CN103248281B - A kind of electric automobile overspeed protection control method, system and electric automobile - Google Patents
A kind of electric automobile overspeed protection control method, system and electric automobile Download PDFInfo
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Abstract
The invention provides a kind of electric automobile overspeed protection control method, system and electric automobile, this electric automobile overspeed protection control method comprises the following steps: 1) the monitoring current rotational speed N of motor and current vehicle speed V; 2) judge whether the current rotational speed N of motor is greater than default protection rotational speed N1, if not, return to step 1); If so, forward step 3 to); 3) obtain overspeed protection torque T q_regens according to the current rotational speed N of motor and current vehicle speed V, and control decelerating through motor based on Tq_regens. The method in the time that current motor speed is too fast for it provides reactive torque to reduce motor speed, thereby the problem of effectively avoiding the vehicle motor speed that (especially in the time of long descending or stepping on accelerator pedal descending) causes due to Action of Gravity Field in the time of descending to speed with the speed of a motor vehicle and to increase, and then guarantee that electric motor car normally travels.
Description
Technical field
The invention belongs to Control of Electric Vehicles field, be specifically related to a kind of electric automobile hypervelocity and protectProtect control method, system and electric automobile.
Background technology
The further aggravation of energy crisis and ecological deterioration, what cause being participated in by drive motors is newEnergy automobile replaces traditional combustion engine automobile becomes one of important means promoting social development, andElectric automobile, as the model of energy-conserving and environment-protective in new-energy automobile, becomes Ge great automobile vendor especiallyThe emphasis of research and development. In general, electric automobile is divided into pure electric automobile (BEV), hybrid powerAutomobile (HEV) and fuel cell car (FCEV), all adopt power battery pack as powerSource, and drive car load to travel by drive motors. Due to the drive motors in existing electric automobile fromBody does not have the moment of resistance, thereby at electric automobile, especially in low-speed electronic automobile at long descending orIn the process of stepping on accelerator pedal descending, often make motor speed with the increase of the speed of a motor vehicle of car loadMeet or exceed the maximum speed of default, and then bring the merit such as breakdown potential machine controllerRate pipe causes the hypervelocity faults such as electric automobile can not normally travel.
For the hypervelocity fault that prevents from occurring because the speed of a motor vehicle is too fast, application number is201110279871.8 Chinese patent application a kind of Motor Over Speed for electric motor car is disclosedGuard method, protective device and electric motor car. By means of this guard method and protective device, canIn the time that motor speed exceedes certain rotating speed, make immediately electric machine controller MCU (MotorControlUnit) and the connection of motor disconnect, to avoid the back-emf of motor to exceed the merit of electric machine controllerThe voltage limit value of rate pipe, causes power tube because being damaged by voltage breakdown, thereby ensures electronic vapourCar safety traffic.
Although adopt guard method that above-mentioned patent application provides and the protective device can be necessarilyIn degree, avoid the hypervelocity fault occurring because the speed of a motor vehicle is too fast, but it in actual applications stillInevitably there is following problems: one, owing to not being car load on one's own initiative in prior artThe resistance that makes its deceleration is provided, makes in the process of long descending or stepping on accelerator pedal descending, whenWhen driver does not take corresponding speed-down action, due to the effect of gravity, motor speed stillCan increase along with speeding of the speed of a motor vehicle; Its two, make electric machine controller because motor speed is too fastIn the situation that the connection of MCU and motor disconnects, also must carry out power-on and power-off again to car load,Could recover the driving of vehicle; Its three, when hypervelocity fault occur time, system without anyIn the situation of indicating of reporting to the police, cut off car load power and connect, easily cause that driver is panic, leads at heartCause the generation of traffic accident.
Summary of the invention
For one of addressing the above problem, the invention provides a kind of electric automobile overspeed protection controlMethod, system and electric automobile, it can be initiatively for car load provides the resistance that makes its deceleration, fromAnd ensure that electric automobile drives safely.
For achieving the above object, the invention provides a kind of electric automobile overspeed protection controlling partyMethod, it comprises the following steps:
1) the monitoring current rotational speed N of motor and current vehicle speed V;
2) judge whether the current rotational speed N of motor is greater than default protection rotational speed N1, if not,Return to step 1); If so, forward step 3 to);
3) obtain overspeed protection moment of torsion according to the current rotational speed N of motor and current vehicle speed VTq_regens, and control decelerating through motor based on Tq_regens.
Wherein, in step 3) in, judge the whether state in being operated of accelerator pedal, ifNo, enter the treatment progress that accelerator pedal is not operated; If so, enter accelerator pedal quiltThe treatment progress of stepping on.
Wherein, the treatment progress that accelerator pedal is not operated comprises:
311) based on the current rotational speed N of motor and current vehicle speed V, obtain overspeed protection moment of torsion,That is:
Drive rotational speed N based on the current rotational speed N of motor and recovery2, obtain the second speed discrepancyNdiff2; Obtain the first torque coefficient s1 according to the current rotational speed N of motor; According to working as front truckSpeed V obtains the second torque coefficient s2;
Obtain conventional regeneration braking output torque based on the current rotational speed N of motor, s1 and s2Tq_regen；
According to the second speed discrepancy Ndiff2Obtain the 3rd torque coefficient s3 with current vehicle speed V;
Obtain revising moment of torsion based on the current rotational speed N of motor and the 3rd torque coefficient s3Tq_corr；
Based on conventional regeneration braking output torque Tq_regen and correction torque T q_corrAnd obtain described overspeed protection torque T q_regens, wherein said overspeed protection moment of torsionTq_regens＝Tq_regen+Tq_corr；
312) control decelerating through motor according to Tq_regens;
313) detect the current rotational speed N of motor after slowing down, and judge that the motor after slowing down is currentWhether rotational speed N is less than is recovered to drive rotational speed N2, if so, enter conventional drive pattern; IfNo, return to step 311).
