CN103182952B - A kind of electric automobile electronics control system in slope and method - Google Patents
A kind of electric automobile electronics control system in slope and method Download PDFInfo
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- CN103182952B CN103182952B CN201110446718.XA CN201110446718A CN103182952B CN 103182952 B CN103182952 B CN 103182952B CN 201110446718 A CN201110446718 A CN 201110446718A CN 103182952 B CN103182952 B CN 103182952B
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The present invention relates to a kind of electric automobile electronics control system in slope and method, this control system comprises: electric machine controller, parking on ramp module and uphill starting module, parking on ramp module is for judging according to automobile gears and wheel steering whether automobile slips state behind ramp, and in the time the brake signal of brake gear not detected, send the controller of signal control motor in slope and be converted to speed control mode from torque control model, and control vehicle wheel rotational speed is zero; Uphill starting module, in the time that the given moment of throttle is greater than in the required moment in slope, sends initiating signal and is converted to the torque control model by Throttle Opening Control to electric machine controller from speed control mode. The present invention, by the switching of the control model to electric machine controller in the time judging parking on ramp and uphill starting, realizes the function of parking on ramp and the uphill starting of electric automobile automatically, and whole process is reliable continuously, the possibility of having slipped after car body while having avoided uphill starting.
Description
Technical field
The present invention relates to automobile technical field, more particularly, relate to the control in slope of a kind of electric automobile electronicsSystem and method.
Background technology
Current electric automobile process in slope, comprises in parking on ramp and uphill starting operation, need to be by machineThe strength of tool brake. Referring to Fig. 1, is the control at parking on ramp and uphill starting of existing electric automobileProcedure chart. As shown in Figure 1, when electric automobile is during at parking on ramp, first need to perform step S11, byDriver artificially judges ramp, in the time being judged as ramp and needing parking on ramp, performs step S12Need driver first to slam service brake, then perform step S13 by driver's pull-up parking brake. And in uphill starting process,First need to perform step S14, suitably slam throttle by driver, keep certain idling, then perform stepS15 unclamps parking brake gradually, and electric automobile can be started to walk gradually in step S16.
In above-mentioned whole process, because mechanical device is participated, cause the discontinuity of starting, specialThe gradient is large, wagon flow is more, on the road of frequent start-stop, if the throttle degree of depth and parking brake put down when startingTime coordination is inconsistent, is easy to cause slip after car body, has an accident. As can be seen here, existing electronic vapourTruck system walks and in anti-slip function, there is no good solution staying hill start.
Summary of the invention
The technical problem to be solved in the present invention is, staying slope by manual control and preventing for existing electric automobileSlip the not good defect of function, a kind of electric automobile electronics control system in slope and method are provided.
The technical solution adopted for the present invention to solve the technical problems is: provide a kind of electric automobile electronics to stay slopeControl system, comprising: electric machine controller, this electric machine controller has torque control model and speed control mouldFormula; Parking on ramp module, with brake gear, gear regulator and the described electric machine controller of electric automobileBe connected, for obtaining automobile gears by gear regulator, and obtain wheel steering by electric machine controller,Described parking on ramp module judges according to described automobile gears and wheel steering whether automobile slips behind rampState, and in the time the brake signal of brake gear not detected, send electric machine controller described in signal controlling in slopeBe converted to speed control mode to control drive motors from torque control model, and control vehicle wheel rotational speed is zero;And uphill starting module, this uphill starting module is connected with throttle with described electric machine controller, for obtainingDescribed electric machine controller the speed of speed control mode be 1 o'clock stay the required moment in slope, and described in passing throughThe given moment of throttle that throttle obtains is greater than described in the time of the required moment in slope, sends initiating signal to described motorController is converted to the torque control model by Throttle Opening Control from speed control mode; This parking on ramp module existsWhile receiving brake signal, do not start.
According in electric automobile electronics of the present invention control system in slope, described parking on ramp module existsDescribed automobile gears is forward gear, and described wheel steering is backward time, judges that automobile slips state behind ramp.
According in electric automobile electronics of the present invention control system in slope, the stator of described drive motorsSpeed probe is installed in rotating shaft, and described electric machine controller is connected with this speed probe, turns by describedSpeed sensor obtains wheel steering and vehicle wheel rotational speed.
According in electric automobile electronics of the present invention control system in slope, described electric machine controller is in speedDegree is when control model, utilizes the vehicle wheel rotational speed that described speed probe obtains and turns to, and calculates by algorithmSpeed be 1 o'clock stay the required moment in slope, control described automobile and stop on ramp.
