CN102431466A - Pure electric automobile movement control method - Google Patents
Pure electric automobile movement control method Download PDFInfo
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- CN102431466A CN102431466A CN2011103191223A CN201110319122A CN102431466A CN 102431466 A CN102431466 A CN 102431466A CN 2011103191223 A CN2011103191223 A CN 2011103191223A CN 201110319122 A CN201110319122 A CN 201110319122A CN 102431466 A CN102431466 A CN 102431466A
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Abstract
A pure electric automobile movement control method is characterized by comprising driving control, braking control and working mode control. The driving control method comprises the steps of: obtaining a target driving torque of a motor by regarding an aperture signal of an accelerator pedal and a motor rotating speed signal as an input; and then correcting the target driving torque of the motor according to a battery charge state, a battery current and a bus voltage fed back by a control area network (CAN) bus. The braking control method comprises the steps of: obtaining a target braking torque according to the braking pedal signal and the motor rotating speed signal; and then correcting the target braking torque of the motor according to the battery charge state, a battery current signal and a battery voltage signal fed back by the CAN bus. The working mode control method comprises the steps of: determining by combining current state of the motor according to a gear signal acquired by a whole automobile controller; and sending the motor target torque and the motor target working mode to the CAN bus by the whole automobile controller to control the movement of the automobile.
Description
Technical field
The present invention relates to a kind of pure electric automobile motion control method.
Background technology
Pure electric automobile has zero-emission, low, the quiet characteristics of going of consumption of power expense, is considered to solve the discharging of current mobility car, an important channel that reduces the vehicle operating costs.All pay much attention to the R&D work of pure electric automobile at present both at home and abroad, and existing many moneys launch.
In the pure electric automobile, whole-control system decision driver controls the traveling comfort and the convenience of electronlmobil; Substitute the part controllable function of traditional vehicle power system; Completion is to the fine-grained management of Electri auxiliary parts.Wherein the car load motion control method is the soul and the core of whole-control system, and perfect car load motion control method is the precondition of pure electric automobile performance premium properties.
In the present disclosed pure electric automobile car load control related data, also the car load motion control method is not carried out complete description and summary.The patent of CN 102019888A all is described the entire car controller hardware and the control method of pure electric automobile, and on control method, directly according to the gear decision, motor torque is then determined by the linearization of pedal aperture motor status; Dou Guowei etc. have carried out studying (Shanghai automobile, 2010 the 5th phases, pure electric sedan car load drive controlling strategy Development was put into practice) to pure electric automobile car load drive controlling method and braking recovery method; Application number is in the patent of CAN101695912A, and the core of its control method of finished is according to energy requirement statistics and current battery supply capacity, confirms the motor-driven torque.
Yet, in the motion control method of pure electric automobile, need coordinate driving method, braking method, the mode of operation of system, carry out heavy-current control and emergency protection work simultaneously, otherwise the car load power system can not be worked well.
Summary of the invention
The objective of the invention is to overcome the shortcoming of prior art,, propose a kind of car load motion control method according to the electric drive configuration of car load.The present invention is applicable to the pure electric automobile that adopts single drive motor, and the ABS system that need not to change automobile.
Adopt in the pure electric automobile of single drive motor, the high-tension bus-bar of battery pack output enters into the high-voltage appliance switch case, and connects with high-voltage relay through behind the battery management system.The high-tension line of high-voltage relay rear end is directly inputted into electric machine controller.The high pressure incoming line of DC/DC, electric air-conditioning and electric warm braw is connected in parallel on the high-tension line of battery management system rear end.
Entire car controller and battery management system, electric machine controller are realized information interaction through CAN bus and battery management system.Entire car controller receives key signal, pedal signal, pin position, air-conditioning and heater switch signal.The direct output switching signal control of entire car controller high-voltage relay, electric warm braw relay, electric air-conditioning relay, cooling fan relay, water pump relay.The running rotating speed of entire car controller output pwm signal control electric air-conditioning.
