CN103182953B - Electric automobile vehicle speed control system and method - Google Patents
Electric automobile vehicle speed control system and method Download PDFInfo
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- CN103182953B CN103182953B CN201110447914.9A CN201110447914A CN103182953B CN 103182953 B CN103182953 B CN 103182953B CN 201110447914 A CN201110447914 A CN 201110447914A CN 103182953 B CN103182953 B CN 103182953B
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Abstract
The invention provides a kind of electric automobile vehicle speed control system, including electric machine controller and entire car controller, wherein entire car controller includes the second communication unit and instruction acquisition unit, and electric machine controller includes the first communication unit and power drive unit；Described instruction acquisition unit is used for gathering cruise instruction and setting speed；The instruction of described cruise and setting speed are sent to the first communication unit by described second communication unit；Described power drive unit enters rotating speed pattern when the cruise instruction and setting speed received at the first communication unit；Under rotating speed pattern, it is the frequency corresponding with described setting speed that described power drive unit adjusts its output frequency, and adjusts output torque and make it export torque to mate with load torque.The present invention also provides for a kind of method of correspondence.The present invention is corresponding with setting speed by adjusting output frequency, it is achieved that the constant speed of electric automobile is run, and improves the stability of electric automobile during traveling, safety and comfortableness.
Description
Technical field
The present invention relates to Control of Electric Vehicles field, more particularly, it relates to a kind of electric automobile vehicle speed control system and
Method.
Background technology
Along with expanding economy, automobile has become as one of requisite instrument in human lives, the own warp of auto industry
One of pillar industry becoming modern economy.Along with Global Auto yield and the continuous growth of recoverable amount, use internal combustion engine conduct
The automobile driving power brings the problem such as serious environmental pollution and the most urgent Global Oil crisis of resource, and this also causes
Countries in the world are made to have to seek to discharge low, to use new forms of energy new traffic tool.Electric automobile has little, the noise of pollution
Little, save the energy, structure, control and safeguard the features such as simple, being solution environmental problem and an effective way of energy problem.
Cruise Control System is developed so far the history of existing more than 40 year, by this control system, it is not necessary to adjusts and steps on
Gas pedal just can make vehicle automatically travel with fixing speed, can alleviate the fatigue of driver, and to decrease unnecessary simultaneously
Speed changes, such that it is able to save fuel.
Cruise Control System experienced by Machinery Control System, transistor control system, Analogous Integrated Electronic Circuits control system
Several processes such as system and Control System of Microcomputer, the research of these theoretical sides is primarily directed to conventional fuel oil car.As it is shown in figure 1,
Being the dynamical system schematic diagram of conventional fuel oil automobile, it mainly includes fuel engines, and this dynamical system is by controlling air throttle
Aperture determines engine output torque size, and correspondingly, the realization of cruise function is mainly concentrated in regulating air throttle
In aperture.
As in figure 2 it is shown, be the typical structure block diagram of existing driving motor for electric automobile system and ancillary equipment, it is by electricity
Machine controller output control signal, thus adjust the output to motor of the electron electric power inverter.Development mesh due to electric automobile
Front also in the starting stage, the constant-speed-cruise control technology for electric automobile there is also problems.
Summary of the invention
The technical problem to be solved in the present invention is, the problem lacking constant-speed traveling function for above-mentioned electric automobile, carries
For a kind of electric automobile vehicle speed control system and method.
The present invention solves above-mentioned technical problem and employed technical scheme comprise that, it is provided that a kind of electric automobile vehicle speed control system,
Including electric machine controller and entire car controller, wherein entire car controller includes the second communication unit and instruction acquisition unit, described
Electric machine controller controls electric automobile with torque mode after electric automobile starts, and this electric machine controller includes the first communication unit
Unit and power drive unit；Described instruction acquisition unit is used for gathering cruise instruction and setting speed；Described second
The instruction of described cruise and setting speed are sent to the first communication unit by communication unit；Described power drive unit is used for
First communication unit enters rotating speed pattern when receiving cruise instruction and set speed；Under rotating speed pattern, described power
Driver element adjust motor output frequency be the frequency corresponding with described setting speed, and adjust output torque make the defeated of motor
Go out torque to mate with load torque；Under torque mode, electric machine controller receives torque instruction and controls motor output torque；Described
Instruction acquisition unit is from the operation button of electric automobile, panel, gas pedal and/or brake pedal acquisition instructions.
In electric automobile vehicle speed control system of the present invention, it is single that described electric machine controller also includes that torque is reported to the police
Unit, is used for judging whether described load torque is more than motor torque upper limit, and in described load torque more than motor torque upper limit
Time, make described power drive unit adjust the output frequency of motor, the output frequency after described adjustment and motor torque upper limit pair
Should.