According in electric automobile electronics of the present invention control system in slope, described drive motors is permanent magnetismSynchronous motor or asynchronous AC motor.
The present invention also provides a kind of electric automobile, comprises electric automobile electronics as above control in slope systemSystem.
The present invention also provides a kind of electric automobile electronics control method in slope, comprises the following steps:
Obtain automobile gears and obtain wheel steering by electric machine controller by gear regulator, in basisDescribed automobile gears and wheel steering judge whether automobile slips state behind ramp, and brake ought do not detectedWhen the brake signal of device, send signal control motor in slope controller and be converted to speed from torque control modelControl model is to control drive motors, and control vehicle wheel rotational speed is zero; In the time brake signal being detected, do not sendSignal in slope;
Obtain electric machine controller the speed of speed control mode be 1 o'clock stay the required moment in slope, and passing throughThe given moment of throttle that throttle obtains is greater than described while staying the required moment in slope, sends electricity described in initiating signal controlMachine controller is converted to the torque control model by Throttle Opening Control from speed control mode.
According in electric automobile electronics of the present invention control method in slope, described automobile gears is for advancingGear, and described wheel steering is backward time, judges that automobile slips state behind ramp.
According in electric automobile electronics of the present invention control method in slope, the stator of described drive motorsSpeed probe is installed in rotating shaft, and described electric machine controller is connected with this speed probe, turns by describedSpeed sensor obtains wheel steering and vehicle wheel rotational speed.
According in electric automobile electronics of the present invention control method in slope, described electric machine controller is in speedDegree is when control model, utilizes the vehicle wheel rotational speed that described speed probe obtains and turns to, and calculates by algorithmSpeed be 1 o'clock stay the required moment in slope, control described automobile and stop on ramp.
Implement electric automobile electronics control system in slope of the present invention and method, there is following beneficial effect: thisInvention is identified electric automobile and whether behind ramp, is slipped state, Jin Er by judging gear and wheel steeringJudge automobile to slip state behind ramp and while not receiving mechanical brake instruction, send the electricity of signal controlling in slopeMachine controller from torque control model be converted to rotating speed be zero speed control mode to control drive motors, andBe greater than in the given moment of throttle described while staying the required moment in slope, send initiating signal to electric machine controller from speedControl model is converted to torque control model, as can be seen here the control model of the present invention by electric machine controllerSwitch, automatically realize the function of parking on ramp and the uphill starting of electric automobile, whole process is reliable continuously,While having avoided uphill starting, after car body, slip possibility.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the control procedure figure at parking on ramp and uphill starting of existing electric automobile;
Fig. 2 is according to the theory diagram of electric automobile electronics of the present invention control system in slope;
Fig. 3 be according to a preferred embodiment of the invention in the flow chart of electric automobile electronics control method in slope.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and realityExecute example, the present invention is further elaborated.
Referring to Fig. 2, is the theory diagram of electric automobile electronics according to the present invention control system in slope. AsShown in Fig. 2, this electric automobile electronics control system in slope 100 comprises electric machine controller 70, for drivingThe drive motors 10 of electric automobile turns round and then driving automobile is advanced. The Electric Machine Control of general electric automobileDevice 70 adopts torque control model conventionally, and electric machine controller 70 is according to the given moment of the throttle of throttle 20Directly drive motors 10 is controlled. In the present invention, the electric machine controller 70 of this electric automobile simultaneouslyPossess torque control model and speed control mode.
This electric automobile electronics control system in slope 100 also comprises parking on ramp module 50 and uphill starting mouldPiece 60 is realized the electronics control in slope of electric automobile. This electric automobile also has brake gear 30 and gearAdjuster 40.
Wherein, the brake gear 30 of parking on ramp module 50 and electric automobile, gear regulator 40 andElectric machine controller 70 is connected, for obtaining automobile gears by gear regulator 40, and by motor controlDevice 70 processed obtains wheel steering, and judges that according to automobile gears and wheel steering automobile is whether behind rampSlip state. In the time judging that automobile slips state behind ramp, parking on ramp module 50 detects brake gear againWhether 30 receive brake signal, represents that now driver fills by brake if receive brake signalPut 30 mechanical brakes, thereby do not need to restart electric automobile electronics of the present invention control system in slope, asWhen fruit does not receive brake signal, parking on ramp module 50 sends the controller of signal control motor in slope 70Be converted to speed control mode from torque control model, and control wheel velocity be zero, thereby can be driverCan automatic anti-running slope while not touching on the brake.