Among the present invention, the entire car controller of pure electric automobile must send motor target mode of operation and the instruction of motor target torque simultaneously, and motor could be realized normal action.The car load motion control method comprises drive controlling, control of braking, mode of operation three parts among the present invention; Drive controlling and control of braking partly are used to formulate the target torque of drive motor: driving torque and braking torque, and the mode of operation control part is used for confirming the target mode of operation of motor.
1, drive controlling method
The drive controlling method of the pure electronic car load of the present invention is summarised as: the acceleration pedal aperture signal that inputs to entire car controller with driver's acceleration pedal; And the motor speed signal that passes through CAN bus feedback is input; Look into the driving torque two-dimensional data table, obtain the target drive torque of motor; (State Of Charge, SOC) state, battery current, bus voltage are revised the target drive torque of motor according to the battery charge state of CAN bus feedback again.When battery or motor generation noncritical failure, the target drive torque of motor is limited; When occur battery or motor generation major failure, motor speed surpass upper limit tachometer value, motor enable signal that motor allows be in 0 these three kinds of conditions any one the time, the target drive torque of motor is 0.
Concrete controlled step is following:
(1) target drive torque of motor is at first tabled look-up by the driving torque two-dimensional data table and is obtained.Driver's acceleration pedal signal that this driving torque two-dimensional data table collects with entire car controller, and be input variable by the motor speed signal of CAN bus feedback, the target drive torque of motor is an output variable.The motor speed signal of bus feedback need pass through LPF, and to increase the time stickiness of motor speed feedback, the high-frequency fluctuation of the motor speed of filtering simultaneously makes the entire car controller antijamming capability increase.
This driving torque two-dimensional data table is to be the base profile reference with motor total external characteristics torque curve, under different motor rotating speed and different acceleration pedal aperture signal, carries out real vehicle and demarcates the rotating speed-acceleration pedal aperture signal-target drive torque curve that obtains.The characteristics of this driving torque two-dimensional data table are that greater than the interval torque variation slope of intermediate speed, high rotating speed interval torque variation slope changes slope greater than the interval torque of intermediate speed at slow speed of revolution interval torque variation slope.This data and curves shows that under low speed, the driving torque of car load is bigger, helps vehicle start and acceleration; The torque of vehicle descends comparatively fast under at a high speed, prevents the situation of motor hypervelocity under the little throttle.
(2) be input variable with SOC, look into the first driving torque coefficient of correction table, obtain first driving torque coefficient of correction, be used for revising the target drive torque of step (1) motor;
The first driving torque coefficient of correction table is input variable with SOC, and rule of thumb data are listed the cooresponding driving torque coefficient of correction of SOC.When SOC is higher than setting value, need be to the target drive torque correction; SOC is lower than this setting value, according to the first driving torque coefficient of correction value of the gained of tabling look-up, target drive torque is revised.
With the battery current is input variable, looks into the second driving torque coefficient of correction table, obtains the second driving torque coefficient of correction, and this second driving torque coefficient of correction is used for revising the target drive torque of step (1) motor;
The second driving torque coefficient of correction table is input variable with the battery current, and rule of thumb data have been listed the driving torque coefficient of correction.When the battery current absolute value is lower than setting value, need be to the target drive torque correction; When the battery current absolute value is higher than this setting value,, target drive torque is revised according to the second torque modification coefficient value of the gained of tabling look-up.
With the cell pressure is input variable, looks into the 3rd driving torque coefficient of correction table, obtains the 3rd driving torque coefficient of correction, is used for revising the target drive torque of step (1) motor.
The second driving torque coefficient of correction table is input variable with the cell pressure, and rule of thumb data are listed the driving torque coefficient of correction.When the cell pressure absolute value is higher than setting value, need be to the target drive torque correction; When the battery current absolute value was lower than this setting value, according to the 3rd torque modification coefficient value of the gained of tabling look-up, target drive torque was revised.