In electric automobile vehicle speed control system of the present invention, described instruction acquisition unit is additionally operable to gather constant speed and takes
Disappear instruction, and the cancellation instruction of this constant speed is sent to the first communication unit of described electric machine controller by the second communication unit,
Described power drive unit receives when constant speed cancels instruction at the first communication unit and switches to torque mode；At torque mode
Under, described power drive unit controls motor output torque according to torque instruction.
In electric automobile vehicle speed control system of the present invention, described electric machine controller also includes memory element, uses
In storage speed, the speed of this storage sends as setting speed when described instruction acquisition unit collects recovery cruise instruction
To electric machine controller.
In electric automobile vehicle speed control system of the present invention, the second communication unit of described entire car controller and electricity
Communicated by controller local area network between first communication unit of machine controller.
The present invention also provides for a kind of electric automobile method for controlling driving speed, comprises the following steps:
Electric machine controller controls electric automobile, under torque mode, motor control with torque mode after electric automobile starts
Device processed receives torque instruction and controls motor output torque；
Step (a), entire car controller reads when collecting cruise instruction and sets speed and by described setting speed
Being sent to electric machine controller, this entire car controller is from operation button, panel, gas pedal and/or the brake pedal of electric automobile
Acquisition instructions；
Step (b), duty is switched to rotating speed pattern by electric machine controller；Under rotating speed pattern, this electric machine controller
The output frequency adjusting motor is the frequency corresponding with described setting speed, and adjust output torque make the output torque of motor with
Load torque is mated.
In electric automobile method for controlling driving speed of the present invention, under rotating speed pattern, described electric machine controller is in institute
State load torque more than the output frequency adjusting motor during motor torque upper limit, the output frequency after described adjustment and motor torque
The upper limit is corresponding.
In electric automobile method for controlling driving speed of the present invention, include after described step (b):
Step (c1), this cancellation instruction is sent to motor control when cancellation constant speed instruction being detected by described entire car controller
Device processed；
Step (c2), described electric machine controller switches to torque mode, under torque mode, described electric machine controller according to
Torque instruction controls motor output torque.
In electric automobile method for controlling driving speed of the present invention, described step (b) including: described electric machine controller is deposited
Storage current vehicle speed.
In electric automobile method for controlling driving speed of the present invention, include after described step (b): described full-vehicle control
Device collect recover cruise instruction time using the speed of storage as setting speed, and perform step (b).
The electric automobile vehicle speed control system of the present invention and method, corresponding with setting speed by adjusting output frequency, real
The constant speed having showed electric automobile is run, and improves the stability of electric automobile during traveling, safety and comfortableness.
The present invention can make electric automobile either travel on upward slope, descending, level road, or in the case of wind speed changes
Travelling, as long as driving in the range of motor power (output) permission, speed all can keep constant.Up in countryside or highway
When sailing, this superiority is the most notable.
It addition, when electric automobile is with constant-speed traveling, as long as driver grasps steering wheel, without accelerator pedal with regard to energy
Make vehicle run with constant velocity-stabilization, which reduce the labor intensity of driver, driver's energy can be made to concentrate to guarantee row
Car safety.Further, the present invention also can make electric automobile reduce abrasion, extends the life-span, and increases the course continuation mileage of power accumulator,
Thus reduce electric automobile operating cost.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of existing fuel-engined vehicle electronics cruise control system.
Fig. 2 is existing driving motor for electric automobile system and ancillary equipment typical structure block diagram.
Fig. 3 is the schematic diagram of electric automobile vehicle speed control system first embodiment of the present invention.
Fig. 4 is the schematic diagram of electric automobile vehicle speed control system the second embodiment of the present invention.
Fig. 5 is the flow chart of electric automobile method for controlling driving speed first embodiment of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.
As it is shown on figure 3, be the schematic diagram of electric automobile vehicle speed control system embodiment of the present invention.In the present embodiment, car
Speed control system includes electric machine controller 32 and entire car controller 31, and wherein entire car controller includes the second communication unit 312 He
Instruction acquisition unit 311, electric machine controller 32 includes the first communication unit 322 and power drive unit 323.Above-mentioned car load
Controller 31 and electric machine controller 32 can be made up of a chip and peripheral circuit respectively, the second communication unit 312, instruction acquisition
Unit the 311, first communication unit 322 and power drive unit 323 then can realize by software with hardware.Electric machine controller 32
Power drive unit 323 directly to inverter 33 output motor control signal.
