CN103522915B - The torque control method that a kind of pure electric automobile slips after preventing hill start - Google Patents

The torque control method that a kind of pure electric automobile slips after preventing hill start Download PDF

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Publication number
CN103522915B
CN103522915B CN201310532701.5A CN201310532701A CN103522915B CN 103522915 B CN103522915 B CN 103522915B CN 201310532701 A CN201310532701 A CN 201310532701A CN 103522915 B CN103522915 B CN 103522915B
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speed
vehicle
motor vehicle
motor
parameter
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CN201310532701.5A
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Chinese (zh)
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CN103522915A (en
Inventor
冯超
刘宇
王艳静
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重庆长安汽车股份有限公司
重庆长安新能源汽车有限公司
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    • Y02T10/7275

Abstract

The torque control method that pure electric automobile slips after preventing hill start, first it is the process of the low speed crawling simulating orthodox car, and control objectives is that the speed of a motor vehicle on ramp or level road equals 8km/h; Closed loop PI is utilized to control, by demarcating P, I parameter under different motor speed, when making electronlmobil reach moment of torsion required for driving in the 0.3s of loosen the brake, and reaching rapidly the desirable driving speed of a motor vehicle, avoiding process of slipping after after chaufeur take-off the brake.

Description

The torque control method that a kind of pure electric automobile slips after preventing hill start

Technical field

The invention belongs to new-energy automobile electric control system controls field, relate to the torque control method to new-energy automobile.

Background technology

Enter 21 century global climate to warm gradually, oil price rises and the exhaustion of oil resources, and energy-saving low-carbon trip becomes the common recognition of people gradually, and new-energy automobile is the effective measures alleviated Pressure on Energy and reduce environmental pollution.Along with popularizing of new-energy automobile, except the effect of riding instead of walk of automobile, more pursue the comfort property of automobile.New-energy automobile majority have employed motor and single reduction gear scheme, thus the resistance of driving system is little relative to the resistance of traditional vehicle driving engine and multi-stage speed reducer; The closed-center system of electronlmobil is power brick, cause the car weight of battery-driven car comparatively orthodox car improve a lot.Due to vehicle heavier while resistance less, thus comparatively orthodox car is more obvious when hill start slips by slope (cycling start of Ji Po road occurs slipping by slope) to cause vehicle.

Conventional gasoline machine automobile is in order to address this problem, generally employ the problem that the brake system with upward slope additional function (HAC) slips by slope to eliminate hill start, but this brake system not only changes the brake system of orthodox car, also add higher cost to car load simultaneously.

Application publication number be CN101817313A patent document discloses one " ramp safe starting control system of electric vehicle ", its Problems existing is: 1, due to surface conditions, car load situation difference, control system cannot calculate various ramps grade information accurately by vehicle speed signal; 2, only have after slipping after car, can correlated judgment be carried out.

Summary of the invention

The present invention is the torque control method slipped after a kind of pure electric automobile prevents, and object is when not changing brake system structure, by a kind of more advanced mode, solves the problem that hill start slips by slope.

Technical solution of the present invention comprises following content:

The speed of a motor vehicle that entire car controller (VCU) first provides according to Das Gaspedal aperture, brake pedal information, gear information, motor speed, ABS and complete vehicle fault state, whether the state judging residing for car load should enter and prevent from slipping by slope master mode, and enable torque arithmetic module.Judge that entering the condition that this pattern need possess comprises: motor speed, from not enable during slow speed of revolution rising 1400rpm, declines from high rotating speed, lower than enable during 1200rpm; Brake pedal is not stepped on; Shift signal is D gear or R gear; Car load is not had to forbid the fault that moment of torsion exports; There is no cell safety fault.