The motor target torque that obtains in three driving torque coefficient of corrections recited above and the step (1) multiplies each other simultaneously, obtains revised motor target torque.
(3) motor is in service, if when noncritical failure appears in battery or motor, need the revised motor target torque that (2) step obtains be limited.
(4) if battery or motor generation major failure, perhaps to surpass the working signal that enables that peak that machine operation allows or entire car controller issue motor be 0 for motor speed feedback, need the motor target torque that step (3) obtain forced put 0.
Motor target drive torque by above step (1) is confirmed after described step (2), (3), (4) correction, sends to electric machine controller by entire car controller through the CAN bus and carries out.
Need to prove that the motor target drive torque is just maybe be through the output of CAN bus under zero torque mode, forward mode or the " fall back " mode" at electrical machine working mode only.
2, brake control method
Brake control method of the present invention is: input to the brake pedal signal of entire car controller and the motor speed signal through CAN bus feedback is input with driver's brake pedal, look into the braking torque two-dimensional data table, obtain the target braking torque of motor; Through SOC state, battery current signal, the battery voltage signal of CAN bus feedback the target braking torque of motor is revised again.When battery or motor generation noncritical failure, the target braking torque of motor is limited; When the brake pedal on-off signal that entire car controller occurs inputing to is 0, battery or motor generation major failure or motor enable signal are 0, during any one condition in these three kinds of conditions, the target braking torque of motor is 0.
The brake control method concrete steps are following:
(1) the target braking torque of motor is tabled look-up by the braking torque two-dimensional data table and is obtained.The input variable of this two-dimensional data table is the brake pedal aperture signal that entire car controller collects, and through the motor speed signal that the CAN bus feeds back, output variable is a motor target braking torque.
This braking torque two-dimensional data table is through the actual brake pedal aperture signal-motor speed signal-motor target braking torque curve that obtains of demarcating; Have following characteristics: in braking procedure; When motor speed is lower than given low limit value; Braking torque is 0 fast, and the system pedal degree of depth is dark more, the curve steeper slopes that makes zero; When the brake pedal degree of depth surpassed certain degree of depth boundary value, the motor braking torque remained on the pairing torque value of brake pedal degree of depth boundary value.
(2) motor target braking torque not only receives the SOC influence, also should adopt cell pressure, battery charge in the feedback braking to revise, and prevents infringement battery or motor in the energy brake regeneration processes.
With the battery SOC is input variable, looks into the first braking torque coefficient of correction table, obtains the first braking torque coefficient of correction.
The first braking torque coefficient of correction table is the one-dimensional data table, when SOC reaches the setting limit value, does not carry out braking energy and reclaims; SOC is lower than when setting this limit value, and SOC and torque modification coefficient are linear.
With the battery charge is input variable, looks into the second braking torque coefficient of correction table, draws the second braking torque coefficient of correction.
With the cell pressure is input variable, looks into the 3rd braking torque coefficient of correction table, draws the 3rd braking torque coefficient of correction.
Target braking torque in said three braking torque coefficient of corrections that obtain in this step and the step (1) is multiplied each other simultaneously, obtain revised target braking torque.
(3) when battery or motor generation noncritical failure, need be to limiting, to reduce the torque output of motor through the revised target braking torque of step (2).
When the brake pedal on-off signal that (4) collects when entire car controller is 0, will passes through the target braking torque of step (3) restriction and force to put 0.
(5) when battery or motor generation major failure, the target braking torque that needs to pass through step (3) restriction is forced to put 0; When the enable signal that sends to electric machine controller when entire car controller was 0, the target braking torque that also needs to pass through step (3) restriction was forced to put 0.
Motor target braking torque by step (1) is confirmed after step (2), (3), (4), (5) correction and restriction, sends to electric machine controller by entire car controller through the CAN bus and carries out.
