CN103182952A - Electronic hill-holding control system and electronic hill-holding control method for electric vehicles - Google Patents
Electronic hill-holding control system and electronic hill-holding control method for electric vehicles Download PDFInfo
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- CN103182952A CN103182952A CN201110446718XA CN201110446718A CN103182952A CN 103182952 A CN103182952 A CN 103182952A CN 201110446718X A CN201110446718X A CN 201110446718XA CN 201110446718 A CN201110446718 A CN 201110446718A CN 103182952 A CN103182952 A CN 103182952A
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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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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention relates to an electronic hill-holding control system and an electronic hill-holding control method for electric vehicles. The control system comprises a motor controller, a hill-holding module and a hill start module, the hill-holding module is used for judging whether a vehicle moves backwards on a hill according to the gear position of the vehicle and the turning of wheels, sending a hill-holding signal to control the motor controller to be switched from a torque control mode to a speed control mode when not detecting the braking signal of a brake device and controlling the rotational speed of the wheels to be zero; and the hill start module is used for sending a starting signal to control the motor controller to be switched from the speed control mode to the torque control mode controlled by an accelerator when the given torque of the accelerator is higher than the torque needed by hill holding. By switching the control modes of the motor controller when judging hill holding and hill start, the invention can automatically carry out the hill-holding and hill start functions of the electric vehicle, the whole process is continuous and reliable, and the vehicle is prevented from moving backwards when starting on the hill.
Description
Technical field
The present invention relates to automobile technical field, more particularly, relate to a kind of electronlmobil electronics and stay sloping control system and method.
Background technology
Present electronlmobil is stayed sloping process, comprises in ramp parking and the uphill starting operation, need be by the strength of mechanical brake.See also Fig. 1, be the control process figure at ramp parking and uphill starting of existing electronlmobil.As shown in Figure 1, when electronlmobil stops in the ramp, at first need execution in step S11, artificially the ramp is judged by the driver, when being judged as the ramp and need the ramp to stop, execution in step S12 needs the driver to slam service brake earlier, and execution in step S13 is by driver's pull-up parking brake again.And in the uphill starting process, at first need execution in step S14, and suitably slam throttle by the driver, keep certain idling, execution in step S15 unclamps parking brake gradually again, makes that electronlmobil can starting gradually in step S16.
In above-mentioned whole process, because mechanical device is participated, cause the discountinuity of starting to walk, particularly the gradient is big, wagon flow is more, on the road of frequent start-stop, if the cooperation of the throttle degree of depth and parking brake lowering time is inconsistent during starting, be easy to cause slip behind the car body, have an accident.This shows that the traditional electric automobile system does not have good solution in the anti-function of slipping of starting in the slope.
Summary of the invention
The technical problem to be solved in the present invention is, at having staying the slope by artificial control and preventing the not good defective of slide function of electronlmobil now, provides a kind of electronlmobil electronics in sloping control system and method.
The technical solution adopted for the present invention to solve the technical problems is: provide a kind of electronlmobil electronics to stay sloping control system, comprising: electric machine controller, and this electric machine controller has torque master mode and speed control mode; Ramp parking module, link to each other with brake gear, gear regulating control and the described electric machine controller of electronlmobil, be used for obtaining the automobile gear by the gear regulating control, and obtain wheel steering by electric machine controller, described ramp parking module judges according to described automobile gear and wheel steering whether automobile is in slide state behind the ramp, and when not detecting the brake signal of brake gear, send in the described electric machine controller of sloping signal control and be converted to speed control mode with the control drive motor from the torque master mode, and the control vehicle wheel rotational speed is zero; And uphill starting module, this uphill starting module links to each other with throttle with described electric machine controller, be used for obtaining described electric machine controller and when the speed of speed control mode is zero, stay sloping required moment, and in the given moment of the throttle that obtains by described throttle greater than described when staying sloping required moment, send cranking signal and be converted to torque master mode by Throttle Opening Control to described electric machine controller from speed control mode.
Staying in the sloping control system according to electronlmobil electronics of the present invention, described ramp parking module is forward gear at described automobile gear, and described wheel steering judges that automobile is in slide state behind the ramp backward the time.