Further, in the stator rotating shaft of drive motors 10, speed probe 80 is installed, electric machine controller70 are connected with this speed probe 80, obtain wheel steering and vehicle wheel rotational speed by this speed probe 80.The data that electric machine controller 70 obtains according to speed probe 80 complete speed control mode. Now generalOn the drive motors 10 of electric automobile, all dispose this speed probe 80, therefore the present invention utilizes this rotating speedSensor 80 obtains desired data, and without carry out special configuration on wheel, its use has general againAll over property.
Parking on ramp module 50 is utilized the information of the automobile gears obtaining from gear regulator 40, and passes throughThe information of the wheel steering that electric machine controller 70 obtains, judges whether automobile slips state behind ramp. SlopeRoad parking module 50 is generally forward gear at automobile gears, and wheel steering is backward time, judge automobile inBehind ramp, slip state. This detection speed is minimum, human body sensory less than. Now, send the electricity of signal controlling in slopeMachine controller 70 is converted to speed control mode from torque control model. Electric machine controller 70 is by calculatingObtain and stay the required torque in slope, control wheel velocity and be 1 o'clock stay the required moment in slope, belong to pure software realExisting, and do not need to set up such as obliquity sensor of other hardware. Electric machine controller 70 has torque meter in slopeCalculate function, in the time of speed control mode, can calculate required moment by its embedded programmed algorithm, shouldAlgorithm is by continuous coupling parking moment, and detect the vehicle wheel rotational speed that speed probe 80 feeds back and turn to,Make eventually the car body of electric automobile stop on ramp. Because processor calculating speed is rapid, this process is very short,Human body sensory not out, does not affect any comfortableness.
Uphill starting module 60, is connected with throttle 20 with electric machine controller 70, for obtaining Electric Machine ControlDevice 70 the speed of speed control mode be 1 o'clock stay slope required moment, and obtaining by throttle 20The given moment of throttle is greater than in the time of the required moment in slope, send initiating signal to electric machine controller 70 from speed controlMolding formula is converted to the torque control model of being controlled by throttle 20. Electric automobile passes through in the time of uphill starting shouldThe process of taking over seamlessly reaches the object of gentle start.
In addition the also corresponding electronic vapour that adopts above-mentioned electric automobile electronics control system in slope that provides of the present invention,Car, it has a general configuration of electric automobile, and each functional module composition as shown in Figure 2 is electronicAutomotive electronics control system in slope.
Refer to Fig. 3, for electric automobile electronics control method in slope according to a preferred embodiment of the inventionFlow chart. As shown in Figure 3, the electric automobile electronics control method in slope that this embodiment provides starts from stepS301：
Subsequently, carry out parking on ramp step, comprise step S302-S307.
Subsequently, obtain automobile gears and obtain wheel steering by electric machine controller by gear regulator,And judge that according to automobile gears and wheel steering whether automobile slips state behind ramp, specifically comprises stepS302-S304。
In step S302, whether be forward gear, be to go to step S303, otherwise turn if detecting automobile gearsStep S306.
In step S303, whether backward to detect wheel steering, be to go to step S304, otherwise go to stepS306. The speed of above-mentioned detection is minimum, human body sensory less than. As mentioned above, in this step, electronicIn the stator rotating shaft of the drive motors 10 of automobile, speed probe 80 is installed, electric machine controller 70 canPreferably obtain wheel steering by this speed probe 80. The drive motors 10 of at present general electric automobileOn all dispose this speed probe 80, therefore the present invention utilizes this speed probe 80 to obtain desired data,And without carry out special configuration on wheel, its use has generality again.
In step S304, judge that automobile slips state behind ramp, goes to step S305. Due to automobile shelvesPosition is forward gear, and wheel steering backward, thereby judges that automobile slips state behind ramp, therefore startsDetect and whether receive brake signal.
In step S305, detect the brake signal of the brake gear that whether receives electric automobile; ?Go to step S306, otherwise go to step S307. As above-mentioned parking on ramp module 50 and the brake of electric automobileDevice 30 connects, and judges whether driver sends brake signal by brake gear 30. If receive brakeSignal indication now driver has passed through brake gear 30 mechanical brakes, thereby does not need to restart the present inventionElectric automobile electronics control in slope function, if while not receiving brake signal just continue carry out ramp stopCar step, with can automatic anti-running slope in the time that driver does not touch on the brake.
