CN102887080A - Control method for filtering sudden acceleration torque of pure electric automobile - Google Patents
Control method for filtering sudden acceleration torque of pure electric automobile Download PDFInfo
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- CN102887080A CN102887080A CN2012103757851A CN201210375785A CN102887080A CN 102887080 A CN102887080 A CN 102887080A CN 2012103757851 A CN2012103757851 A CN 2012103757851A CN 201210375785 A CN201210375785 A CN 201210375785A CN 102887080 A CN102887080 A CN 102887080A
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Abstract
The invention relates to a control method for filtering a sudden acceleration torque of a pure electric automobile, which comprises the following steps that: 1) after meeting a predetermined sudden acceleration condition, a motor requires that the torque is changed from an initial value before sudden acceleration to a first step torque target value; 2) when the target torque of the motor is close to a limited value of the first step torque target value, the first step control is finished, and the motor requires that the torque is changed from the first step torque target value to a second step torque target value; and 3) the target torque of the motor is gradually close to the second step torque target value by setting and adjusting the filter time of filter function. The invention has the beneficial effects that the sudden acceleration system of the pure electric automobile controlled by the method can effectively avoid fast motor torque changes caused in the sudden acceleration of the automobile and motor torque changes when the motor torque is close to zero torque, thereby reducing the impact stressed by the automobile and improving the driving comfort.
Description
Technical field
The present invention relates to the pure electric automobile technical field, relate in particular to the anxious control method of accelerating moment of torsion filtering of a kind of pure electric automobile.
Background technology
Along with the attention to energy security and environmental protection problem in the world constantly promotes, various countries require more and more stricter to automotive emissions.Minimizing realizes energy-saving and emission-reduction to the dependence of the energy, has become world economy sustainable development problem in the urgent need to address.Hybrid vehicle, pure electric automobile have become the trend of current auto-domain development.Pure electric automobile has pollution-free, and noise is little, and is simple in structure, the advantage of maintenance aspect.Simultaneously, the recyclable braking of pure electric automobile, the energy during descending improves capacity usage ratio.And pure electric automobile can utilize cheap " paddy electricity " charging at night, plays the effect of the peak-valley difference of stabilizing electrical network.Therefore, the research of pure electric automobile is the popular research direction of China and world car industry.
Motor is propulsion source in the pure electric automobile, entire car controller (VCU) is the core of car load moment of torsion control, by gathering acceleration pedal, the signal such as motor speed and automobile gear level, calculate the demand torque of chaufeur, and through moment of torsion filtering and arbitration etc., obtain the vehicle target demand torque, issue electric machine controller, the motor controller controls motor is realized this target requirement moment of torsion.Moment of torsion control by VCU realizes good driving performance and the energy optimization of vehicle.
Wherein, it also is one of gordian technique that the filtering of anxious acceleration moment of torsion is controlled in the pure electric automobile field, and it is also making constant progress.In the anxious accelerator of pure electric automobile, the parsing moment of torsion of pedal rises very fast, if this moment of torsion is not carried out reasonable filtering, larger shake can appear in the anxious vehicle that accelerates, and driving is relatively poor.Simultaneously, if near the actual torque of the motor zero passage moment of torsion time, too fast if requested torque changes, vehicle pause and transition in rhythm or melody sense is serious, and driving is very poor.Therefore, in the moment of torsion filtering control process that suddenly accelerates, be easy to cause the impact of vehicle very large, need the rationally filtering of control target requirement moment of torsion, the control policy of optimization and demarcation are extremely important for solving the driving problem.
In the middle of the prior art, for generally taking simple filtering to process in the middle of the anxious accelerator of pure electric vehicle, comprise for the rate of change limit value of motor torque or adopt the mode of filter that the motor torque in the middle of this process is changed and process.Process yet process the filtering that does not provide separately special near the torque filtering of the actual torque zero passage moment of torsion of motor in the middle of the said method, in the space that improves aspect the driving of vehicle.
