CN101823444B - Method for controlling starting torque of electric vehicle - Google Patents
Method for controlling starting torque of electric vehicle Download PDFInfo
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- CN101823444B CN101823444B CN2010101636088A CN201010163608A CN101823444B CN 101823444 B CN101823444 B CN 101823444B CN 2010101636088 A CN2010101636088 A CN 2010101636088A CN 201010163608 A CN201010163608 A CN 201010163608A CN 101823444 B CN101823444 B CN 101823444B
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Abstract
The invention relates to a method for controlling a starting torque of an electric vehicle. The method comprises the following steps of: in a step 20, detecting whether a current electric drive system is all set by using a finished vehicle controller; in a step 21, judging whether the current vehicle speed is lower than a fixed value by using the finished vehicle controller; in a step 22, judging whether a motor rotating speed is lower than a fixed value, namely judging whether the current finished vehicle is in a starting stage; in a step 23, judging whether a current gear request is a D gear or an R gear; in a step 25, starting a timer T; in a step 26, calculating a motor rotating speed-based request torque Tq1; in a step 27, judging whether the timer T is finished, if the timer is not finished, returning to the step 26 to continue timing; if the timer is finished, entering a step 28; in the step 28, calculating a driver accelerator pedal-based request torque Tq2; and in the step 29, comparing the Tq2 with the Tq2, wherein the smaller value of the Tq1 and the Tq2 is a final starting torque request value.
Description
Technical field
The present invention relates to a kind of Control of Electric Vehicles field control method, especially relate to a kind of method for controlling starting torque of electric vehicle, the control of moment of torsion when it can realize battery-driven car started to walk.
Background technology
Energy shock and ecological deterioration have become restriction global evolution key factor, and the automobile of research energy-saving and environmental protection is one of effective means of alleviating energy pressure, reduction environmental pollution.Compare with traditional combustion engine car or hybrid vehicle, battery-driven car adopts pure driven by power, can reach emission abatement, the purpose that cuts down the consumption of energy.
Compare with traditional vehicle, pure electric vehicle (EV) typical case difference is:
1, electrical motor is the driving propulsion source of vehicle, can realize advancing and falling back of vehicle;
2, electrical motor can be participated in car brakeing, reclaims braking energy;
3, the main energy of battery-driven car comes from energy storage units (generally being high-tension battery);
4, the energy of battery-driven car is mainly from external charge.
Because the energy content of battery of pure electric vehicle is limited, so the continual mileage of pure electric vehicle has received bigger restriction.In order to solve the continual mileage problem of pure electric vehicle, popular way is to install a mileage adder onboard additional at present, and when battery electric quantity was not enough, starting mileage adder was the high-tension battery charging, Here it is so-called plug-in type electromagnetic motor-car (PHEV).
Because the power system majority of battery-driven car directly passes through change speed gear box to wheel by motor; Owing to have the gap between the gear of transmission of power; And transmission shaft has certain flexibility, therefore when beginning to apply power, because slack action can produce certain noise and vibration.Thereby, whether reasonable to the torque control of motor, will directly have influence on the car load driving.
Summary of the invention
The present invention has designed a kind of method for controlling starting torque of electric vehicle; The technical matters of its solution is to have the gap between the power transmitting gear of electronlmobil; And transmission shaft has certain flexibility, therefore when beginning to apply power, because slack action can produce certain noise and vibration.
In order to solve the technical matters of above-mentioned existence, the present invention has adopted following scheme:
A kind of method for controlling starting torque of electric vehicle may further comprise the steps:
Whether entire car controller to detect current power drive system ready in step 20, if readyly just get into step 21, otherwise stops this logical action;
Entire car controller judges whether current vehicle speed is lower than certain value in step 21, if set up then get in the step 22, if be false then stop this logical action;
Judging in step 22 whether motor speed is lower than certain value, is exactly to judge whether current car load is in the starting stage, if set up then get in the step 23, otherwise stops this logical action;
Judge in step 23 whether current gear request is the D shelves,, otherwise stop this logical action if set up then get in 25 steps;
In step 25, can start a time meter T;
In step 26, can calculate requested torque Tq1 based on motor speed;
Can judge in step 27 whether time meter T finishes,, then get back to step 26 kind of continuation timing, get in the step 28 if timing finishes if time meter does not finish;
In step 28, can calculate requested torque Tq2 based on the chaufeur acceleration pedal;
The size that in step 29, can compare Tq1 and Tq2, smaller value is final starting torque request value between the two.
Further, judge in the said step 23 whether current gear request is the R shelves,, otherwise stop this logical action if set up then get in 25 steps.
This method for controlling starting torque of electric vehicle has following beneficial effect: the present invention is owing to calculate the size of the requested torque Tq1 and the Tq2 of motor speed respectively; The size that also can compare Tq1 and Tq2 simultaneously; Smaller value is final starting torque request value between the two; According to the torque request value in the above-mentioned steps 29, can effectively alleviate constantly because starting noise and the vibration that driveline lash causes also will improve the NVH performance of car load and driver's traveling comfort in starting.