The explanation that needs is that motor target braking torque only when the target mode of operation of motor is braking mode, just possibly send through the CAN bus.
3, mode of operation is confirmed
The shift signal that collects according to entire car controller; Driving condition in conjunction with current motor; With motor target mode of operation, send to electric machine controller through the CAN bus by entire car controller, electric machine controller is according to motor target mode of operation that receives and motor torque order carrying out work.
(1) basic working modes of motor is determined by shift handle; When electronlmobil was hung forward gear, entire car controller sent the motor mode of operation order of advancing; When extension is retreated retaining, send motor and retreat the mode of operation order; When hanging neutral, send motor zero torque mode of operation order; When hanging the Parking retaining, the enable signal that entire car controller is issued electric machine controller is 0, and high-voltage relay can not be closed simultaneously.
(2) after the driver stepped on brake pedal, the brake switch signal was connected, and it is 1 o'clock that entire car controller collects the brake switch signal, sent the order of motor braking mode of operation.The said motor that the priority of braking mode of operation order is mentioned greater than abovementioned steps (1) advance mode of operation, retreat the priority of mode of operation, zero torque mode of operation and Parking mode instruction.
(3) hang zero torque mode of operation priority that neutral produced greater than described motor advance mode of operation and the described mode of operation of retreating, the priority of described Parking mode instruction is minimum.
Entire car controller sends the motor mode order according to the height of priority.Other motor mode instruction of high priority preferentially meets with a response.The order of priority instruction is:
Braking mode＞zero torque mode＞forward mode or " fall back " mode"＞Parking pattern.
(4) in certain range of speed, the mode of operation but driver's at high speed switch motor moves forward and backward simultaneously can be when switching gear fast, and the pedal of always stepping on the throttle needn't worry that motor damages.If rotating speed surpasses limit value, then can not realize this crash change of speed; As to interrupt this driving model, can be directly through stepping on the brake pedal braking, just can interrupt this gearshift strategy.
The characteristics of gearshift strategy are the quick gear handoff procedure of confirming of its gearshift mode prioritization level and step (4).
It is consistent with the operation of orthodox car that the present invention can make electronlmobil guarantee, and convenient in logic in gearshift.
Description of drawings
Fig. 1 is for being suitable for single motor-driven pure electric automobile power system of the present invention;
Fig. 2 describes for the motion control method of mentioning among the present invention;
Fig. 3 is the implementation process of motor target drive torque;
Fig. 4 is the implementation process of motor target braking torque;
Fig. 5 confirms flow process for the car load mode of operation;
Fig. 6 is the motion control method implementation process.
The specific embodiment
Further specify the present invention below in conjunction with the accompanying drawing and the specific embodiment.
As shown in Figure 1; In single motor-driven pure electric automobile power system, power battery pack comprises battery management system and power brick (including insurance), and the high-voltage output line road of power brick inputs to battery management system; Pass through high-voltage relay then, export the inlet of electric machine controller to.Electric machine controller drives the drive motor that contains speed reduction gearing, moves with powered vehicle.
The main accessory of pure electric automobile power system has DC/DC, electric air-conditioning, cooling water pump, cooling fan, electric warm braw.Electric boosting steering system and ABS still adopt former truck system.
Entire car controller and battery management system, electric machine controller are realized information interaction through CAN bus and battery management system.Entire car controller receives key signal, pedal signal, pin position, air-conditioning and heater switch signal.The direct output switching signal control of entire car controller high-voltage relay, electric warm braw relay, electric air-conditioning relay, cooling fan relay, water pump relay.The running rotating speed of entire car controller output pwm signal control electric air-conditioning.