In step S306, judge that automobile does not slip state behind ramp, or driver sends brake letterWhile number carrying out mechanical brake, do not restart electric automobile electronics of the present invention control in slope function, no longer carry outAction. Due to driver send brake instruction and/or automobile gears be not forward gear and/or wheel steering notBe backward, thereby judge that automobile does not meet the condition of parking on ramp, does not therefore perform an action. Electric machine controllerStill according to the torque control model work of accelerator drive.
In step S307, send the controller of signal control motor in slope and be converted to speed from torque control modelDegree control model is to control drive motors, and control vehicle wheel rotational speed is zero. As above-mentioned electric machine controller 70 isObtain and stay the required torque in slope by calculating, control wheel velocity and be 1 o'clock stay the required moment in slope, belong toPure software is realized, and does not need to set up such as obliquity sensor of other hardware. Electric machine controller 70 has staysSlope torque calculation function, in the time of speed control mode, can calculate required by its embedded programmed algorithmMoment, this algorithm is by continuous coupling parking moment, detect vehicle wheel rotational speed that speed probe 80 feeds back andTurn to, finally make the car body of electric automobile stop on ramp. Because processor calculating speed is rapid, this mistakeJourney is very short, and human body sensory not out, does not affect any comfortableness.
Subsequently, carry out uphill starting step, comprise that step S308 is to step S312.
In step S308, obtain the institute in slope that electric machine controller is in the speed of speed control mode at 1 o'clockNeed moment.
In step S309, judge whether the given moment of the throttle obtaining by throttle is greater than the required power in slopeSquare, is to go to step S311, otherwise goes to step S310.
In step S310, judge that automobile does not need uphill starting, does not perform an action.
In step S311, judge that automobile needs uphill starting, goes to step S312.
In step S312, send initiating signal control electric machine controller from speed control mode be converted to byThe torque control model of Throttle Opening Control, realizes the gentle start of automobile.
Electric automobile electronics control system in slope provided by the invention and method both can be for permanent magnet synchronous electricsMachine, also can be for the electric automobile of Induction Motor-Driven.
In sum, whether the present invention identifies electric automobile in ramp by judging gear and wheel steeringAfter slip state, and then while not receiving mechanical brake instruction judging automobile to slip state behind ramp, send outSending the controller of signal control motor in slope to be converted to rotating speed from torque control model is zero speed control modeTo control drive motors, and in the time staying the required moment in slope described in the given moment of throttle is greater than, send initiating signalBe converted to torque control model from speed control mode to electric machine controller, the present invention passes through motor as can be seen hereThe switching of the control model of controller, realizes the function of parking on ramp and the uphill starting of electric automobile, wholeIndividual process is reliable continuously, slips possibility while having avoided uphill starting after car body.
The present invention is described according to specific embodiment, but it will be understood by those skilled in the art that not de-During from the scope of the invention, can carry out various variations and be equal to replacement. In addition, for adapting to the spy of the technology of the present inventionDetermine occasion or material, can carry out many amendments and not depart from its protection domain the present invention. Therefore, the present inventionBe not limited to specific embodiment disclosed herein, and comprise all enforcement that drops into claim protection domainExample.
Claims (10)
1. electric automobile electronics control system in slope, is characterized in that, comprising:
Electric machine controller, this electric machine controller has torque control model and speed control mode;
Parking on ramp module, the brake gear of this parking on ramp module and electric automobile, gear regulator andDescribed electric machine controller is connected, and for obtaining automobile gears by gear regulator, and passes through Electric Machine ControlDevice obtains wheel steering, and described parking on ramp module judges that according to described automobile gears and wheel steering automobile isThe no state that slips behind ramp, and in the time the brake signal of brake gear not detected, send signal controlling in slopeDescribed electric machine controller is converted to speed control mode to control drive motors from torque control model, and controlsVehicle wheel rotational speed is zero; This parking on ramp module does not start in the time receiving brake signal;
Uphill starting module, this uphill starting module is connected with throttle with described electric machine controller, for obtainingDescribed electric machine controller the speed of speed control mode be 1 o'clock stay the required moment in slope, and described in passing throughThe given moment of throttle that throttle obtains is greater than described in the time of the required moment in slope, sends initiating signal to described motorController is converted to the torque control model by Throttle Opening Control from speed control mode.