Staying in the sloping control system according to electronlmobil electronics of the present invention, in the stator rotating shaft of described drive motor tachogen is installed, described electric machine controller is connected with this tachogen, obtains wheel steering and vehicle wheel rotational speed by described tachogen.
Staying in the sloping control system according to electronlmobil electronics of the present invention, described electric machine controller is when speed control mode, utilize the vehicle wheel rotational speed that described tachogen obtains and turn to, stay sloping required moment when calculating speed and be zero by algorithm, control described automobile and stop on the ramp.
Staying in the sloping control system according to electronlmobil electronics of the present invention, described drive motor is permagnetic synchronous motor or asynchronous AC motor.
The present invention also provides a kind of electronlmobil, comprises that aforesaid electronlmobil electronics is in sloping control system.
The present invention also provides a kind of electronlmobil electronics to stay sloping control method, may further comprise the steps:
Obtain the automobile gear and obtain wheel steering by electric machine controller by the gear regulating control, judge according to described automobile gear and wheel steering automobile whether be in the ramp after the slide state, and when not detecting the brake signal of brake gear, send in sloping signal control motor controller and be converted to speed control mode with the control drive motor from the torque master mode, and the control vehicle wheel rotational speed is zero;
Obtain electric machine controller and when the speed of speed control mode is zero, stay sloping required moment, and in the given moment of the throttle that obtains by throttle greater than described when staying sloping required moment, send cranking signal and control described electric machine controller and be converted to torque master mode by Throttle Opening Control from speed control mode.
Staying in the sloping control method according to electronlmobil electronics of the present invention, described automobile gear is forward gear, and described wheel steering judges that automobile is in slide state behind the ramp backward the time.
Staying in the sloping control method according to electronlmobil electronics of the present invention, in the stator rotating shaft of described drive motor tachogen is installed, described electric machine controller is connected with this tachogen, obtains wheel steering and vehicle wheel rotational speed by described tachogen.
Staying in the sloping control method according to electronlmobil electronics of the present invention, described electric machine controller is when speed control mode, utilize the vehicle wheel rotational speed that described tachogen obtains and turn to, stay sloping required moment when calculating speed and be zero by algorithm, control described automobile and stop on the ramp.
Implement electronlmobil electronics of the present invention and stay sloping control system and method, have following beneficial effect: the present invention identifies electronlmobil and whether is in slide state behind the ramp by judging gear and wheel steering, and then judge automobile be in the ramp after slide state and when not receiving the brake instruction of machinery, send staying sloping signal control motor controller, to be converted to rotating speed from the torque master mode be that zero speed control mode is with the control drive motor, and in the given moment of throttle greater than described when staying sloping required moment, send cranking signal and be converted to the torque master mode to electric machine controller from speed control mode, this shows that the present invention passes through the switching of the master mode of electric machine controller, automatically realize the ramp parking of electronlmobil and the function of uphill starting, whole process is reliable continuously, and slipping behind the car body when having avoided uphill starting may.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples, in the accompanying drawing:
Fig. 1 is the control process figure at ramp parking and uphill starting of existing electronlmobil;
Fig. 2 is the functional block diagram of staying sloping control system according to electronlmobil electronics of the present invention;
Fig. 3 is the diagram of circuit that middle according to a preferred embodiment of the invention electronlmobil electronics is stayed sloping control method.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.
See also Fig. 2, stay the functional block diagram of sloping control system for electronlmobil electronics according to the present invention.As shown in Figure 2, this electronlmobil electronics is stayed sloping control system 100 and is comprised electric machine controller 70, and drive motor 10 runnings and then the driving automobile that are used for the driving electronlmobil are advanced.The electric machine controller 70 of general electronlmobil adopts the torque master mode usually, and namely electric machine controller 70 is directly controlled drive motor 10 according to the given moment of throttle of throttle 20.In the present invention, the electric machine controller 70 of this electronlmobil possesses torque master mode and speed control mode simultaneously.
This electronlmobil electronics is stayed sloping control system 100 and is comprised that also ramp parking module 50 and uphill starting module 60 realize electronics control in the slope of electronlmobil.This electronlmobil also has brake gear 30 and gear regulating control 40.