Description of drawings
Fig. 1: the starting torque control diagram of circuit of method for controlling starting torque of electric vehicle of the present invention;
Fig. 2: electric vehicle structure figure.
Description of reference numerals:
The 1-acceleration pedal; The 2-brake pedal; The 3-pedal switch; The 4-external source; The 5-EV/PHEV switch; 6-gear detector; The 7-entire car controller; The 8-high-tension battery; The 9-battery controller; 10-inverter or rectifier; The 11-electrical generator; The 12-driving engine; The 13-engine controller; The 14-inverter; The 15-motor drive controller; The 16-motor position sensor; The 17-drive motor; The 18-ABS controller; The 19-speed sensor is sent out; The 33-electric machine controller.
The specific embodiment
Below in conjunction with Fig. 1 and Fig. 2, the present invention is further specified:
As shown in Figure 1, a kind of method for controlling starting torque of electric vehicle may further comprise the steps:
Whether entire car controller to detect current power drive system ready in step 20, if readyly just get into step 21, otherwise stops this logical action;
Entire car controller judges whether current vehicle speed is lower than certain value in step 21, if set up then get in the step 22, if be false then stop this logical action;
Judging in step 22 whether motor speed is lower than certain value, is exactly to judge whether current car load is in the starting stage, if set up then get in the step 23, otherwise stops this logical action;
Judge in step 23 whether current gear request is the D shelves,, otherwise stop this logical action if set up then get in 25 steps;
In step 25, can start a time meter T;
In step 26, can calculate requested torque Tq1 based on motor speed;
Can judge in step 27 whether time meter T finishes,, then get back to step 26 kind of continuation timing, get in the step 28 if timing finishes if time meter does not finish;
In step 28, can calculate requested torque Tq2 based on the chaufeur acceleration pedal;
The size that in step 29, can compare Tq1 and Tq2, smaller value is final starting torque request value between the two.
Further, judge in the said step 23 whether current gear request is the R shelves,, otherwise stop this logical action if set up then get in 25 steps.
The present invention is owing to calculate the size of the requested torque Tq1 and the Tq2 of motor speed respectively; The size that also can compare Tq1 and Tq2 simultaneously; Smaller value is final starting torque request value between the two; According to the torque request value in the above-mentioned steps 29, can effectively alleviate constantly because starting noise and the vibration that driveline lash causes also will improve the NVH performance of car load and driver's traveling comfort in starting.
Fig. 1 is the electric vehicle system constructional drawing.Entire car controller 7 detects the acceleration pedal 1 of chaufeur and the demand of brake pedal 2, explains the driving or the braking request of chaufeur, and wherein whether the brake activation pedal detects through pedal switch 3 chaufeur.The gear request of chaufeur detects through gear detector 6.Entire car controller 7 sends to motor drive controller 15 and drives or electronic request command, and final power is realized being realized by motor drive controller 15 control inverters 14 and drive motor 17.Thereby the electric energy of high-tension battery 8 outputs to inverter 14 and for drive motor electric energy is provided; Generated energy when high-tension battery 8 also can be accepted from the regenerative brake of inverter 14, the electric energy that can also accept from the inverter 10 of mileage adder at vehicle operating process mesohigh battery 8.The electricity of high-tension battery 8 can obtain through external source 4, and battery controller 9 detects the state of high-tension battery 8 and reflects in real time to entire car controller 7.Entire car controller 7 receives the state-of-charge SOC of high-tension battery 8 of the feedback of battery controller 9, and when finding that state-of-charge SOC is lower than certain value, entire car controller 7 will start mileage adder, ask its generating then.Mileage adder has comprised electrical generator 11 and driving engine 12; Wherein engine controller 13 is realized the speed control of driving engine 12; The control that engine controller 33 is realized the mileage adder electrical generator; The electric energy of mileage adder can output on the high voltage bus through rectifier 10, and the powered system uses.Simultaneously, electric-only mode or the hybrid mode request of the EV/PHEV switch 5 of this car in order to detect to drive, this car can draw the current rotating speed of motor through motor position sensor 16, and speed sensor 19 can detect car speed.Abs controller 18 is responsible for the vehicle slip rate is detected best deceleration and stopping performance and the brake safe that guarantees vehicle, when it is in state of activation, can send its state to entire car controller, thereby make entire car controller stop regenerative brake.Entire car controller 7, battery controller 9, engine controller 33, engine controller 13, motor drive controller 15 and abs controller 18 connect through CAN communication.
