controlling output torque of motor in ascent state of vehicle |
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| CN2008102101660A CN101659219B (en) | 2008-08-29 | 2008-08-29 | System and method for controlling output torque of motor in ascent state of vehicle |
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| CN101659219B true CN101659219B (en) | 2011-12-28 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102198805B (en) * | 2011-03-09 | 2016-09-28 | 王子辉 | A kind of pure electric automobile ramp method in slope that magneto drives |
| CN103182952B (en) * | 2011-12-28 | 2016-05-25 | 深圳市汇川技术股份有限公司 | A kind of electric automobile electronics control system in slope and method |
| CN104417391B (en) * | 2013-08-23 | 2016-12-28 | 比亚迪股份有限公司 | Dynamic regulating method and the device of threshold value is exported for controlling the moment of torsion of pure electric vehicle |
| CN107097683A (en) * | 2017-04-21 | 2017-08-29 | 阿尔特汽车技术股份有限公司 | Electric automobile upward slope starting control method |
| CN112140900B (en) * | 2019-06-28 | 2022-05-13 | 比亚迪股份有限公司 | Control method and system of vehicle motor and vehicle |
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| US5457363A (en) * | 1993-02-09 | 1995-10-10 | Toyota Jidosha Kabushiki Kaisha | Driving-force regulating apparatus for electric vehicle |
| US6377007B1 (en) * | 1999-07-05 | 2002-04-23 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Motor torque control device of electric vehicle |
| CN1772528A (en) * | 2004-11-11 | 2006-05-17 | 丰田自动车株式会社 | Power outputting device and its controlling method and vehicle |
| CN101209682A (en) * | 2006-12-26 | 2008-07-02 | 比亚迪股份有限公司 | Electric motor outputting torque moment control system and control method in electric automobile ascending condition |
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- 2008-08-29 CN CN2008102101660A patent/CN101659219B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5457363A (en) * | 1993-02-09 | 1995-10-10 | Toyota Jidosha Kabushiki Kaisha | Driving-force regulating apparatus for electric vehicle |
| US6377007B1 (en) * | 1999-07-05 | 2002-04-23 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Motor torque control device of electric vehicle |
| CN1772528A (en) * | 2004-11-11 | 2006-05-17 | 丰田自动车株式会社 | Power outputting device and its controlling method and vehicle |
| CN101209682A (en) * | 2006-12-26 | 2008-07-02 | 比亚迪股份有限公司 | Electric motor outputting torque moment control system and control method in electric automobile ascending condition |
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