2. electric automobile electronics according to claim 1 control system in slope, is characterized in that instituteStating parking on ramp module is forward gear at described automobile gears, and described wheel steering is backward time, judges automobileBehind ramp, slip state.
3. electric automobile electronics according to claim 1 control system in slope, is characterized in that instituteState in the stator rotating shaft of drive motors and speed probe is installed, described electric machine controller and this speed probeConnect, obtain wheel steering and vehicle wheel rotational speed by described speed probe.
4. electric automobile electronics according to claim 3 control system in slope, is characterized in that instituteState electric machine controller in the time of speed control mode, utilize the vehicle wheel rotational speed that described speed probe obtains and turnTo, by algorithm calculate speed be 1 o'clock stay the required moment in slope, control described automobile and stop on ramp.
5. electric automobile electronics according to claim 1 control system in slope, is characterized in that instituteStating drive motors is permagnetic synchronous motor or asynchronous AC motor.
6. an electric automobile, is characterized in that, comprises the electricity described in any one in claim 1-5Electrical automobile electronics control system in slope.
7. electric automobile electronics control method in slope, is characterized in that, comprises the following steps:
Obtain automobile gears and obtain wheel steering by electric machine controller by gear regulator, in basisDescribed automobile gears and wheel steering judge whether automobile slips state behind ramp, and brake ought do not detectedWhen the brake signal of device, send signal control motor in slope controller and be converted to speed from torque control modelControl model is to control drive motors, and control vehicle wheel rotational speed is zero; In the time brake signal being detected, do not sendSignal in slope;
Obtain electric machine controller the speed of speed control mode be 1 o'clock stay the required moment in slope, and passing throughThe given moment of throttle that throttle obtains is greater than described while staying the required moment in slope, sends electricity described in initiating signal controlMachine controller is converted to the torque control model by Throttle Opening Control from speed control mode.
8. electric automobile electronics according to claim 7 control method in slope, is characterized in that instituteStating automobile gears is forward gear, and described wheel steering is backward time, judges that automobile slips state behind ramp.
9. electric automobile electronics according to claim 7 control method in slope, is characterized in that instituteState in the stator rotating shaft of drive motors and speed probe is installed, described electric machine controller and this speed probeConnect, obtain wheel steering and vehicle wheel rotational speed by described speed probe.
10. electric automobile electronics according to claim 9 control method in slope, is characterized in that instituteState electric machine controller in the time of speed control mode, utilize the vehicle wheel rotational speed that described speed probe obtains and turnTo, by algorithm calculate speed be 1 o'clock stay the required moment in slope, control described automobile and stop on ramp.
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| CN201110446718.XA CN103182952B (en) | 2011-12-28 | 2011-12-28 | A kind of electric automobile electronics control system in slope and method |
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| CN201110446718.XA CN103182952B (en) | 2011-12-28 | 2011-12-28 | A kind of electric automobile electronics control system in slope and method |
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| CN103182952B true CN103182952B (en) | 2016-05-25 |
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| CN104627153B (en) * | 2013-11-08 | 2017-06-06 | 北汽福田汽车股份有限公司 | The uphill starting control method and system of electric automobile |
| JP6651803B2 (en) * | 2015-11-17 | 2020-02-19 | 富士電機株式会社 | Motor drive device and motor drive system |
| 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 |
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| CN106809053B (en) * | 2017-01-19 | 2020-01-17 | 上海力信电气技术有限公司 | Method for preventing electric vehicle from sliding along ramp |
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| CN109080499B (en) * | 2017-06-14 | 2021-06-08 | 联合汽车电子有限公司 | Vehicle control unit, electric vehicle and slope parking control method of electric vehicle |
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| CN111619363A (en) * | 2019-02-28 | 2020-09-04 | 北京新能源汽车股份有限公司 | Parking control method and device and electric automobile |
| CN110745011B (en) * | 2019-12-20 | 2020-03-17 | 上海力信电气技术有限公司 | Slope parking method for pure electric vehicle |
| 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 |
| CN111532256B (en) * | 2020-05-07 | 2023-07-04 | 徐工集团工程机械股份有限公司 | Driving control system and method of electric vehicle and electric vehicle |
| CN114211968A (en) * | 2021-10-15 | 2022-03-22 | 东风汽车股份有限公司 | Control method for slope parking and slope sliding prevention of new energy automobile in virtual P gear |
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