Wherein, the treatment progress that accelerator pedal is not operated comprises:
321) based on the current rotational speed N of motor and current vehicle speed V, obtain overspeed protection moment of torsion,That is:
Calculate the current rotational speed N of motor and protection rotational speed N1Between the first speed discrepancyNdiff1, the current rotational speed N of motor with recover drive rotational speed N2Between the second speed discrepancyNdiff2；
According to Ndiff1And Ndiff2Obtain the 4th torque coefficient s4;
Obtain the 5th torque coefficient s5 according to current vehicle speed V;
Based on the current rotational speed N of motor, the 4th torque coefficient s4 and the 5th torque coefficient s5Obtain overspeed protection torque T q_regens;
322) control decelerating through motor according to Tq_regens;
323) detect the current rotational speed N of motor after slowing down, and judge that the motor after slowing down is currentWhether rotational speed N is less than is recovered to drive rotational speed N2, if so, enter conventional drive pattern; IfNo, return to step 321).
Wherein, in the treatment progress being operated at accelerator pedal, be first 0 by driving torque unloading,Then carry out following step:
331) based on the current rotational speed N of motor and current vehicle speed V, obtain overspeed protection moment of torsion,That is:
Calculate the current rotational speed N of motor and protection rotational speed N1Between the first speed discrepancyNdiff1, the current rotational speed N of motor with recover drive rotational speed N2Between the second speed discrepancyNdiff2；
According to Ndiff1And Ndiff2Obtain the 6th torque coefficient s6;
Obtain the 7th torque coefficient s7 according to current vehicle speed V;
Based on the current rotational speed N of motor, the 6th torque coefficient s6 and the 7th torque coefficient s7Obtain overspeed protection torque T q_regens;
332) control decelerating through motor according to Tq_regens;
333) judge the whether still state in being operated of accelerator pedal, if not, detect and subtractThe current rotational speed N of motor after speed, and judge whether the current rotational speed N of motor after slowing down is less thanRecover to drive rotational speed N2, if so, enter conventional drive pattern; If not, enter accelerationThe treatment progress that pedal is not operated;
If so, detect the current rotational speed N of motor after slowing down, and judge the motor after slowing downWhether current rotational speed N is less than protection rotational speed N1, if so, the motor after slowing down is worked as to forwardSpeed N carries out PID control so that current motor rotational speed N is maintained to protection rotational speed N1Near, straightTo the state of accelerator pedal in not being operated; If not, return to step 331).
For this reason, the invention provides a kind of electric automobile overspeed protection control system, it comprises prisonMeasurement unit, control module and performance element, wherein:
Monitoring means is used for monitoring the current rotational speed N of motor and current vehicle speed V, and motor is worked asFront rotational speed N and current vehicle speed V are sent to control module;
Control module comprises judge module and control and processing module, wherein:
Judge module is for judging whether the current rotational speed N of motor is greater than default protection and turnsSpeed N1, and judged result is sent to and is controlled and processing module;
Control and processing module are for being greater than protection rotational speed N when the current rotational speed N of motor1Time, determine overspeed protection moment of torsion based on the current rotational speed N of motor and current vehicle speed VTq_regens, and the executive signal that includes overspeed protection torque T q_regens is sent outDeliver to performance element;
Performance element is used for according to described executive signal control decelerating through motor.
Wherein, judge module is also for judging whether accelerator pedal is operated, and will judge knotFruit is sent to described control and processing module;
When the current rotational speed N of motor is greater than protection rotational speed N1Time, control and processing module are according to addingThe state of speed pedal enters operational mode or the accelerator pedal that accelerator pedal is operated and is not operatedOperational mode.
Wherein, in the operational mode not being operated at accelerator pedal, described control module is carried outFollowing operation:
Control and processing module obtain hypervelocity guarantor based on the current rotational speed N of motor and current vehicle speed VProtect moment of torsion, that is:
Drive rotational speed N based on the current rotational speed N of motor and recovery2Obtain the second speed discrepancyNdiff2; Obtain the first torque coefficient s1 according to the current rotational speed N of motor; According to working as front truckSpeed V obtains the second torque coefficient s2;
Obtain conventional regeneration braking output torque based on the current rotational speed N of motor, s1 and s2Tq_regen；
According to the second speed discrepancy Ndiff2Obtain the 3rd torque coefficient s3 with current vehicle speed V;
Obtain revising moment of torsion based on the current rotational speed N of motor and the 3rd torque coefficient s3Tq_corr；
Based on conventional regeneration braking output torque Tq_regen and correction torque T q_corrAnd obtain described overspeed protection torque T q_regens, wherein overspeed protection moment of torsionTq_regens＝Tq_regen+Tq_corr；
Control and processing module will include the execution of described overspeed protection torque T q_regensSignal is sent to performance element to control decelerating through motor;
Judge module also recovers to drive for judging whether the current rotational speed N of motor after deceleration is less thanMoving rotational speed N2, and judged result is sent to described control and processing module;
If being less than, the current rotational speed N of motor after slowing down recovers to drive rotational speed N2, described controlAnd processing module sends the conventional instruction that drives, make vehicle enter conventional drive pattern; If after slowing downThe current rotational speed N of motor be more than or equal to recover drive rotational speed N2, described control and processingThe motor current rotational speed N of module based on after slowing down recalculates overspeed protection moment of torsionTq_regens, and send it to performance element to control motor continuation deceleration.
Wherein, in the operational mode not being operated at accelerator pedal, control module is carried out followingOperation:
Described control and processing module obtain super based on the current rotational speed N of motor and current vehicle speed VSpeed protection moment of torsion, that is:
Calculate the current rotational speed N of motor and protection rotational speed N1Between the first speed discrepancyNdiff1, the current rotational speed N of motor with recover drive rotational speed N2Between the second speed discrepancy Ndiff2；
According to Ndiff1And Ndiff2Obtain the 4th torque coefficient s4, according to current vehicle speed, V obtainsTo the second torque coefficient s2;
Based on the current rotational speed N of motor, the 4th torque coefficient s4 and the 5th torque coefficient s5Obtain overspeed protection torque T q_regens;
Control and processing module will include the execution of described overspeed protection torque T q_regensSignal is sent to performance element to control decelerating through motor;
Judge module also recovers to drive for judging whether the current rotational speed N of motor after deceleration is less thanMoving rotational speed N2, and judged result is sent to described control and processing module;
If being less than, the current rotational speed N of motor after slowing down recovers to drive rotational speed N2, control and locateReason module is sent the conventional instruction that drives, and makes vehicle enter conventional driving condition; If the electricity after slowing downThe current rotational speed N of machine is more than or equal to recovers to drive rotational speed N2, control and processing module based onThe current rotational speed N of motor after deceleration recalculates overspeed protection torque T q_regens, and by itBeing sent to performance element continues to slow down to control motor.