Instruction acquisition unit 311 is used for gathering cruise instruction and setting speed.Specifically, this instruction acquisition unit
311 can from acquisition instructions such as the operation button of electric automobile or panel, gas pedal, brake pedals, such as cruise instruction,
Recover cruise instruction, brake instruction, assisted instruction etc..
Second communication unit 312 is for the cruise instruction gathered by instruction acquisition unit 311 and sets speed transmission
The first communication unit 322 to electric machine controller 32.Especially, between the first communication unit 322 and the second communication unit 312
Information can be realized by controller local area network (Controller Area Network, CAN) alternately.This controller local area network
It is mutual that network also can realize the information between other parts within electric automobile, such as battery manager and instrument controller etc..
Specifically, the second communication unit 312 can send cruise by the message of table 1 and instruct and set speed to electricity
Machine controller 32.
Power drive unit 323 enters when the cruise instruction and setting speed received at the first communication unit 322
Enter rotating speed pattern.Under rotating speed pattern, it is the frequency corresponding with setting speed that this power drive unit 32 adjusts its output frequency,
And adjust output torque make this output torque mate with load torque.
As shown in Figure 4, it is the schematic diagram of electric automobile vehicle speed control system the second embodiment of the present invention.In this embodiment,
Vehicle speed control system includes electric machine controller 42 and entire car controller 41, and wherein entire car controller includes the second communication unit 412
With instruction acquisition unit 411, electric machine controller 42 includes memory element the 421, first communication unit 422, power drive unit 423
And torque alarm unit 424.Above-mentioned entire car controller 31 and electric machine controller 32 can be respectively by a chip and peripheral electricity
Road is constituted, the second communication unit 312, instruction acquisition unit the 311, first communication unit 322 and power drive unit 323.
Above-mentioned torque alarm unit 424 is used for judging when power drive unit 423 is with rotating speed mode operation, load torque
Whether more than motor torque upper limit, and when load torque is more than motor torque upper limit, power drive unit 423 is made to adjust it defeated
Going out frequency, the output frequency after this adjustment is corresponding with motor torque upper limit.
In the present embodiment, instruction acquisition unit 411, in addition to gathering cruise instruction, is additionally operable to gather constant speed and cancels
Instruction (such as cancelling button from brake pedal or constant speed) and gas pedal instruction, and the cancellation instruction of this constant speed and throttle are stepped on
Plate instruction is sent to the first communication unit 422 of electric machine controller 42 by the second communication unit 412；Correspondingly, power drive
Unit 423 is in addition to working with rotating speed pattern, it is also possible to torque mode works.It is fixed to receive at the first signal communication unit 422
When speed cancellation instruction and gas pedal instruct, power drive unit 423 is cancelled according to constant speed instructing to switch to rotating speed pattern and is turned
Square pattern.Under torque mode, power drive unit 423 (such as gathers from instruction acquisition unit 411 according to torque instruction
Gas pedal instructs) control motor output torque.
Memory element 421 is used for storing speed.This memory element 421 can use EEPROM (Electrically
Erasable Programmable Read-Only Memory), this EEPROM data after a power failure will not be lost, thus stores
Speed upper once power on time the most effective, it is not necessary to every time repeatedly setting cruising speed so that the constant speed of electric automobile is patrolled
Function is more intelligent and hommization for boat.Above-mentioned instruction acquisition unit 411 also can gather recovery cruise instruction, and by this recovery
Cruise instruction is sent to electric machine controller 42 by the second communication unit 412, and power drive unit 423 reads memory element 421
The speed of middle storage, and using frequency corresponding to this speed as output frequency, control electric machine rotation.
In the above-described embodiments, inverter is mainly made up of high frequency switching device igbt-IGBT, power
Driver element drives signal to control switch on and off time and the switch on and off order realization of each IGBT respectively by sending 6 roads
Different dutycycle output, thus regulate size and the phase sequence of motor U, V, W three-phase current, finally realize the row to electric automobile
Sail speed controlling.Entire car controller is under torque mode and rotating speed pattern, respectively by the second communication unit to electric machine controller
Send torque instruction (such as gas pedal instruction) and frequency instruction (such as setting speed).Electric machine controller receives torque and refers to
After order and frequency instruction, its power drive unit is by carrying out output electric current based on rotor field-oriented vector control algorithm
Coordinate transform and decomposition, thus calculate make-and-break time and the break-make order of 6 road IGBT.
Especially, in the above-described embodiments, the second communication unit can by the message of table 1 send cruise instruct and
Set speed to electric machine controller.