Wherein, parking module 50 in ramp links to each other with brake gear 30, gear regulating control 40 and the electric machine controller 70 of electronlmobil, be used for obtaining the automobile gear by gear regulating control 40, and obtain wheel steering by electric machine controller 70, and judge according to automobile gear and wheel steering whether automobile is in slide state behind the ramp.When after the judgement automobile is in the ramp, slipping state, ramp parking module 50 detects brake gear 30 again and whether receives brake signal, represent that this moment, the driver passed through brake gear 30 mechanical brakes if receive brake signal, thereby do not need to restart electronlmobil electronics of the present invention in sloping control system, if when not receiving brake signal, ramp parking module 50 sends in sloping signal control motor controller 70 and is converted to speed control mode from the torque master mode, and the control wheel velocity is zero, thereby can prevent slipping the slope when the driver does not touch on the brake automatically.
Further, in the stator rotating shaft of drive motor 10 tachogen 80 is installed, electric machine controller 70 is connected with this tachogen 80, obtains wheel steering and vehicle wheel rotational speed by this tachogen 80.Electric machine controller 70 is finished speed control mode according to the data that tachogen 80 obtains.All dispose this tachogen 80 on the drive motor 10 of general electronlmobil now, so the present invention utilizes this tachogen 80 to obtain desired data, and need not to carry out special configuration at wheel again, its use has ubiquity.
Ramp parking module 50 is utilized the information of the automobile gear that obtains from gear regulating control 40, and the information of the wheel steering that obtains by electric machine controller 70, judges whether automobile is in slide state behind the ramp.Ramp parking module 50 is forward gear at the automobile gear generally, and wheel steering judges that automobile is in slide state behind the ramp backward the time.This detection speed is minimum, human body sensory less than.At this moment, transmission is stayed sloping signal control motor controller 70 and is converted to speed control mode from the torque master mode.Electric machine controller 70 is by calculate staying the required torque in slope, namely control wheel velocity the sloping required moment of staying when being zero, belonging to pure software and realize, and do not need to set up for example obliquity sensor of other hardware.Electric machine controller 70 has the sloping torque calculation function of staying, when speed control mode, can calculate required moment by its embedded programmed algorithm, this algorithm is by constantly mating Parking moment, detect the vehicle wheel rotational speed of tachogen 80 feedbacks and turn to, the car body of electronlmobil is stopped on the ramp.Because processor calculating speed is rapid, this process is very short, and human body sensory does not come out, and does not influence any traveling comfort.
Uphill starting module 60, link to each other with throttle 20 with electric machine controller 70, be used for obtaining electric machine controller 70 and when the speed of speed control mode is zero, stay sloping required moment, and in the given moment of the throttle that obtains by throttle 20 when staying sloping required moment, send cranking signal and be converted to torque master mode by throttle 20 controls to electric machine controller 70 from speed control mode.Electronlmobil takes over seamlessly the purpose that process reaches gentle start by this when uphill starting.
In addition, the present invention also corresponding providing adopts above-mentioned electronlmobil electronics to stay the electronlmobil of sloping control system, and it has a general configuration of electronlmobil, and the electronlmobil electronics that each functional module is as shown in Figure 2 formed is stayed sloping control system.
See also Fig. 3, stay the diagram of circuit of sloping control method for middle according to a preferred embodiment of the invention electronlmobil electronics.As shown in Figure 3, the electronlmobil electronics that provides of this embodiment is stayed sloping control method and is started from step S301:
Subsequently, carry out ramp parking step, comprise step S302-S307.
Subsequently, obtain the automobile gear and obtain wheel steering by electric machine controller by the gear regulating control, and judge that according to automobile gear and wheel steering whether automobile is in slide state behind the ramp, specifically comprises step S302-S304.
In step S302, detect whether the automobile gear is forward gear, be then to change step S303, otherwise change step S306.
In step S303, whether backward to detect wheel steering, be then to change step S304, otherwise change step S306.The speed of above-mentioned detection is minimum, human body sensory less than.As mentioned above, in this step, in the stator rotating shaft of the drive motor 10 of electronlmobil tachogen 80 is installed, electric machine controller 70 can preferably obtain wheel steering by this tachogen 80.At present all dispose this tachogen 80 on the drive motor 10 of general electronlmobil, so the present invention utilizes this tachogen 80 to obtain desired data, and need not to carry out special configuration at wheel again, its use has ubiquity.