Wherein, in the operational mode being operated at accelerator pedal, described control module is first indicatedPerformance element is 0 by driving torque unloading, then carries out following operation:
Control and processing module obtain hypervelocity guarantor based on the current rotational speed N of motor and current vehicle speed VProtect moment of torsion, that is:
Calculate the current rotational speed N of motor and protection rotational speed N1Between the first speed discrepancyNdiff1, the current rotational speed N of motor with recover drive rotational speed N2Between the second speed discrepancyNdiff2；
According to Ndiff1And Ndiff2Obtain the 6th torque coefficient s6, according to current vehicle speed, V obtainsTo the 7th torque coefficient s7;
Based on the current rotational speed N of motor, the 6th torque coefficient s6 and the 7th torque coefficient s7Obtain overspeed protection torque T q_regens;
Control and processing module will include the execution of described overspeed protection torque T q_regensSignal is sent to performance element to control decelerating through motor;
Whether still judge module judges the accelerator pedal state in being operated, and if not, entersOne step judges whether the current rotational speed N of motor after slowing down is less than recovery and drives rotational speed N2, if so,Enter conventional drive pattern; If not, the operational mode not being operated with described accelerator pedalControl decelerating through motor;
If so, judge whether the current rotational speed N of motor after slowing down is less than protection rotational speed N1，If so, the current rotational speed N of motor is carried out to PID control to be maintained protection rotational speed N1AttachedClosely, until the state of accelerator pedal in not being operated; If not, make described control and processingModule recalculates overspeed protection torque T q_regens, and sends it to performance element with controlMotor processed continues to slow down.
For this reason, the invention provides a kind of electric automobile, it comprises described in above-mentioned any oneElectric automobile overspeed protection control system.
With respect to prior art, the present invention has following beneficial effect:
Electric automobile overspeed protection control method provided by the invention, when the current rotational speed N of motorReach default protection rotational speed N1Time, obtain according to the current rotational speed N of motor and current vehicle speed VThe reactive torque Tq_regens that can make motor initiatively slow down, and by applying this reactive torqueTq_regens reduces the trend that motor speed increases, and then reduces motor speed. Like this,Not only can effectively avoid vehicle in the time of descending (especially at long descending or stepping on accelerator pedal descendingTime) motor speed that causes due to Action of Gravity Field speeds with the speed of a motor vehicle and the problem that increases; AndCan also avoid vehicle frequently to disconnect the problem of drive system because of hypervelocity fault, and adopt the partyMethod is without car load is carried out to power-on and power-off again, thereby ensured the driving continuity of vehicle, also entersOne step has been avoided disconnecting suddenly car load power because exceeding the speed limit and has been connected the driver psychology fear causing,And then safety-type and the reliability of raising vehicle drive.
Similarly, electric automobile overspeed protection control system provided by the invention and electric automobile,When the current rotational speed N of motor is greater than default protection rotational speed N1Time, control and processing module basisThe current rotational speed N of motor and current vehicle speed V obtain the reactive torque that can make vehicle initiatively slow down,And slowed down by performance element control motor. Like this, not only can effectively avoid vehicle underThe electricity that (especially in the time of long descending or stepping on accelerator pedal descending) causes due to Action of Gravity Field when on the slopeMachine rotating speed speeds with the speed of a motor vehicle and the problem that increases; But also can avoid vehicle because of hypervelocity faultFrequent disconnection drive system, and without car load is carried out to power-on and power-off again, thereby vehicle ensuredDriving continuity, also further avoided disconnecting suddenly because exceeding the speed limit car load power and connected and causeDriver psychology fear, and then improve safety-type and the reliability of vehicle drive.
Brief description of the drawings
The stream of the electric automobile overspeed protection control method that Fig. 1 provides for the embodiment of the present invention oneCheng Tu;
The stream of the electric automobile overspeed protection control method that Fig. 2 provides for the embodiment of the present invention twoCheng Tu;
Fig. 3 a is not stepped at accelerator pedal in electric automobile overspeed protection control method in Fig. 2The flow chart of the overspeed protection moment of torsion the first acquisition methods when lower;
Fig. 3 b is not stepped at accelerator pedal in electric automobile overspeed protection control method in Fig. 2The flow chart of the overspeed protection moment of torsion the second acquisition methods when lower;
Fig. 4 is operated at accelerator pedal in electric automobile overspeed protection control method in Fig. 2Time the flow chart of overspeed protection moment of torsion acquisition methods;
Fig. 5 is the block diagram of electric automobile overspeed protection control system provided by the invention.
Detailed description of the invention
For making those skilled in the art understand better technical scheme of the present invention, knot belowClose electric automobile overspeed protection control method that accompanying drawing provides the embodiment of the present invention, system andElectric automobile is described in detail.
The electric automobile overspeed protection control method that the embodiment of the present invention one provides, as Fig. 1 instituteShow, comprise the following steps:
Step s1, the monitoring current rotational speed N of motor and current vehicle speed V.
In service in the conventional driving of electric motor car, detect in real time the current rotational speed N of motor and work as forwardSpeed V. So-called routine drives and refers to, the current rotational speed N of motor is less than protection rotational speed N1And vehicleThe type of drive adopting in the time of normal transport condition.
Step s2, judges whether the current rotational speed N of motor is greater than default protection rotational speed N1If,To enter step s3; If not, return to step s1, continue the current rotating speed of monitoring motorN and current vehicle speed V, and maintain conventional driving process.
Step s3, obtains overspeed protection moment of torsion according to the current rotational speed N of motor and current vehicle speed VTq_regens, and control decelerating through motor based on Tq_regens.