Car load motion control method of the present invention such as Fig. 2 description.Car load motion control method of the present invention comprises 3 parts, i.e. drive controlling method, brake control method and mode of operation.The drive controlling method is used for confirming that motor target drive torque, brake control method are used for confirming motor target braking torque.The output that the brake pedal switch is used between target drive torque and target braking torque is switched.If the brake pedal on-off signal is 1, then exporting on the CAN bus is motor target braking torque; If the brake pedal on-off signal is 0, then exporting on the CAN bus is the motor target drive torque.Mode of operation confirms that method is used to confirm to export to the motor target mode of operation on the CAN bus.
Implementation method division to drive controlling, control of braking, mode of operation and whole motion control process is following.
1, drive controlling method
Below in conjunction with Fig. 3 the drive controlling strategy is described.
Pure electric automobile drive controlling strategy of the present invention may be summarized to be: input to the accelerator pedal signal of entire car controller and the motor speed signal through CAN bus feedback is input with driver's pedal; Look into driving torque 2-D data table method, obtain the target drive torque 1 of motor; According to SOC state, battery current, bus voltage target drive torque 1 is limited again, obtain target drive torque 2 through CAN bus feedback.When motor or battery generation noncritical failure, target drive torque 2 is revised, obtain motor target drive torque 3; If the major failure of motor or battery, or motor hypervelocity, or during the generation of motor internal enable command, motor target drive torque 3 is put 0, obtain final motor target drive torque.
Concrete control method is following:
(1) target drive torque 1 of motor: input to the accelerator pedal signal of vehicle control device and the motor speed signal through CAN bus feedback is input with driver's acceleration pedal, look into the driving torque two-dimensional data table, draw the target drive torque 1 of motor.The motor speed signal of bus feedback need pass through LPF, and to increase the time stickiness of motor speed feedback, the high-frequency fluctuation of the motor speed of filtering simultaneously makes system's antijamming capability increase.
(2) target drive torque 1 of motor is revised.Concrete correction content is:
With SOC is input variable, looks into the first driving torque coefficient of correction table, obtains the first driving torque coefficient of correction K1, is used for revising the target drive torque 1 of step (1) motor;
With the battery current is input variable, looks into the second driving torque coefficient of correction table, obtains the second driving torque coefficient of correction K2, and this second driving torque coefficient of correction is used for revising the target drive torque 1 of step (1) motor;
With the cell pressure is input variable, looks into the 3rd driving torque coefficient of correction table, obtains the 3rd driving torque coefficient of correction K3, is used for revising the target drive torque 1 of step (1) motor.
Three driving torque coefficient of correction K1 recited above, K2, the motor target torque that obtains in K3 and the step (1) multiplies each other simultaneously, obtains revised motor target drive torque 2.
(3) motor is in service, if when noncritical failure appears in battery or motor, need the correction motor target torque that step (2) obtain be limited.The method of revising is, the target drive torque 2 of motor multiply by a fixing factor of proportionality X, reduces the torque output of motor earlier, thereby draws the motor target drive torque 3 that falls torque output.
(4) if battery or motor generation major failure, perhaps to surpass the working signal that enables that peak that machine operation allows or entire car controller issue motor be 0 for motor speed feedback, need the motor target torque 3 that step (3) obtain forced put 0.
The target drive torque 3 of motor obtains entire car controller through the CAN bus after revising through step (4), issues the motor target drive torque of electric machine controller.
2, brake control method
Below in conjunction with Fig. 4 to the control of braking Policy description.
Pure electric automobile brake control method of the present invention may be summarized to be: input to the brake pedal signal of vehicle control device and the motor speed signal through CAN bus feedback is input with driver's brake pedal; Look into the braking torque two-dimensional data table; Obtain the target braking torque 4 of motor; According to target braking torque 4 being revised, obtain target braking torque 5 again through SOC state, battery current, the bus voltage of CAN bus feedback.When motor or battery generation noncritical failure, target braking torque 5 is revised, obtain motor target braking torque 6; By the major failure of motor or battery, or the brake switch signal, or motor internal enable command restriction motor target braking torque 6, final motor target braking torque obtained.Concrete control method is explained as follows:
(1) motor target braking torque 4: input to the brake pedal signal of vehicle control device and the motor speed signal through CAN bus feedback is input with driver's pedal, the method for looking into the braking torque two-dimensional data table draws.The motor speed signal of bus feedback need pass through LPF, and to increase the time stickiness of motor speed feedback, the high-frequency fluctuation of the motor speed of filtering simultaneously makes system's antijamming capability increase.