When whole vehicle state allow to enter prevent from slipping by slope master mode time, entire car controller (VCU) starts to calculate target vehicle speed, starting the moment target vehicle speed V_Target be 0-8km/h, increase in certain slope (as 2s), be stable objects value to 8km/h, to ensure the steady of the speed of a motor vehicle of starting to walk.The actual vehicle speed V_Act of ABS feedback sends to entire car controller (VCU); Entire car controller calculates the difference (Delta_V) of target vehicle speed and actual vehicle speed, thus the closed loop PI carrying out moment of torsion controls.

The torque Tq=P*Delta_V+I*Delta_V of the actual output of vehicle control unit controls electric system; Wherein P, I item is reconcilable parameter, needs to carry out demarcation design under different operating modes, corrects according to the speed of a motor vehicle, under D blend stop part, when the speed of a motor vehicle is less or be negative value time, P item parameter is larger; When the speed of a motor vehicle is close to during with target vehicle speed, P, I item parameter is less.Reverse gear principle is consistent.

First this programme is the process of the low speed crawling simulating orthodox car, namely at chaufeur take-off the brake, can move ahead slowly under the condition of not step on the accelerator.So the control objectives of this programme is that the speed of a motor vehicle on ramp or level road equals 8km/h, but not the target vehicle speed in above-mentioned patent is the control program of 0.

For conventional gasoline machine, due to electric system utilize be electric energy conversion for energy and controlling torque export, and conventional engines utilizes is that throttle opening and oil spout igniting adjustment moment of torsion export, conventional gasoline machine is had when hill start and longer slips by slope process.The method has played the advantage that pure electric vehicle electric system is different from regular price gasoline driving engine, and Motor torque speed of response will much larger than the response characteristic of driving engine.Thus the torque rate of rise that motor exports maximumly can arrive 800Nm/s, therefore PI is utilized to control, can make electronlmobil in the 0.3s of loosen the brake, reach moment of torsion required for driving, and reach rapidly the desirable driving speed of a motor vehicle, avoid process of slipping after after chaufeur take-off the brake.

This programme is for the operating mode of uphill starting, for the different speed of a motor vehicle and motor speed, carry out adaptive design, by demarcating P, I parameter under different motor speed, when the speed of a motor vehicle is less or be negative value time, P, I parameter is comparatively large, can be climbed to target vehicle speed required torque to make moment of torsion.After the speed of a motor vehicle is close to target vehicle speed, P, I parameter is less, to make moment of torsion comparatively steady, finally reaches the operating mode of the speed of a motor vehicle smooth operation of target.

By the technical program, under the operating mode of ramp, the problem that slips by slope of hill start can be solved by actv..Through actual verification, the ramp of 30% utilizes this programme ramp can be avoided to slip by slope problem, thus make at battery-driven car under the prerequisite not increasing cost, meet European relevant criterion, improve safety and the traveling comfort of product.

Accompanying drawing explanation

Fig. 1 electronlmobil prevents hill start from slipping by slope control system figure

Fig. 2 prevents hill start from slipping by slope control principle drawing

The enable condition judgment diagram of circuit of Fig. 3

Detailed description of the invention:

Specific embodiment of the invention process is described in detail below in conjunction with accompanying drawing 1, Fig. 2 and Fig. 3:

See Fig. 1, as can be seen from slipping control system figure after electronlmobil prevents hill start, entire car controller obtains corresponding signal from abs controller, Das Gaspedal, brake pedal, shift handle respectively by various sensing, then finally send motor torque command to electric machine controller by following judgement method of calculating, control motor and run.

See Fig. 1 and Fig. 3, concrete rate-determining steps is as follows:

1, the speed of a motor vehicle that first provides according to Das Gaspedal aperture, brake pedal information, gear information, motor speed, ABS of entire car controller (VCU) and complete vehicle fault state, whether the state judging residing for car load should enter and prevent from slipping by slope master mode, and enable torque arithmetic module; Namely after entire car controller (VCU) receives signal, according to the various sensor signals of car load, judge that the condition entering this pattern comprises:

A, motor speed, from not enable during slow speed of revolution rising 1400rpm, decline from high rotating speed, lower than enable during 1200rpm;

B, brake pedal are not stepped on;

C, shift signal are D gear or R gear;

D, car load is not had to forbid the fault that moment of torsion exports;

E, there is no cell safety fault.