Table 1: the cruise instruction message that entire car controller sends
In table 1, cruise command byte is specifically defined shown in table 2.
Table 2: the definition of BYTE1 in the cruise instruction message of entire car controller
Electric machine controller then can be according to transport condition, by the first communication unit with the message shown in table 3 to full-vehicle control
Device sends information.
Table 3: the cruise state message that electric machine controller sends
Being specifically defined as shown in table 4 of cruise state byte in table 3.
Table 4: the definition of BYTE1 in the cruise state message of electric machine controller.
As it is shown in figure 5, be the schematic diagram of electric automobile method for controlling driving speed embodiment of the present invention.The method includes following step
Rapid:
Step S51: after electric automobile starts, electric machine controller controls electric automobile with torque mode.
Under torque mode, electric machine controller receives torque instruction (such as by complete machine controller from gas pedal collection) control
Motor output torque processed, now the output frequency of electric machine controller is from the change of motion tracking loading speed.When electric machine controller
Setting torque and be more than load torque, the output frequency of electric machine controller can rise, when the output frequency of electric machine controller reaches frequency
During the rate upper limit (the corresponding max. speed allowed), electric machine controller output upper limiting frequency.When the setting torque of electric machine controller is little
In load torque, the output frequency of electric machine controller declines, if setting lower frequency limit (the corresponding minimum speed set), when
When electric machine controller output frequency reaches lower-frequency limit, electric machine controller bottoming frequency.
Step S52: entire car controller judges whether to collect cruise instruction.If collecting cruise instruction, then
Perform step S54, otherwise perform step S53.
Step S53: entire car controller judges whether to collect recovery cruise instruction.If collecting recovery cruise instruction, then
Perform step S56, otherwise return step S51.
Step S54: cruise instruction and setting speed are sent to electric machine controller, electric machine controller by entire car controller
Duty is switched to rotating speed pattern.Under rotating speed pattern, this electric machine controller adjusts its output frequency and is and sets speed
Corresponding frequency, and adjust output torque and make it export torque to mate with load torque.
Step S55: electric machine controller storage speed now, or the output frequency of correspondence.
Step S56: recovery cruise instruction is sent to electric machine controller by entire car controller, and electric machine controller is by duty
Switch to rotating speed pattern.
Step S57: entire car controller judges whether that receiving constant speed cancels instruction, and such as brake pedal is stepped on or constant speed is patrolled
Boat button cancellation etc..If receiving constant speed to cancel instruction, then perform step S51, make electric machine controller work with torque mode；No
Then perform step S58.
Step S58: electric machine controller continues to work with rotating speed pattern, and performs step S57.
In the above-mentioned methods, it is additionally included in electric machine controller when being in rotating speed pattern and torque mode, stores by operation
The cruising speed of key-press input, as the setting speed of cruise instruction next time.
In above-mentioned electric automobile method for controlling driving speed, under electric machine controller rotating speed pattern, electric machine controller is negative
Adjust its output frequency when set torque is more than motor torque upper limit, make the output frequency after adjustment corresponding with motor torque upper limit.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope that the invention discloses, the change that can readily occur in or replacement,
All should contain within protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is as the criterion.
Claims (10)
1. an electric automobile vehicle speed control system, it is characterised in that: include electric machine controller and entire car controller, wherein car load
Controller includes the second communication unit and instruction acquisition unit, described electric machine controller electric automobile start after with torque mode
Control electric automobile, and this electric machine controller includes the first communication unit and power drive unit；Described instruction acquisition unit
For gathering cruise instruction and setting speed；Described second communication unit is by the instruction of described cruise and sets speed
It is sent to the first communication unit；Described power drive unit is for receiving cruise instruction at the first communication unit and setting
Rotating speed pattern is entered during speed；Under rotating speed pattern, described power drive unit adjusts the output frequency of motor for set with described
Determine the frequency that speed is corresponding, and adjust output torque and make the output torque of motor mate with load torque；Under torque mode, electricity
Machine controller receives torque instruction and controls motor output torque；Described instruction acquisition unit is from the operation button of electric automobile, face
Plate, gas pedal and/or brake pedal acquisition instructions.
Electric automobile vehicle speed control system the most according to claim 1, it is characterised in that: described electric machine controller also includes
Torque alarm unit, is used for judging whether described load torque is more than motor torque upper limit, and in described load torque more than electricity
During machine torque upper limit, described power drive unit is made to adjust the output frequency of motor, the output frequency after described adjustment and motor
Torque upper limit is corresponding.