(2) the target braking torque 4 of motor is revised.Concrete correction content is:
With the battery SOC is input variable, looks into the first braking torque coefficient of correction table, draws the first braking torque coefficient of correction K4.
With the battery charge is input variable, looks into the second braking torque coefficient of correction table, draws the second braking torque coefficient of correction K5.
With the cell pressure is input variable, looks into the 3rd braking torque coefficient of correction table, draws the 3rd braking torque coefficient of correction K6.
(3) when battery or motor generation noncritical failure, need be to limiting through the target braking torque 5 after the step (2), limiting method is to multiply by a fixing factor of proportionality X1 to target braking torque 5, draws target braking torque 6.
When the brake pedal on-off signal that (4) collects when entire car controller is 0, will passes through the target braking torque 6 of step (3) restriction and force to put 0.
(5) when battery or motor generation major failure, the target braking torque 6 that needs to pass through step (3) restriction is forced to put 0; When the enable signal that perhaps sends to electric machine controller when entire car controller was 0, the target braking that needs to pass through step (3) restriction changes 6 to be forced to put 0.
The target braking torque 6 of motor finally obtains passing through the CAN bus by entire car controller after revising through step (5), issues the motor target braking torque of electric machine controller.
3, mode of operation is confirmed
Below in conjunction with Fig. 5 the mode of operation deterministic process is described.
After entire car controller powers on, begin shift signal is detected.If detect the Parking shift signal, then high-voltage relay can not be closed; Therefore before key Start retaining starts, will the Parking retaining be placed on the position of neutral earlier, row starts again.
When key is screwed to Start retaining, gear hangs on other the gear, as advance, retreat, during neutral, motor receives the enable signal that entire car controller sends, and starts working.This moment, shift signal was a forward gear, then forward mode was put into the 3rd priority; If retreat retaining, then " fall back " mode" is put into the 3rd priority.
If detected gear is a neutral, then zero torque mode is put into second priority.Open if detect brake switch, then braking mode is put into to first priority.
Because a certain moment; The motor target mode of operation that entire car controller is issued electric machine controller by the CAN bus only has a kind of; Therefore, motor target mode of operation to be sent is at first confirmed by the pattern in first priority, if non-mode order in first priority; Then go to seek in second priority, and the like.
4, the implementation method of control policy
Car load motion control process described in the present invention such as Fig. 6 description.
The entire car controller input circuit is regularly gathered three types of signals: through the signal of AD input, like acceleration pedal signal, brake pedal signal; The digital switch quantity signal is like ON, the Start retaining of key, shift signal and brake pedal on-off signal; Regularly feed back to power battery pack voltage, power battery pack electric current, the battery failure information of entire car controller through the CAN bus; Regularly feed back to drive motor rotating speed, drive motor torque, the drive motor failure message of entire car controller through the CAN bus.These information are gathered function by the input of the signal in the software and are handled.
The CPU of entire car controller is when carrying out the motion control method of vehicle; To gather the parameter that function obtains needs through the signal input earlier; Carry out the code of motion control method then, through the signal output function motor target torque and motor target mode of operation are sent to the CAN bus at last.Thereby realize car load motion control method of the present invention.