In step S304, judge that automobile is in slide state behind the ramp, change step S305.Because the automobile gear is forward gear, and wheel steering backward, thereby judge that automobile is in slide state behind the ramp, therefore begin to detect whether receive brake signal.
In step S305, detect the brake signal of the brake gear that whether receives electronlmobil; Be then to change step S306, otherwise change step S307.Be connected with the brake gear 30 of electronlmobil as above-mentioned ramp parking module 50, judge whether the driver sends brake signal by brake gear 30.Represent that this moment, the driver passed through brake gear 30 mechanical brakes if receive brake signal, thereby do not need to restart electronlmobil electronics of the present invention control in slope function, if just continue to carry out parking step in ramp when not receiving brake signal, can when the driver does not touch on the brake, can prevent slipping the slope automatically.
In step S306, judge that automobile is not in slide state behind the ramp, when perhaps the driver has sent brake signal and carries out mechanical brake, do not restart electronlmobil electronics of the present invention control in slope function, no longer execution is moved.Because the driver sends the brake instruction and/or the automobile gear is not that forward gear and/or wheel steering are not backward, thereby judge that automobile does not satisfy the condition of stopping in the ramp, therefore do not carry out action.The torque master mode work that electric machine controller still drives according to throttle.
In step S307, send in sloping signal control motor controller and be converted to speed control mode with the control drive motor from the torque master mode, and the control vehicle wheel rotational speed is zero.Be by calculate staying the required torque in slope, namely control wheel velocity the sloping required moment of staying when being zero, belonging to pure software and realize, and do not need to set up for example obliquity sensor of other hardware as above-mentioned electric machine controller 70.Electric machine controller 70 has the sloping torque calculation function of staying, when speed control mode, can calculate required moment by its embedded programmed algorithm, this algorithm is by constantly mating Parking moment, detect the vehicle wheel rotational speed of tachogen 80 feedbacks and turn to, the car body of electronlmobil is stopped on the ramp.Because processor calculating speed is rapid, this process is very short, and human body sensory does not come out, and does not influence any traveling comfort.
Subsequently, carry out the uphill starting step, comprise that step S308 is to step S312.
In step S308, obtain electric machine controller and when the speed of speed control mode is zero, stay sloping required moment.
In step S309, judge that the given moment of obtaining by throttle of throttle whether greater than staying sloping required moment, is then to change step S311, otherwise changes step S310.
In step S310, judge that automobile does not need uphill starting, do not carry out action.
In step S311, judge that automobile needs uphill starting, change step S312.
In step S312, send cranking signal control electric machine controller and be converted to torque master mode by Throttle Opening Control from speed control mode, realize the gentle start of automobile.
Electronlmobil electronics provided by the invention is stayed sloping control system and method both can be used for permagnetic synchronous motor, also can be used for the electronlmobil of Induction Motor-Driven.
In sum, the present invention identifies electronlmobil and whether is in slide state behind the ramp by judging gear and wheel steering, and then judge automobile be in the ramp after slide state and when not receiving the brake instruction of machinery, send staying sloping signal control motor controller, to be converted to rotating speed from the torque master mode be that zero speed control mode is with the control drive motor, and in the given moment of throttle greater than described when staying sloping required moment, send cranking signal and be converted to the torque master mode to electric machine controller from speed control mode, this shows that the present invention passes through the switching of the master mode of electric machine controller, realize the ramp parking of electronlmobil and the function of uphill starting, whole process is reliable continuously, and slipping behind the car body when having avoided uphill starting may.
The present invention is described according to specific embodiment, but it will be understood by those skilled in the art that when not breaking away from the scope of the invention, can carry out various variations and be equal to replacement.In addition, for adapting to specific occasion or the material of the technology of the present invention, can carry out many modifications and not break away from its protection domain the present invention.Therefore, the present invention is not limited to specific embodiment disclosed herein, and comprises that all drop into the embodiment of claim protection domain.