Summary of the invention
The purpose of this invention is to provide the anxious control method of accelerating moment of torsion filtering of a kind of pure electric automobile, actv. is avoided changing near the too fast and motor torque motor torque zero torque the time at the motor torque that causes in the middle of the anxious accelerator of vehicle and is changed, and solving existing system can't carry out the problem that complicated filtering is processed to the anxious accelerator of pure electric vehicle.
Purpose of the present invention is achieved through the following technical solutions:
The anxious control method of accelerating moment of torsion filtering of a kind of pure electric automobile may further comprise the steps:
1) after entire car controller judges that the anxious acceleration environment of vehicle satisfies, the motor requested torque is changed to the first object value by initial value, smooth-going for change in torque, to set step-length and increase progressively limit value and make progressively close to the first object value of motor filtering moment of torsion, this process is the first process;
2) when described filtering moment of torsion and first object value near the time, the entire car controller decision-making system enters the anxious subordinate phase of accelerating filtering, sets simultaneously the motor requested torque and is changed to the second expected value by the first object value; And
3) in the subordinate phase filtering, set progressively close to the second expected value of the torque instruction of time constant filter by filter function control motor.
Wherein said predetermined anxious acceleration environment Rule of judgment is:
1) in the middle of the pure electric vehicle driving process, be changed to the moment of significantly being stepped on to Das Gaspedal from unclamping Das Gaspedal, typical, when the Das Gaspedal amplitude thinks that Das Gaspedal is significantly stepped on greater than 50% the time;
2) accelerator pedal signal of pure electric vehicle is through certain anti-shake processing of filtering;
3) the pure electric vehicle system normally moves, and does not have fault.
In the wherein said F/s, the establishing method that motor torque command limit value step-length increases progressively is as follows: typical, constant duration according to being lower than 10 Ns of rice of first object value (Nm), 5Nm, 2.5Nm, 1.2Nm, 0.6Nm the torque value of 0Nm is as the setting value of motor torque command limit value.Need to prove, begin to set from 10Nm when the torque instruction of motor is unnecessary, and from being higher than and beginning to carry out close to the set point of current motor torque command the torque limit value control of F/s.The decision condition that motor torque command and first object value approach is: typical, when only differing in 0.5Nm with above-mentioned torque value size, think that the motor torque command of F/s and first object approach.
In the wherein said subordinate phase, the establishing method of the time constant filter of motor torque command is as follows: typical, and use firstorder filter that the torque instruction of motor is carried out filtering; The approaching speed ratio of time constant filter is controlled motor from little change senior general target torque and the second expected value is by slowing down soon.
Beneficial effect of the present invention is: by the anxious accelerator device of the pure electric automobile of this method control, can actv. avoiding changing near the too fast and motor torque motor torque zero torque the time at the motor torque that causes in the middle of the anxious accelerator of vehicle changes, can play for the driving of vehicle and to control preferably effect, reduce the suffered impact of vehicle and improved the traveling comfort of driving.
Description of drawings
Fig. 1 is the anxious schematic process flow diagram of accelerating the control method of moment of torsion filtering of the described pure electric automobile of the embodiment of the invention;
Fig. 2 is the anxious curve synoptic diagram that accelerates the change in torque of moment of torsion filtering control process shown in Figure 1;
Fig. 3 uses the motor torque of the present invention front and back and the change curve schematic diagram of rotating speed.
The specific embodiment
The basic structure of pure electric automobile is known by those skilled in the art to be known, gives unnecessary details no longer one by one at this.The anxious control method of accelerating moment of torsion filtering of the described pure electric automobile of the embodiment of the invention is mainly controlled by the entire car controller on the pure electric automobile (VCU) and is finished.