The electric automobile overspeed protection control method that the present embodiment provides is at current motor speedN reaches default protection rotational speed N1Time, real according to the current rotational speed N of motor and current vehicle speed VTime obtain making the overspeed protection torque T q_regens of motor reversal, and reduce by this motorThe trend that rotating speed increases, and then reduce motor speed and current vehicle speed, thus ensure the peace of vehicleEntirely travel.
The stream of the electric automobile overspeed protection control method that Fig. 2 provides for the embodiment of the present invention twoCheng Tu.
Provide in electric automobile overspeed protection control method and Fig. 1 electronic is provided the present embodimentOverspeed of vehicle protection control method is compared, and comprises that equally step s1 is to step s3. Due to s1Have and described in detail in above-described embodiment one with step s2, do not repeated them here. UnderFace is only described in detail the step s3 in the present embodiment.
In the step s3 of the present embodiment, reach default protection rotating speed at current motor speed NN1Time, obtain overspeed protection moment of torsion according to the current rotational speed N of motor and current vehicle speed VTq_regens, and control decelerating through motor based on Tq_regens. This step s3 specifically comprises stepRapid s30, step s31 and step s32.
Wherein, in step s30, judge the whether state in being operated of accelerator pedal, ifNo, enter the treatment progress step s31 that accelerator pedal is not operated; If so, enter and addThe treatment progress step s32 that speed pedal is operated.
Step s31 comprises the treatment progress that accelerator pedal is not operated, and it specifically comprises stepS311, step s312 and step s313.
Wherein, in step s311, based on the current rotational speed N of motor and current vehicle speed V, obtainObtain overspeed protection torque T q_regens. Refer to Fig. 3 a below with to overspeed protection moment of torsionThe acquisition methods of Tq_regens is elaborated. Fig. 3 a is that in Fig. 2, electric automobile hypervelocity is protectedProtect the overspeed protection moment of torsion the first side of obtaining in the time that accelerator pedal is not operated in control methodThe flow chart of method, as shown in Figure 3 a, in the time that accelerator pedal is not operated, overspeed protection moment of torsionObtaining of Tq_regens comprises the following steps:
Drive rotational speed N based on the current rotational speed N of motor and recovery2, obtain the second speed discrepancy Ndiff2，Ndiff2＝N-N2；
Obtain the first torque coefficient s1 according to the current rotational speed N of motor; According to current vehicle speed, V obtainsTo the second torque coefficient s2; Obtain conventional regeneration system based on the current rotational speed N of motor, s1 and s2Moving output torque Tq_regen;
According to the second speed discrepancy Ndiff2Obtain the 3rd torque coefficient s3 with current vehicle speed V; Based onThe current rotational speed N of motor and the 3rd torque coefficient s3 obtain revising torque T q_corr;
Based on conventional regeneration braking output torque, Tq_regen obtains with revising torque T q_corrTo described overspeed protection torque T q_regens, wherein overspeed protection torque T q_regens=Tq_regen+Tq_corr。
Wherein, conventional regeneration braking output torque Tq_regen can reduce motor speed and speedsTrend, on this basis, based on the second speed discrepancy Ndiff2Obtain and revise with current vehicle speed VTorque T q_corr, thus conventional regeneration braking output torque Tq_regen is revised, withReach the object of limiting motor rise of rotational speed.
Please return to Fig. 2, continue the treatment progress that accelerator pedal shown in step s31 is not operatedDescribe.
In step s312, control motor according to the Tq_regens obtaining in step s311 and subtractSpeed.
In step s313, detect the current rotational speed N of motor after slowing down, and after judgement decelerationThe current rotational speed N of motor whether be less than recover drive rotational speed N2If current rotational speed N is less thanRecover to drive rotational speed N2, enter conventional drive pattern; If it is extensive that current rotational speed N is not less thanDrive again rotational speed N2, return to step s311, regain overspeed protection torque T q_regens,Continue to slow down to control motor.
Corresponding to step s31, step s32 comprises the treatment progress that accelerator pedal is operated, itsSpecifically comprise step s321, step s322, step s323 and step s324.
Step s321 is 0 by driving torque unloading. If the current rotational speed N of motor exceedsDefault protection rotational speed N1, but accelerator pedal is still operated, and now, rapidly driving turned roundSquare unloading is 0, to be forced to vehicle deceleration.
Step s322, based on the current rotational speed N of motor and current vehicle speed V, obtains overspeed protectionMoment of torsion. Refer to Fig. 4 below so that the acquisition methods of overspeed protection torque T q_regens is carried outDescribe in detail. Fig. 4 be in Fig. 2 in electric automobile overspeed protection control method at accelerator pedal quiltThe flow chart of the overspeed protection moment of torsion acquisition methods while stepping on, as shown in Figure 4, at accelerator pedalWhile being operated, obtaining of overspeed protection torque T q_regens comprises the following steps:
Calculate the current rotational speed N of motor and protection rotational speed N1Between the first speed discrepancy Ndiff1, electricityThe current rotational speed N of machine drives rotational speed N with recovery2Between the second speed discrepancy Ndiff2, whereinNdiff1＝N-N1，Ndiff2＝N-N2；
According to Ndiff1And Ndiff2Obtain the 6th torque coefficient s6;
Obtain the 7th torque coefficient s7 according to current vehicle speed V;
Obtain based on the current rotational speed N of motor, the 6th torque coefficient s6 and the 7th torque coefficient s7Overspeed protection torque T q_regens.
Please return to Fig. 2, the treatment progress that continues accelerator pedal shown in step s32 to be operated entersRow explanation.
In step s323, control motor according to the Tq_regens obtaining in step s322 and subtractSpeed.
In step s324, judge the whether still state in being operated of accelerator pedal, if sentenceDisconnected place accelerator pedal unclamps, and enters the step in the treatment progress that accelerator pedal is not operatedRapid s313, detects the current rotational speed N of motor after slowing down, and judges that the motor after slowing down is currentWhether rotational speed N is less than is recovered to drive rotational speed N2If, N < N2, enter conventional drive pattern;If N is >=N2, return to the treatment progress step s31 that accelerator pedal is not operated.