Claims (10)
1. an electronlmobil electronics is stayed sloping control system, it is characterized in that, comprising:
Electric machine controller, this electric machine controller has torque master mode and speed control mode;
Ramp parking module, this ramp parking module links to each other with brake gear, gear regulating control and the described electric machine controller of electronlmobil, be used for obtaining the automobile gear by the gear regulating control, and obtain wheel steering by electric machine controller, described ramp parking module judges according to described automobile gear and wheel steering whether automobile is in slide state behind the ramp, and when not detecting the brake signal of brake gear, send in the described electric machine controller of sloping signal control and be converted to speed control mode with the control drive motor from the torque master mode, and the control vehicle wheel rotational speed is zero;
The uphill starting module, this uphill starting module links to each other with throttle with described electric machine controller, be used for obtaining described electric machine controller and when the speed of speed control mode is zero, stay sloping required moment, and in the given moment of the throttle that obtains by described throttle greater than described when staying sloping required moment, send cranking signal and be converted to torque master mode by Throttle Opening Control to described electric machine controller from speed control mode.
2. electronlmobil electronics according to claim 1 is stayed sloping control system, it is characterized in that described ramp parking module is forward gear at described automobile gear, and described wheel steering judges that automobile is in slide state behind the ramp backward the time.
3. electronlmobil electronics according to claim 1 is stayed sloping control system, it is characterized in that, in the stator rotating shaft of described drive motor tachogen is installed, described electric machine controller is connected with this tachogen, obtains wheel steering and vehicle wheel rotational speed by described tachogen.
4. electronlmobil electronics according to claim 3 is stayed sloping control system, it is characterized in that, described electric machine controller is when speed control mode, utilize the vehicle wheel rotational speed that described tachogen obtains and turn to, stay sloping required moment when calculating speed and be zero by algorithm, control described automobile and stop on the ramp.
5. electronlmobil electronics according to claim 1 is stayed sloping control system, it is characterized in that described drive motor is permagnetic synchronous motor or asynchronous AC motor.
6. an electronlmobil is characterized in that, comprises that any described electronlmobil electronics is stayed sloping control system among the claim 1-5.
7. an electronlmobil electronics is stayed sloping control method, it is characterized in that, may further comprise the steps:
Obtain the automobile gear and obtain wheel steering by electric machine controller by the gear regulating control, judge according to described automobile gear and wheel steering automobile whether be in the ramp after the slide state, and when not detecting the brake signal of brake gear, send in sloping signal control motor controller and be converted to speed control mode with the control drive motor from the torque master mode, and the control vehicle wheel rotational speed is zero;
Obtain electric machine controller and when the speed of speed control mode is zero, stay sloping required moment, and in the given moment of the throttle that obtains by throttle greater than described when staying sloping required moment, send cranking signal and control described electric machine controller and be converted to torque master mode by Throttle Opening Control from speed control mode.
8. electronlmobil electronics according to claim 7 is stayed sloping control method, it is characterized in that described automobile gear is forward gear, and described wheel steering judges that automobile is in slide state behind the ramp backward the time.
9. electronlmobil electronics according to claim 7 is stayed sloping control method, it is characterized in that, in the stator rotating shaft of described drive motor tachogen is installed, described electric machine controller is connected with this tachogen, obtains wheel steering and vehicle wheel rotational speed by described tachogen.
10. electronlmobil electronics according to claim 9 is stayed sloping control method, it is characterized in that, described electric machine controller is when speed control mode, utilize the vehicle wheel rotational speed that described tachogen obtains and turn to, stay sloping required moment when calculating speed and be zero by algorithm, control described automobile and stop on the ramp.
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| CN104627153A (en) * | 2013-11-08 | 2015-05-20 | 北汽福田汽车股份有限公司 | Hill starting control method and system of electric vehicle |
| CN105711442A (en) * | 2016-01-26 | 2016-06-29 | 沈阳正大自控工程有限公司 | Ramp assist control method using permanent-magnet synchronous motor driving control system |
| CN106515507A (en) * | 2016-10-26 | 2017-03-22 | 东风汽车股份有限公司 | Pure electric vehicle motor auxiliary hill-holding and hill-starting control system and method |
| CN106809053A (en) * | 2017-01-19 | 2017-06-09 | 上海力信电气技术有限公司 | Electric motor car ramp is anti-to slip by slope method |
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| CN111301180A (en) * | 2020-02-19 | 2020-06-19 | 武汉理工大学 | Method and system for preventing electric automobile from sliding down slope |
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