Fig. 1 is according to the anxious schematic process flow diagram of accelerating the control method of moment of torsion filtering of pure electric automobile of the present invention, Fig. 2 is the anxious curve synoptic diagram that accelerates the change in torque of moment of torsion filtering control process shown in Figure 1, and Fig. 3 is to be to use the motor torque of the present invention front and back and the change curve schematic diagram of rotating speed.
Suddenly accelerating the moment of torsion filtering control method in conjunction with Fig. 1-3 couple of this embodiment describes.The anxious of this embodiment accelerates in the moment of torsion filtering control method, motor target torque control minute two different phase processes, and different control policies is set respectively carries out moment of torsion control.
Before anxious the acceleration will occur, the manipulator of pure electric automobile is general, and engage a gear slided, and kept carrying out the regenerative brake state of vehicle.As shown in Figure 2, at t
0Constantly, the moment of torsion of motor (torque responsive of motor is very fast, can think motor filtering moment of torsion in the present note, also is that target torque and the actual torque of motor overlaps) maintains fixed value, and motor speed slowly reduces.At t
0Constantly, chaufeur is because the vehicle acceleration needs anxious open out.
At t
0To t
1Time period, the motor target torque is changed to the first process of first object value from initial value, and typically, described first object value is at-5-5 ox rice, and the time that this process is kept is approximately 0.2 second.In this process, the requested torque of motor from initial value very fast be changed to the first object value.Typically, the first object value is about zero moment of torsion, is optimized in the time of can testing according to the actual driving of vehicle.The target torque of motor increases progressively limit value from initial value through step-length and is changed to relatively slowly the first object value, and the change in torque process is smooth-going.The relation that step-length increases progressively limit value and motor target torque is very large, and when target torque during near the first object value, it is very little that step-length increases progressively limit value.Therefore, the motor target torque in this stage is with first quick and back slow curvilinear motion.The filtering of the target torque by this process has been mainly and has solved at anxious open out in a flash, prevents because vehicle torque jumps and causes the shake of vehicle.If but that step-length increases progressively limit value is excessive, can cause the anxious accelerator of vehicle, the acceleration/accel of vehicle is excessively slow, and is unfavorable to driving.Therefore, need these two aspects of overall balance, by assay optimization and demarcation, the step-length of identifying project increases progressively limit value, improves the driving of anxious accelerating vehicle.
At t
1To t
2Time period, the motor target torque is changed to the second process of the second expected value from the first object value, and the time that this process is kept is approximately 0.5 second.In this process, the requested torque of motor from the first object value very fast be changed to the second expected value.Typically, the second expected value is-5 ~-30 Ns. about rice, be optimized in the time of can testing according to the actual driving of vehicle.The target torque of motor is changed to the second expected value from the first object value slowly through time constant filter, and the change in torque process is smooth-going.Typically, the value of time constant filter is about 0.3-0.5.The filtering of the target torque by this process has been mainly to solve and has been changed to negative torque at that moment at motor from positive-torque, the shake of the vehicle that causes owing to the characteristic of motor.If but the value of time constant filter is excessive, can cause motor long to the process of the second expected value, the accelerating ability variation of vehicle.Therefore, need these two aspects of overall balance, by assay optimization and demarcation, the time constant filter of identifying project improves the driving of anxious accelerator vehicle.By assay optimization and demarcation, the driving of vehicle when improving motor zero passage moment of torsion.
(t in above two processes
0To t
1, t
1To t
2), constantly increase progressively limit value and filter factor is optimized by this control policy and to each, the smooth-going variation of power output torque of car load, the shake of vehicle is very little, and driver comfort is good.
In this embodiment, preferably, t during take the motor actual torque as zero moment of torsion
1The motor filtering moment of torsion that makes as a reference point carries out the second process filtering, so that the motor actual torque when zero passage, can more slowly change, guarantees the ride comfort of Vehicle Driving Cycle.