If judgement place accelerator pedal is the state in being operated still, detect the electricity after slowing downThe current rotational speed N of machine, and further judge whether the current rotational speed N of motor after slowing down is less than guarantorProtect rotational speed N1, if so, the current rotational speed N of motor after slowing down is carried out to PID control to incite somebody to actionThe current rotational speed N of motor maintains protection rotational speed N1Near, until accelerator pedal is released; IfNo, return to step s322, again obtain overspeed protection torque T q_regens.
Alternately, the step s311 in the present embodiment can adopt another kind of method to obtainOverspeed protection moment of torsion. Particularly, refer to Fig. 3 b, Fig. 3 b is electric automobile hypervelocity in Fig. 2Overspeed protection moment of torsion the second in protection control method in the time that accelerator pedal is not operated obtainsThe flow chart of method.
As shown in Figure 3 b, in step s311 ', based on the current rotational speed N of motor and currentVehicle velocity V, obtains overspeed protection torque T q_regens. Concrete computational process is as follows:
Calculate the current rotational speed N of motor and protection rotational speed N1Between the first speed discrepancy Ndiff1, electricityThe current rotational speed N of machine drives rotational speed N with recovery2Between the second speed discrepancy Ndiff2, whereinNdiff1＝N-N1，Ndiff2＝N-N2；
According to Ndiff1And Ndiff2Obtain the 4th torque coefficient s4;
Obtain the 5th torque coefficient s5 according to current vehicle speed V;
Obtain based on the current rotational speed N of motor, the 4th torque coefficient s4 and the 5th torque coefficient s5Overspeed protection torque T q_regens.
Alternatively, in the present embodiment step s2, when judging that the current rotational speed N of motor is greater than in advanceIf protection rotational speed N1Time, can be 1 by the set of hypervelocity flag bit. Answer in contrast,In step s313, the current rotational speed N of motor after slowing down is less than recovers to drive rotational speed N2Time,First hypervelocity flag bit is reset to 0, then turns back to conventional drive pattern. By hypervelocity mark is setWill position, ensures to only have to reach protection rotational speed N when the current rotational speed N of motor1Rear is just that vehicle increasesThe resistance initiatively slowing down, reduces system probability of failure, thereby the stability that improves system is with reliableProperty.
Hold intelligible, above-mentioned the first torque coefficient s1, the second torque coefficient s2, the 3rdTorque coefficient s3, the 4th torque coefficient s4, the 5th torque coefficient s5, the 6th torque coefficient s6And the 7th torque coefficient s7 can by arbitrarily with independent variable separately between corresponding letterNumber relation obtains, and as default form or formula etc., is not specifically limited at this.
In the present embodiment, when the current rotational speed N of motor is greater than default protection rotational speed N1Time,Also comprise the step giving a warning to driver, to remind the current rotating speed of driver's motor too fast,Vehicle will enter the process of autonomous deceleration, until vehicle recovers conventional drive pattern, avoids with thisThe psychology fear that driver causes because of vehicle automatic retarding, the comfortableness of raising vehicle drive.
The electric automobile overspeed protection control method that the present embodiment provides, at the current rotating speed of motorN is greater than default protection rotational speed N1Time, in conjunction with the state of accelerator pedal, to know driverDriving intention, enter that operational mode that accelerator pedal is not operated or accelerator pedal be operatedOperational mode, is initiatively provided as the reactive torque Tq_regens that vehicle slows down, by motorRotational speed N is down to and is recovered to drive rotational speed N2Control motor speed N is maintained below or by PIDIn higher protection rotational speed N1Near, thereby avoid vehicle to cause drive system because of hypervelocityDamage or frequently disconnect drive system, the accident even leading to because of hypervelocity, had both ensured vehicleDriving safety, has ensured again the continuity of driving.
As another technical scheme, the present invention also provides a kind of electric automobile overspeed protection controlSystem processed. The frame of the electric automobile overspeed protection control system that Fig. 5 provides for the embodiment of the present inventionFigure, as shown in Figure 5, electric automobile overspeed protection control system comprises monitoring means 1, controlsUnit 2 and performance element 3.
Monitoring means 1 is for monitoring the current rotational speed N of motor and current vehicle speed V, and by motorCurrent rotational speed N and current vehicle speed V are sent to control module 2. In actual applications, motorCurrent rotational speed N can adopt electric machine controller MCU (MotorControlUnit) or rotating speedSensor carries out Real-time Obtaining, and current vehicle speed V can adopt entire car controller VMS (VehicleManagementSystem) calculate in real time.
Control module 2 comprises judge module 21 and control and processing module 22, wherein: judgementModule 21 is for judging whether the current rotational speed N of motor is greater than default protection rotational speed N1, and willJudged result is sent to be controlled and processing module 22; Control and processing module 22 are for working as motorCurrent rotational speed N is greater than protection rotational speed N1Time, based on the current rotational speed N of motor and current vehicle speed VAnd determine overspeed protection torque T q_regens, and will include overspeed protection torque T q_regensExecutive signal be sent to performance element 3. In actual applications, by entire car controller VMSRealize the current rotational speed N of motor and protection rotational speed N1Between size judgement and control and locateThe function of reason module 22.
Performance element 3 is for according to executive signal control decelerating through motor. In actual applications,Performance element 3 can adopt electric machine controller MCU to realize.
In the present embodiment, judge module 21 is also for judging whether accelerator pedal is operated, andJudged result is sent to described control and processing module 22; When the current rotational speed N of motor is greater thanProtection rotational speed N1Time, control and processing module 22 enter and accelerate to step on according to the state of accelerator pedalThe operational mode that the operational mode that plate is operated or accelerator pedal are not operated. In practical applicationIn, can adopt the sensor being arranged on accelerator pedal to carry out the detection of accelerator pedal state,And control and enter operational mode or the acceleration that accelerator pedal is operated and step on by entire car controller VMSThe operational mode that plate is not operated.