Electric automobile vehicle speed control system the most according to claim 1, it is characterised in that: described instruction acquisition unit is also used
Cancel instruction in gathering constant speed, and this constant speed is cancelled instruction be sent to the of described electric machine controller by the second communication unit
One communication unit；Described power drive unit receives when constant speed cancels instruction at the first communication unit and switches to torque mode；
Under torque mode, described power drive unit controls motor output torque according to torque instruction.
Electric automobile vehicle speed control system the most according to claim 1, it is characterised in that: described electric machine controller also includes
Memory element, is used for storing speed, the conduct when described instruction acquisition unit collects recovery cruise instruction of the speed of this storage
Set speed and be sent to electric machine controller.
Electric automobile vehicle speed control system the most according to claim 1, it is characterised in that: the second of described entire car controller
Communicated by controller local area network between communication unit and the first communication unit of electric machine controller.
6. an electric automobile method for controlling driving speed, it is characterised in that: comprise the following steps:
Electric machine controller controls electric automobile, under torque mode, electric machine controller with torque mode after electric automobile starts
Receive torque instruction and control motor output torque；
Step (a), entire car controller reads when collecting cruise instruction and sets speed and described setting speed sent
To electric machine controller, this entire car controller is from the operation button of electric automobile, panel, gas pedal and/or brake pedal collection
Instruction；
Step (b), duty is switched to rotating speed pattern by electric machine controller；Under rotating speed pattern, this electric machine controller adjusts
The output frequency of motor is the frequency corresponding with described setting speed, and adjusts output torque and make output torque and the load of motor
Torque is mated.
Electric automobile method for controlling driving speed the most according to claim 6, it is characterised in that: under rotating speed pattern, described electricity
Machine controller adjusts the output frequency of motor when described load torque is more than motor torque upper limit, the output frequency after described adjustment
Rate is corresponding with motor torque upper limit.
Electric automobile method for controlling driving speed the most according to claim 6, it is characterised in that: include after described step (b):
Step (c1), this cancellation instruction is sent to motor control when cancellation constant speed instruction being detected by described entire car controller
Device；
Step (c2), described electric machine controller switches to torque mode, and under torque mode, described electric machine controller is according to torque
Instruction controls motor output torque.
Electric automobile method for controlling driving speed the most according to claim 6, it is characterised in that: described step (b) including: described
Electric machine controller storage current vehicle speed.
Electric automobile method for controlling driving speed the most according to claim 9, it is characterised in that: bag after described step (b)
Include: described entire car controller collect recover cruise instruction time using the speed of storage as setting speed, and perform step
(b)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110447914.9A CN103182953B (en) | 2011-12-28 | Electric automobile vehicle speed control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110447914.9A CN103182953B (en) | 2011-12-28 | Electric automobile vehicle speed control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103182953A CN103182953A (en) | 2013-07-03 |
| CN103182953B true CN103182953B (en) | 2016-12-14 |
Family
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5799262A (en) * | 1995-02-10 | 1998-08-25 | Fuji Jukogyo Kabushiki Kaisha | Constant speed control system for electric vehicle and the method thereof |
| CN101115638A (en) * | 2005-03-31 | 2008-01-30 | 丰田自动车株式会社 | Vehicle and control method of vehicle |
| CN101765531A (en) * | 2007-07-27 | 2010-06-30 | 丰田自动车株式会社 | Driving force controller of vehicle |
| CN101780776A (en) * | 2010-03-30 | 2010-07-21 | 奇瑞汽车股份有限公司 | Electrombile control method and system based on double-gear speed changing box |
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5799262A (en) * | 1995-02-10 | 1998-08-25 | Fuji Jukogyo Kabushiki Kaisha | Constant speed control system for electric vehicle and the method thereof |
| CN101115638A (en) * | 2005-03-31 | 2008-01-30 | 丰田自动车株式会社 | Vehicle and control method of vehicle |
| CN101765531A (en) * | 2007-07-27 | 2010-06-30 | 丰田自动车株式会社 | Driving force controller of vehicle |
| CN101780776A (en) * | 2010-03-30 | 2010-07-21 | 奇瑞汽车股份有限公司 | Electrombile control method and system based on double-gear speed changing box |
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Effective date of registration: 20210513 Address after: 215000 52 tianedang Road, Yuexi, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: SUZHOU HUICHUAN UNITED POWER SYSTEM Co.,Ltd. Address before: 215000 north side of Youxiang Road, Wangshan Industrial Park, Wuzhong Economic Development Zone, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: SUZHOU INOVANCE TECHNOLOGY Co.,Ltd. Patentee before: SHENZHEN INOVANCE TECHNOLOGY Co.,Ltd. |