Claims (7)
1. a pure electric automobile motion control method is characterized in that, described control method comprises that drive controlling, control of braking and mode of operation control three parts; The target torque of described drive controlling method and brake control method controlling and driving motor: driving torque and braking torque; Described operating mode control method is used for confirming the target mode of operation of motor;
Described drive controlling method is input with acceleration pedal aperture signal and motor speed signal; Obtain the target drive torque of motor, according to battery charge state, battery current, the bus voltage of CAN bus feedback the target drive torque of described motor is revised again; When battery or motor generation noncritical failure, the target drive torque of motor is limited; When battery or motor generation major failure, or motor speed surpasses the upper limit tachometer value that motor allows, or the motor enable signal is 0 o'clock, and the target drive torque of control motor is 0;
Described brake control method is to be input with brake pedal signal and motor speed signal; Obtain the target braking torque of motor, according to battery charge state, battery current signal, the battery voltage signal of CAN bus feedback the target braking torque of motor is revised again; When battery or motor generation noncritical failure, the target braking torque of motor is limited; If the major failure of motor or battery, or brake switch signal, or the motor internal enable command is 0 to take place, and the braking of motor target is put 0;
Described operating mode control method is the shift signal that collects according to entire car controller; Driving condition in conjunction with current motor; By entire car controller with motor target mode of operation; Send to electric machine controller through the CAN bus, electric machine controller is according to the motor target mode of operation and the motor torque command job that receive.
2. a kind of pure electric automobile motion control method according to claim 1 is characterized in that the controlled step of described drive controlling method is:
The target drive torque (1) of 1) at first tabling look-up and obtaining motor by the driving torque two-dimensional data table; Driver's acceleration pedal signal that this driving torque two-dimensional data table collects with entire car controller; And by the motor speed signal of CAN bus feedback as input variable; The target drive torque of motor is an output variable; With motor total external characteristics torque curve is the base profile reference, and under different rotating speeds and different acceleration pedal aperture signals, real vehicle is demarcated the rotating speed-acceleration pedal aperture signal-target drive torque curve that obtains;
2) be input variable at first, look into the first driving torque coefficient of correction table, obtain the first driving torque coefficient of correction (K1), be used to revise the target drive torque (1) of the motor of step 1) gained with battery charge state SOC;
When battery charge state SOC is higher than setting value, need be to the target drive torque correction; When SOC is lower than this setting value,, the target drive torque (1) of described motor is revised according to the value of the described first driving torque coefficient of correction (K1);
Be input variable with the battery current then, look into the second driving torque coefficient of correction table, obtain the second driving torque coefficient of correction (K2), this second driving torque coefficient of correction (K2) is used to revise the target drive torque (1) of the motor of step 1) gained;
When the battery current absolute value is lower than setting value, need not revise the target drive torque (1) of described motor; When the battery current absolute value is higher than described setting value,, the target drive torque (1) of described motor is revised according to the value of the described second driving torque coefficient of correction (K2);
Be input variable with the cell pressure again, look into the 3rd driving torque coefficient of correction table, obtain the 3rd driving torque coefficient of correction (K3), be used to revise the target drive torque (1) of the motor of step 1) gained;
When the cell pressure absolute value is higher than setting value, need not revise the target drive torque (1) of described motor; When the battery current absolute value was lower than described setting value, the value of the second driving torque coefficient of correction (K3) that obtains according to tabling look-up was revised the target drive torque (1) of the described motor of described motor;
The target drive torque (1) of the motor that obtains in above-mentioned three driving torque coefficient of corrections (K1, K2, K3) and the step 1) multiplies each other simultaneously, obtains revised motor target drive torque (2).
3. a kind of pure electric automobile motion control method according to claim 2; It is characterized in that, when battery or motor through the CAN bus, noncritical failure appears in prompting battery or motor; And when not needing out-of-service inspection, the target drive torque (2) of described motor is revised; The method of revising is, the target drive torque (2) of motor multiply by factor of proportionality X, reduces the torque output of motor earlier, draws the target drive torque (3) of the motor that falls torque output;
In the motor operation course, the motor speed signal that shows as CAN bus feedback is not 0, if this moment battery or motor through the CAN bus, major failure appears in prompting battery or motor, the motor target drive torque (3) that needs to fall torque output is forced to put 0;
If the motor speed signal motor speed of CAN bus feedback surpasses the highest limit value of machine operation, will fall the motor target drive torque (3) of torque output and force to put 0;
If entire car controller is not issued one of electric machine controller through the CAN bus and enabled working signal, will fall the motor target drive torque (3) of torque output and force to put 0;
Motor target drive torque (3) through after the above step correction, through the CAN bus, is issued electric machine controller by entire car controller.