In the operational mode that accelerator pedal is not operated, control module 2 is carried out following operation:Control in control module 2 and processing module 22 are based on the current rotational speed N of motor and current vehicle speedV obtains overspeed protection torque T q_regens, and will include overspeed protection torque T q_regensExecutive signal be sent to performance element 3 with control decelerating through motor; Judgement in control module 2Module 21 is also for judging whether the current rotational speed N of motor after deceleration is less than recovery driving rotating speedN2, and judged result is sent to and is controlled and processing module 22; If the motor after slowing down is currentRotational speed N is less than recovers to drive rotational speed N2, control and processing module 22 is sent conventional driving and referred toOrder, makes vehicle enter conventional drive pattern; If slow down after the current rotational speed N of motor be greater than orEqual to recover to drive rotational speed N2, control and processing module 22 motor based on after slowing down is currentRotational speed N recalculates overspeed protection torque T q_regens, and sends it to performance element 3Continue to slow down to control motor.
Be similar to previously described electric automobile overspeed protection control method, in the invention processIn the electric automobile overspeed protection control system that example provides, when what be not operated in accelerator pedalWhen operational mode, control and processing module 22 obtain the side of overspeed protection torque T q_regensMethod can be also one of following two kinds of methods.
Method one, controls and processing module 22 turns based on the current rotational speed N of motor and recovery drivingSpeed N2Obtain the second speed discrepancy Ndiff2; Obtain the first torque coefficient according to the current rotational speed N of motorS1; Obtain the second torque coefficient s2 according to current vehicle speed V; Based on the current rotational speed N of motor,S1 and s2 obtain conventional regeneration braking output torque Tq_regen; According to the second speed discrepancy Ndiff2Obtain the 3rd torque coefficient s3 with current vehicle speed V; Turn round based on the current rotational speed N of motor and the 3rdMoment coefficient s3 obtains revising torque T q_corr; Based on conventional regeneration braking output torqueTq_regen obtains described overspeed protection torque T q_regens with revising torque T q_corr,Wherein overspeed protection torque T q_regens=Tq_regen+Tq_corr.
Method two, controls and processing module 22 is calculated the current rotational speed N of motor and protection rotational speed N1Between the first speed discrepancy Ndiff1, the current rotational speed N of motor with recover drive rotational speed N2BetweenThe second speed discrepancy Ndiff2; According to Ndiff1And Ndiff2Obtain the 4th torque coefficient s4, according to currentVehicle velocity V obtains the second torque coefficient s2; Based on the current rotational speed N of motor, the 4th torque coefficientS4 and the 5th torque coefficient s5 obtain overspeed protection torque T q_regens.
In the operational mode that accelerator pedal is operated, control module 2 is first indicated performance element 4Be 0 by driving torque unloading, then carry out following operation: control and processing module 22 based onThe current rotational speed N of motor and current vehicle speed V obtain overspeed protection moment of torsion; Control and processing moduleThe executive signal that includes described overspeed protection torque T q_regens is sent to fill order by 22Unit 3 is to control decelerating through motor; Judge module 21 judges that whether accelerator pedal is still in being operatedState, if not, further judge whether the current rotational speed N of motor after deceleration is less than extensiveDrive again rotational speed N2, if so, enter conventional drive pattern; If not, with accelerator pedalThe operational mode control decelerating through motor not being operated; If so, judge that the motor after slowing down is currentWhether rotational speed N is less than protection rotational speed N1, if so, the current rotational speed N of motor is carried out to PIDControl to be maintained protection rotational speed N1Near, until accelerator pedal is not in being operatedState; If not, make control and processing module 22 recalculate overspeed protection moment of torsionTq_regens, and send it to performance element 3 to control motor continuation deceleration.
Wherein, the electric automobile overspeed protection control method providing corresponding to the embodiment of the present invention,In the operational mode being operated at accelerator pedal, control and processing module 22 obtain overspeed protectionThe concrete grammar of torque T q_regens is:
Control and processing module 22 are calculated the current rotational speed N of motor and protection rotational speed N1BetweenOne speed discrepancy Ndiff1, the current rotational speed N of motor with recover drive rotational speed N2Between the second rotating speedPoor Ndiff2; According to Ndiff1And Ndiff2Obtain the 6th torque coefficient s6, according to current vehicle speed, V obtainsTo the 7th torque coefficient s7; Based on the current rotational speed N of motor, the 6th torque coefficient s6 and the 7thTorque coefficient s7 obtains overspeed protection torque T q_regens.
Hold intelligible, monitoring means 1, control module 2, performance element 3 and controlIn unit 2, between judge module 21 and control and processing module 22, pass through car load CAN(ControllerAreaNetwork) network carries out exchanges data.
It should be noted that, in actual applications, the electric automobile that the embodiment of the present invention providesOverspeed protection control system also comprises battery management system BMS (BatteryManagementSystem), for feeding back battery to control and processing module 22 (entire car controller VMS)Status information. In addition, in the time that vehicle enters regenerative braking state, the storage of management car load power sourceThe energy that regenerative braking reclaims, to put forward high-octane utilization rate, thus cost-saving.
In the present embodiment, be greater than default when judge module 21 judges the current rotational speed N of motorProtection rotational speed N1Time, control and processing module 22 can be 1 by hypervelocity mark position. With itCorresponding, the current rotational speed N of motor after judge module 22 judgements are slowed down is less than to be recovered to driveMoving rotational speed N2Time, controller processing module 22 is first reset to 0 by hypervelocity flag bit, then returnsTo conventional drive pattern. By hypervelocity flag bit is set, ensure to only have when the current rotational speed N of motorReach protection rotational speed N1Rear is just that vehicle increases the resistance initiatively slowing down, and the error of minimizing system is generalRate, thereby stability and the reliability of raising system.
It should be noted that above-mentioned the first torque coefficient s1, the second torque coefficient s2, the 3rdTorque coefficient s3, the 4th torque coefficient s4, the 5th torque coefficient s5, the 6th torque coefficient s6And the 7th torque coefficient s7 can by control and processing module 22 in set up with separatelyRespective function relation between independent variable obtains, as default formula or the corresponding form of opening relationshipsEtc., be not specifically limited at this. In actual applications, above-mentioned respective function relation can be establishedPut in entire car controller VMS.