Claims (2)
1. method for controlling starting torque of electric vehicle may further comprise the steps:
Whether entire car controller to detect current power drive system ready in step 20, if readyly just get into step 21, otherwise stops this logical action;
Entire car controller judges whether current vehicle speed is lower than certain value in step 21, if set up then get in the step 22, if be false then stop this logical action;
Judge in step 22 whether motor speed is lower than certain value, judge exactly whether current car load is in the starting stage,, otherwise stop this logical action if set up then get in the step 23;
Judge in step 23 whether current gear request is the D shelves,, otherwise stop this logical action if set up then get in the step 25;
In step 25, can start a time meter T;
In step 26, can calculate requested torque Tq1 based on motor speed;
Can judge in step 27 whether time meter T finishes, if time meter does not finish, then gets back to and continues timing in the step 26, gets in the step 28 if timing finishes;
In step 28, can calculate requested torque Tq2 based on the chaufeur acceleration pedal;
The size that in step 29, can compare Tq1 and Tq2, smaller value is final starting torque request value between the two, according to the torque request value in the above-mentioned steps 29, can effectively alleviate starting noise and the vibration that causes owing to driveline lash constantly in starting.
2. according to method for controlling starting torque of electric vehicle in the claim 1, it is characterized in that: judge in the said step 23 whether current gear request is the R shelves,, otherwise stop this logical action if set up then get in the step 25.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101636088A CN101823444B (en) | 2010-05-06 | 2010-05-06 | Method for controlling starting torque of electric vehicle |
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| CN2010101636088A CN101823444B (en) | 2010-05-06 | 2010-05-06 | Method for controlling starting torque of electric vehicle |
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| CN101823444B true CN101823444B (en) | 2012-06-27 |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303524B (en) * | 2011-08-26 | 2012-12-19 | 安徽巨一自动化装备有限公司 | Control method for electric vehicle power system with clutch device |
| CN102320253B (en) * | 2011-08-26 | 2012-12-19 | 安徽巨一自动化装备有限公司 | Control method of electric vehicle power system with multigear speed-changing box |
| CN102303523B (en) * | 2011-08-26 | 2012-12-19 | 安徽巨一自动化装备有限公司 | Control method for electric vehicle power system |
| CN103661391B (en) * | 2013-10-11 | 2016-04-13 | 吉林省高新电动汽车有限公司 | Pure electric coach drived control method |
| CN104627153B (en) * | 2013-11-08 | 2017-06-06 | 北汽福田汽车股份有限公司 | The uphill starting control method and system of electric automobile |
| CN104670207B (en) * | 2013-12-02 | 2019-01-08 | 周氏（北京）汽车技术有限公司 | Utilize the method for brake pedal and gas pedal control automobile ejection starting |
| CN104071031B (en) * | 2013-12-30 | 2019-04-23 | 上海大郡动力控制技术有限公司 | A kind of suppressing method of pure electric automobile starting shake |
| WO2017118190A1 (en) * | 2016-01-06 | 2017-07-13 | 北京新能源汽车股份有限公司 | Method of igniting and controlling electric training vehicle, ignition and control system, and electric training vehicle |
| CN107472076B (en) * | 2016-06-24 | 2019-11-22 | 宝沃汽车（中国）有限公司 | Torque control method, device and the vehicle of vehicle |
| CN109094424B (en) * | 2018-09-04 | 2021-08-27 | 合肥巨一动力系统有限公司 | Self-adaptive gear clearance compensation method |
| CN111267639B (en) * | 2020-02-14 | 2020-12-11 | 北京理工大学 | Vehicle drive control method and multi-wheel independent drive vehicle |
| CN112046300B (en) * | 2020-08-28 | 2022-05-31 | 合肥巨一动力系统有限公司 | Anti-shake control method based on torque compensation control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3195879B2 (en) * | 1994-07-07 | 2001-08-06 | 株式会社日立製作所 | Electric vehicle control device and electric vehicle control method |
| CN100521501C (en) * | 2007-09-30 | 2009-07-29 | 奇瑞汽车股份有限公司 | Torsion management method of mixed power electric motor |
| KR100992635B1 (en) * | 2007-12-13 | 2010-11-05 | 현대자동차주식회사 | Method for controlling driver request torque in the HEV |
| CN101559769A (en) * | 2009-06-01 | 2009-10-21 | 奇瑞汽车股份有限公司 | Safe control method for electric automobile torque |
| CN101602362A (en) * | 2009-06-08 | 2009-12-16 | 奇瑞汽车股份有限公司 | A kind of method for distributing auxiliary driving torques of hybrid vehicle |
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Owner name: CHERY NEW ENERGY AUTOMOBILE TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: SAIC CHERY AUTOMOBILE CO., LTD. Effective date: 20150630 |
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Effective date of registration: 20150630 Address after: 241000 Yijiang, Anhui Province, Jin Hua Road, No. 226, South Road, No. Patentee after: New-energy automobile Technology Co., Ltd. of Cherry Address before: 241009 Wuhu economic and Technological Development Zone, Anhui, No. 8 Changchun Road Patentee before: Saic Chery Automobile Co., Ltd. |
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Address after: 241003 no.226, South Huajin Road, high tech Industrial Development Zone, Wuhu City, Anhui Province Patentee after: Chery New Energy Automobile Co.,Ltd. Address before: 241000 No. 226 Hua Jin South Road, Yijiang District, Anhui, Wuhu Patentee before: CHERY NEW ENERGY AUTOMOBILE TECHNOLOGY Co.,Ltd. |