Although below only described the specific embodiment of the present invention example, it will be understood by those of skill in the art that these only are casehistorys, protection scope of the present invention is limited by appended claims.Those skilled in the art can make various changes or modifications to these embodiments under the prerequisite that does not deviate from principle of the present invention and essence, but these changes or modification all fall into protection scope of the present invention.
Claims (10)
1. the anxious control method of accelerating moment of torsion filtering of pure electric automobile is characterized in that, may further comprise the steps:
1) after predetermined anxious acceleration environment satisfied, the motor requested torque was changed to F/s torque target value by the front initial value of anxious acceleration, and this process is the anxious F/s that accelerates moment of torsion filtering control;
2) when described motor target torque and F/s torque target value approach to a limit value, F/s control finishes, the motor requested torque is changed to subordinate phase torque target value by F/s torque target value, enters the subordinate phase of anxious acceleration torque filtering control; And
3) make progressively close to subordinate phase torque target value of motor target torque by the time constant filter of setting and adjust filter function, described time constant filter constant is set according to engine speed and automobile gear level.
2. the anxious control method of accelerating moment of torsion filtering of pure electric automobile according to claim 1 is characterized in that: in the step 1), the control motor torque command is that the mode that increases progressively of step-length is close to the final motor target torque value of F/s.
3. pure electric automobile according to claim 2 suddenly accelerates the control method of moment of torsion filtering, it is characterized in that: step 2) in, motor torque when finishing take F/s is as initial value, the motor torque command after processing take the request torque of vehicle as the filtering of expected value.
4. the anxious control method of accelerating moment of torsion filtering of pure electric automobile according to claim 2 is characterized in that: constant duration according to the torque value that is lower than first object value 10Nm, 5Nm, 2.5Nm, 1.2Nm, 0.6Nm and 0Nm as the motor torque command limit value.
5. the anxious control method of accelerating moment of torsion filtering of pure electric automobile according to claim 4 is characterized in that: described F/s torque target value is at-5-5 ox rice.
6. the anxious control method of accelerating moment of torsion filtering of pure electric automobile according to claim 5 is characterized in that: step 2) in, it is in 0.5 N of rice that described limit value and described F/s torque target value differ.
7. each described pure electric automobile suddenly accelerates the control method of moment of torsion filtering according to claim 1-6, it is characterized in that: in the process of described F/s, the rate of change of target torque is with first quick and back slow variation, in the process of described subordinate phase, fast variation after the rate of change of target torque is slow with elder generation; The time of described F/s process is less than the time of described subordinate phase process.
8. each described pure electric automobile suddenly accelerates the control method of moment of torsion filtering according to claim 1-6, and it is characterized in that: described F/s motor target torque is that step-length increases progressively curve, and described subordinate phase motor target torque is approximate smooth curve form.
9. the anxious control method of accelerating moment of torsion filtering of pure electric automobile according to claim 8 is characterized in that: described subordinate phase torque target value is at-5--30 ox rice.