Hold intelligiblely, be greater than default when judge module 21 judges the current rotational speed N of motorProtection rotational speed N1Time, control and processing module 22 also indicate performance element 3 to blow a whistle, to glimmerWarning light or other any-modes give a warning to driver, to remind driver that motor is worked as forwardSpeed is too fast, and vehicle will enter the process of autonomous deceleration, until vehicle recovers conventional drive pattern,The psychology fear of avoiding driver to cause because of vehicle automatic retarding, improves the comfortable of vehicle driveProperty.
As another technical scheme, the present invention also provides a kind of electric automobile, and it comprisesAny one electric automobile overspeed protection control system that the above embodiment of the present invention provides, or adoptAny one electric automobile overspeed protection control method providing by the above embodiment of the present invention.
Also it should be noted that: above embodiment is only in order to technical scheme of the present invention to be described,Be not intended to limit; Although the present invention is had been described in detail with reference to previous embodiment, thisThe those of ordinary skill in field is to be understood that: it still can be recorded aforementioned each embodimentTechnical scheme is modified, or part technical characterictic is wherein equal to replacement; And theseAmendment or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technologyThe spirit and scope of scheme.
Claims (7)
1. an electric automobile overspeed protection control method, is characterized in that, comprises the following steps:
1) the monitoring current rotational speed N of motor and current vehicle speed V;
2) judge whether the current rotational speed N of motor is greater than default protection rotational speed N1, if not,Return to step 1); If so, forward step 3 to);
3) judge the whether state in being operated of accelerator pedal, if not, enter and accelerate to step onThe treatment progress that plate is not operated; If so, enter the treatment progress that accelerator pedal is operated;Wherein, the treatment progress not being operated at described accelerator pedal and described accelerator pedal are operatedIn treatment progress, obtain overspeed protection moment of torsion according to the current rotational speed N of motor and current vehicle speed VTq_regens, and control decelerating through motor based on overspeed protection torque T q_regens;
Wherein, in the treatment progress being operated at accelerator pedal, be first 0 by driving torque unloading,Then carry out following step:
331), based on the current rotational speed N of motor and current vehicle speed V, obtain overspeed protection moment of torsionTq_regens, that is:
Calculate the current rotational speed N of motor and protection rotational speed N1Between the first speed discrepancyNdiff1, the current rotational speed N of motor with recover drive rotational speed N2Between the second speed discrepancyNdiff2；
According to Ndiff1And Ndiff2Obtain the 6th torque coefficient s6;
Obtain the 7th torque coefficient s7 according to current vehicle speed V;
Based on the current rotational speed N of motor, the 6th torque coefficient s6 and the 7th torque coefficient s7Obtain overspeed protection torque T q_regens;
332) control decelerating through motor according to overspeed protection torque T q_regens;
333) judge the whether still state in being operated of accelerator pedal, if not, detect and subtractThe current rotational speed N of motor after speed, and judge whether the current rotational speed N of motor after slowing down is less thanRecover to drive rotational speed N2, if so, enter conventional drive pattern; If not, enter accelerationThe treatment progress that pedal is not operated;
If so, detect the current rotational speed N of motor after slowing down, and judge the motor after slowing downWhether current rotational speed N is less than protection rotational speed N1, if so, the motor after slowing down is worked as to forwardSpeed N carries out PID control so that current motor rotational speed N is maintained to protection rotational speed N1Near, straightTo the state of accelerator pedal in not being operated; If not, return to step 331).
2. electric automobile overspeed protection control method according to claim 1, its feature existsIn, the treatment progress that described accelerator pedal is not operated comprises:
311), based on the current rotational speed N of motor and current vehicle speed V, obtain overspeed protection moment of torsionTq_regens, that is:
Drive rotational speed N based on the current rotational speed N of motor and recovery2, obtain the second speed discrepancyNdiff2; Obtain the first torque coefficient s1 according to the current rotational speed N of motor; According to working as front truckSpeed V obtains the second torque coefficient s2;
Obtain conventional regeneration braking output torque based on the current rotational speed N of motor, s1 and s2Tq_regen；
According to the second speed discrepancy Ndiff2Obtain the 3rd torque coefficient s3 with current vehicle speed V;
Obtain revising moment of torsion based on the current rotational speed N of motor and the 3rd torque coefficient s3Tq_corr；
Based on conventional regeneration braking output torque Tq_regen and correction torque T q_corrAnd obtain described overspeed protection torque T q_regens, wherein said overspeed protection moment of torsionTq_regens＝Tq_regen+Tq_corr；
312) control decelerating through motor according to overspeed protection torque T q_regens;
313) detect the current rotational speed N of motor after slowing down, and judge that the motor after slowing down is currentWhether rotational speed N is less than is recovered to drive rotational speed N2, if so, enter conventional drive pattern; IfNo, return to step 311).
3. electric automobile overspeed protection control method according to claim 1, its feature existsIn, the treatment progress that described accelerator pedal is not operated comprises:
321), based on the current rotational speed N of motor and current vehicle speed V, obtain overspeed protection moment of torsionTq_regens, that is:
Calculate the current rotational speed N of motor and protection rotational speed N1Between the first speed discrepancyNdiff1, the current rotational speed N of motor with recover drive rotational speed N2Between the second speed discrepancyNdiff2；
According to Ndiff1And Ndiff2Obtain the 4th torque coefficient s4;
Obtain the 5th torque coefficient s5 according to current vehicle speed V;
Based on the current rotational speed N of motor, the 4th torque coefficient s4 and the 5th torque coefficient s5Obtain overspeed protection torque T q_regens;
322) control decelerating through motor according to overspeed protection torque T q_regens;
323) detect the current rotational speed N of motor after slowing down, and judge that the motor after slowing down is currentWhether rotational speed N is less than is recovered to drive rotational speed N2, if so, enter conventional drive pattern; IfNo, return to step 321).