4. a kind of pure electric automobile motion control method according to claim 1 is characterized in that the step of described brake control method is:
1) the brake pedal aperture signal that is at first collected by entire car controller through the motor speed signal that the CAN bus feeds back, is looked into the braking torque two-dimensional data table and is tabled look-up, and draws motor target braking torque (4);
2) be input variable with battery charge state SOC, look into the first braking torque coefficient of correction table, draw the first braking torque coefficient of correction (K4);
With the battery charge is input variable, looks into the second braking torque coefficient of correction table, draws the second braking torque coefficient of correction (K5);
With the cell pressure is input variable, looks into the 3rd braking torque coefficient of correction table, draws the 3rd braking torque coefficient of correction (K6);
With said three the braking torque coefficient of corrections that obtain in this step (K4, K5, K6) with step 1) in target braking torque (4) multiply each other simultaneously, obtain revised target braking torque (5).
5. according to claim 1 or 4 described a kind of pure electric automobile motion control methods, it is characterized in that,
1) in the motor operation course; The motor speed signal that shows as CAN bus feedback is not 0, if this moment battery or motor through the CAN bus, noncritical failure appears in prompting battery or motor; And when not needing out-of-service inspection, the target braking torque (5) of described motor is revised; The method of revising is, the target braking torque (5) of described motor multiply by a fixing factor of proportionality X1, reduces the torque output of motor earlier, draws the target braking torque (6) of motor;
2) in the motor operation course, if this moment battery or motor through the CAN bus, major failure appears in prompting battery or motor, need the target braking torque (6) of motor forced put 0;
If this moment entire car controller to collect the brake pedal switch value be 0, then the target braking torque (6) of motor is forced to put 0;
To enable working signal be 0 if entire car controller is issued electric machine controller, needs the target braking torque (6) of motor is forced put 0;
Target braking torque (6) the process said step 1) and 2 of motor) after the correction, finally issues the motor target braking torque of electric machine controller through the CAN bus by entire car controller.
6. a kind of pure electric automobile motion control method according to claim 1 is characterized in that, described mode of operation confirms that the step of method does; After entire car controller powers on, begin shift signal is detected; If detect the Parking shift signal, then high-voltage relay can not be closed, therefore before key Start retaining starts, earlier the Parking retaining is placed on the position of neutral, and row starts again;
When key is screwed to Start retaining, when gear hung on other the gear, motor received the enable signal that entire car controller sends and starts working; When shift signal is a forward gear, then forward mode is put into the 3rd priority; If retreat retaining, then " fall back " mode" is put into the 3rd priority;
When the detected gear of entire car controller is a neutral, then zero torque mode is put into second priority; If detecting brake switch opens, then braking mode is put into to first priority;
A certain moment car load control only has a kind of through the motor target mode of operation of being issued electric machine controller by the CAN bus; Motor target mode of operation to be sent is at first confirmed by the pattern in first priority; If non-mode order in first priority; Then go to seek in second priority, and the like.
7. a kind of pure electric automobile motion control method according to claim 1; It is characterized in that described automobile sport control method is that the input circuit in the entire car controller is regularly gathered the information that regularly feeds back to entire car controller through the signal of AD input with through the CAN bus; Above-mentioned information is gathered by the input of the signal in the software and through the signal output function motor target torque and motor target mode of operation is sent to the CAN bus after function is handled, the motion of control car load.
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