10. pure electric automobile according to claim 9 suddenly accelerates the control method of moment of torsion filtering, and it is characterized in that: in the step 3), the value of described time constant filter is 0.3-0.5.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105383326A (en) * | 2015-12-01 | 2016-03-09 | 苏州海格新能源汽车电控系统科技有限公司 | Torque filter control method used for whole vehicle controller |
| CN107444195A (en) * | 2017-08-21 | 2017-12-08 | 合肥君信信息科技有限公司 | A kind of priority of electric automobile two accelerates vibration control method |
| CN107444194A (en) * | 2017-08-21 | 2017-12-08 | 合肥力正新能源科技有限公司 | Secondary rapid acceleration shaking control system for electric automobile |
| CN108304012A (en) * | 2017-01-13 | 2018-07-20 | 欧姆龙株式会社 | Control device, control method and control program |
| CN108583366A (en) * | 2018-03-31 | 2018-09-28 | 天津职业技术师范大学 | A kind of control method of electric vehicle low jitter |
| CN110329272A (en) * | 2019-06-28 | 2019-10-15 | 潍柴动力股份有限公司 | Speed adjusting method, device, equipment and computer readable storage medium |
| CN110406389A (en) * | 2018-04-28 | 2019-11-05 | 广州汽车集团股份有限公司 | Control method, device, computer equipment and the medium of vehicle drive ride comfort |
| CN110905670A (en) * | 2018-09-14 | 2020-03-24 | 罗伯特·博世有限公司 | Method and system for adjusting engine output torque under severe vehicle acceleration |
| CN111775719A (en) * | 2020-06-30 | 2020-10-16 | 智新控制系统有限公司 | Method and storage medium for eliminating starting jitter of electric automobile |
| CN112208348A (en) * | 2019-07-10 | 2021-01-12 | 北汽福田汽车股份有限公司 | Torque control method and device, storage medium and vehicle-mounted terminal |
| CN117565697A (en) * | 2024-01-15 | 2024-02-20 | 合众新能源汽车股份有限公司 | Torque response control method and device under vehicle extremely-fast loading working condition and electronic equipment |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105383326A (en) * | 2015-12-01 | 2016-03-09 | 苏州海格新能源汽车电控系统科技有限公司 | Torque filter control method used for whole vehicle controller |
| CN105383326B (en) * | 2015-12-01 | 2018-02-06 | 苏州海格新能源汽车电控系统科技有限公司 | A kind of moment of torsion filtering control method for entire car controller |
| CN108304012A (en) * | 2017-01-13 | 2018-07-20 | 欧姆龙株式会社 | Control device, control method and control program |
| CN107444195A (en) * | 2017-08-21 | 2017-12-08 | 合肥君信信息科技有限公司 | A kind of priority of electric automobile two accelerates vibration control method |
| CN107444194A (en) * | 2017-08-21 | 2017-12-08 | 合肥力正新能源科技有限公司 | Secondary rapid acceleration shaking control system for electric automobile |
| CN108583366A (en) * | 2018-03-31 | 2018-09-28 | 天津职业技术师范大学 | A kind of control method of electric vehicle low jitter |
| CN110406389B (en) * | 2018-04-28 | 2021-04-06 | 广州汽车集团股份有限公司 | Method, apparatus, computer device and medium for controlling vehicle driving smoothness |
| CN110406389A (en) * | 2018-04-28 | 2019-11-05 | 广州汽车集团股份有限公司 | Control method, device, computer equipment and the medium of vehicle drive ride comfort |
| CN110905670A (en) * | 2018-09-14 | 2020-03-24 | 罗伯特·博世有限公司 | Method and system for adjusting engine output torque under severe vehicle acceleration |
| CN110329272B (en) * | 2019-06-28 | 2020-11-20 | 潍柴动力股份有限公司 | Vehicle speed adjusting method, device, equipment and computer readable storage medium |
| CN110329272A (en) * | 2019-06-28 | 2019-10-15 | 潍柴动力股份有限公司 | Speed adjusting method, device, equipment and computer readable storage medium |
| CN112208348A (en) * | 2019-07-10 | 2021-01-12 | 北汽福田汽车股份有限公司 | Torque control method and device, storage medium and vehicle-mounted terminal |
| CN112208348B (en) * | 2019-07-10 | 2022-05-24 | 北汽福田汽车股份有限公司 | Torque control method and device, storage medium and vehicle-mounted terminal |
| CN111775719A (en) * | 2020-06-30 | 2020-10-16 | 智新控制系统有限公司 | Method and storage medium for eliminating starting jitter of electric automobile |
| CN117565697A (en) * | 2024-01-15 | 2024-02-20 | 合众新能源汽车股份有限公司 | Torque response control method and device under vehicle extremely-fast loading working condition and electronic equipment |
| CN117565697B (en) * | 2024-01-15 | 2024-04-16 | 合众新能源汽车股份有限公司 | Torque response control method and device under vehicle extremely-fast loading working condition and electronic equipment |
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