4. an electric automobile overspeed protection control system, it is characterized in that comprising monitoring means,Control module and performance element, wherein:
Described monitoring means is used for monitoring the current rotational speed N of motor and current vehicle speed V, and by electricityThe current rotational speed N of machine and current vehicle speed V are sent to described control module;
Described control module comprises judge module and control and processing module, wherein:
Described judge module is for judging whether the current rotational speed N of motor is greater than default guarantorProtect rotational speed N1, when the current rotational speed N of motor is greater than protection rotational speed N1Time, judgement is accelerated to step onWhether plate is operated, and judged result is sent to described control and processing module;
Described control and processing module are for being greater than protection rotating speed when the current rotational speed N of motorN1Time, according to the state of accelerator pedal enter operational mode that accelerator pedal is operated orThe operational mode that accelerator pedal is not operated;
Described control and processing module are specifically for, the operation mould being operated at accelerator pedalIn the operational mode that formula and accelerator pedal are not operated, based on the current rotational speed N of motor andCurrent vehicle speed V and determine overspeed protection torque T q_regens, and will include described superThe executive signal of speed protection torque T q_regens is sent to performance element; Wherein, addingIn the operational mode that speed pedal is operated, first indicate performance element that driving torque is unloadedBe 0, then carry out following operation:
Described control and processing module obtain super based on the current rotational speed N of motor and current vehicle speed VSpeed protection torque T q_regens, that is:
Calculate the current rotational speed N of motor and protection rotational speed N1Between the first speed discrepancyNdiff1, the current rotational speed N of motor with recover drive rotational speed N2Between the second speed discrepancyNdiff2；
According to Ndiff1And Ndiff2Obtain the 6th torque coefficient s6, according to current vehicle speed, V obtainsTo the 7th torque coefficient s7;
Based on the current rotational speed N of motor, the 6th torque coefficient s6 and the 7th torque coefficient s7Obtain overspeed protection torque T q_regens;
Described control and processing module will include described overspeed protection torque T q_regens'sExecutive signal is sent to performance element to control decelerating through motor;
Whether still described judge module judges the accelerator pedal state in being operated, if not,Further judge whether the current rotational speed N of motor after slowing down is less than recovery driving rotational speed N2，If so, enter conventional drive pattern; If not, the fortune not being operated with described accelerator pedalRow mode control decelerating through motor;
If so, judge whether the current rotational speed N of motor after slowing down is less than protection rotating speedN1, if so, the current rotational speed N of motor is carried out to PID control to be maintained guarantorProtect rotational speed N1Near, until the state of accelerator pedal in not being operated; If not,Make described control and processing module recalculate overspeed protection torque T q_regens, and willIt is sent to performance element and continues to slow down to control motor;
Described performance element is used for according to described executive signal control decelerating through motor.
5. electric automobile overspeed protection control system according to claim 4, its feature existsIn, in the operational mode not being operated at accelerator pedal, described control module is carried out following operation:
Described control and processing module obtain super based on the current rotational speed N of motor and current vehicle speed VSpeed protection torque T q_regens, that is:
Drive rotational speed N based on the current rotational speed N of motor and recovery2Obtain the second speed discrepancyNdiff2; Obtain the first torque coefficient s1 according to the current rotational speed N of motor; According to working as front truckSpeed V obtains the second torque coefficient s2;
Obtain conventional regeneration braking output torque based on the current rotational speed N of motor, s1 and s2Tq_regen；
According to the second speed discrepancy Ndiff2Obtain the 3rd torque coefficient s3 with current vehicle speed V;
Obtain revising moment of torsion based on the current rotational speed N of motor and the 3rd torque coefficient s3Tq_corr；
Based on conventional regeneration braking output torque Tq_regen and correction torque T q_corrAnd obtain described overspeed protection torque T q_regens, wherein said overspeed protection moment of torsionTq_regens＝Tq_regen+Tq_corr；
Described control and processing module will include described overspeed protection torque T q_regens'sExecutive signal is sent to performance element to control decelerating through motor;
Described judge module is also for judging whether the current rotational speed N of motor after deceleration is less than extensiveDrive again rotational speed N2, and judged result is sent to described control and processing module;
If being less than, the current rotational speed N of motor after slowing down recovers to drive rotational speed N2, described controlAnd processing module sends the conventional instruction that drives, make vehicle enter conventional drive pattern; If after slowing downThe current rotational speed N of motor be more than or equal to recover drive rotational speed N2, described control and processingThe motor current rotational speed N of module based on after slowing down recalculates overspeed protection moment of torsionTq_regens, and send it to performance element to control motor continuation deceleration.
6. electric automobile overspeed protection control system according to claim 4, its feature existsIn, in the operational mode not being operated at accelerator pedal, described control module is carried out following operation:
Described control and processing module obtain super based on the current rotational speed N of motor and current vehicle speed VSpeed protection moment of torsion, that is:
Calculate the current rotational speed N of motor and protection rotational speed N1Between the first speed discrepancyNdiff1, the current rotational speed N of motor with recover drive rotational speed N2Between the second speed discrepancyNdiff2；
According to Ndiff1And Ndiff2Obtain the 4th torque coefficient s4, according to current vehicle speed, V obtainsTo the second torque coefficient s2;
Based on the current rotational speed N of motor, the 4th torque coefficient s4 and the 5th torque coefficient s5Obtain overspeed protection torque T q_regens;
Described control and processing module will include described overspeed protection torque T q_regens'sExecutive signal is sent to performance element to control decelerating through motor;
Described judge module is also for judging whether the current rotational speed N of motor after deceleration is less than extensiveDrive again rotational speed N2, and judged result is sent to described control and processing module;
If being less than, the current rotational speed N of motor after slowing down recovers to drive rotational speed N2, described controlAnd processing module sends the conventional instruction that drives, make vehicle enter conventional driving condition; If after slowing downThe current rotational speed N of motor be more than or equal to recover drive rotational speed N2, described control and processingThe motor current rotational speed N of module based on after slowing down recalculates overspeed protection moment of torsionTq_regens, and send it to performance element to control motor continuation deceleration.
7. an electric automobile, is characterized in that, comprises described in claim 4-6 any oneElectric automobile overspeed protection control system.
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| CN108725260B (en) * | 2018-07-24 | 2020-06-19 | 北京车和家信息技术有限公司 | Overspeed protection method and device |
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