2, when whole vehicle state allow to enter prevent from slipping by slope master mode time, entire car controller (VCU) starts to calculate target vehicle speed, starting the moment target vehicle speed V_Target be 0-8km/h, increase in certain slope (as 2s), be stable objects value to 8km/h, to ensure the steady of the speed of a motor vehicle of starting to walk.

3, the actual vehicle speed V_Act of ABS feedback sends to entire car controller (VCU).

4, entire car controller calculates the difference (Delta_V) of target vehicle speed and actual vehicle speed, thus the closed loop PI carrying out moment of torsion controls.

5, the actual torque Tq=P*Delta_V+I*Delta_V exported.

Wherein, P item is reconcilable parameter, corrects according to the speed of a motor vehicle, under D blend stop part, when the speed of a motor vehicle is less or be negative value time, P item parameter is larger; When the speed of a motor vehicle is close to during with 8km/h, P item parameter is less.

I item is reconcilable parameter, corrects according to the speed of a motor vehicle, under D blend stop part, when the speed of a motor vehicle is less or be negative value time, I item parameter is larger; When the speed of a motor vehicle is close to during with 8km/h, I item parameter is less.

Claims (2)

1. the torque control method that slips after preventing hill start of pure electric automobile, it comprises the following steps:
(1) speed of a motor vehicle that first provides according to Das Gaspedal aperture, brake pedal information, gear information, motor speed, ABS of entire car controller (VCU) and complete vehicle fault state, whether the state judging residing for car load should enter and prevent from slipping by slope master mode, and enable torque arithmetic module;
Judge to enter to prevent slipping by slope master mode need possess following condition simultaneously:
Not enable when motor speed rises to rotating speed A from slow speed of revolution, decline from high rotating speed, lower than enable during rotating speed B;
Brake pedal is not stepped on;
Shift signal is D gear or R gear;
Car load is not had to forbid the fault that moment of torsion exports;
There is no cell safety fault;
(2) when whole vehicle state allow to enter prevent from slipping by slope master mode time, entire car controller (VCU) starts to calculate target vehicle speed, starting the moment target vehicle speed V_Target be 0-8km/h, increasing in slope, is stable objects value to 8km/h;
(3) feed back actual vehicle speed V_Act by ABS and send to entire car controller (VCU);
(4) entire car controller calculates the difference Delta_V of target vehicle speed and actual vehicle speed, thus the closed loop PI carrying out moment of torsion controls;
(5) actual Driving Torque Tq=P*Delta_V+I*Delta_V; P, I parameter obtains by demarcating under different motor speed;
Described P item is reconcilable parameter, corrects according to the speed of a motor vehicle, under D blend stop part, when the speed of a motor vehicle is less or be negative value time, P item parameter is comparatively large, and when the speed of a motor vehicle is close to during with 8km/h, P item parameter is less; I item is reconcilable parameter, corrects according to the speed of a motor vehicle, under D blend stop part, when the speed of a motor vehicle is less or be negative value time, I item parameter is comparatively large, and when the speed of a motor vehicle is close to during with 8km/h, I item parameter is less.
2. the torque control method that slips after preventing hill start of pure electric automobile according to claim 1, it is characterized in that: described rotating speed A is 1400rpm, rotating speed B is 1200rpm.
CN201310532701.5A 2013-10-31 2013-10-31 The torque control method that a kind of pure electric automobile slips after preventing hill start CN103522915B (en)

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Application publication date: 20140122

Assignee: Chongqing Changan New Energy Automotive Technology Co., Ltd.

Assignor: Chongqing Changan Automobile Co., Ltd.|Chongqing Chang'an New Energy Automobile Co., Ltd.

Contract record no.: 2018500000018

Denomination of invention: Torque control method for preventing backward slipping of blade electric vehicle on slope

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