CN103895531A - Ramp starting control method for pure electric vehicle - Google Patents
Ramp starting control method for pure electric vehicle Download PDFInfo
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- CN103895531A CN103895531A CN201410156280.5A CN201410156280A CN103895531A CN 103895531 A CN103895531 A CN 103895531A CN 201410156280 A CN201410156280 A CN 201410156280A CN 103895531 A CN103895531 A CN 103895531A
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Abstract
The invention discloses a ramp starting control method for a pure electric vehicle. The ramp starting control method includes the following steps that (1), whether the pure electric vehicle is located on a ramp or not is judged according to a signal of a ramp sensor of the pure electric vehicle, speed of the vehicle is obtained, and whether the vehicle is in a parking state or not is judged according to the speed of the vehicle, the state of a pure electric vehicle electronic hand brake and the state of a pure electric vehicle brake pedal; (2), when the vehicle is in the parking state, whether a driver starts a ramp starting mode or not is judged according to the state changes of the pure electric vehicle electronic hand brake and the brake pedal; (3), when the vehicle is in the ramp starting mode, the pure electric vehicle calculates needed forward torque serving as target torque according to the signal of the pure electric vehicle ramp sensor and vehicle information; when actual torque of the vehicle reaches the target torque, the pure electric vehicle electronic hand brake or the brake pedal loosens a pure electric vehicle brake disc for ramp starting. Integral control over starting is achieved, ramp slipping prevention of a system can be guaranteed at the utmost, and safety of the vehicle is improved.
Description
Technical field
The invention belongs to intelligent transport technology field, be specifically related to a kind of pure electric vehicle uphill starting control method.
Background technology
New-energy automobile refers to the automobile of the unconventional vehicle fuel of employing as power, and wherein motor is one of important motivity device of new-energy automobile, exports, is called pure electric vehicle take battery as the automobile of unique energy source take motor as unique power.This class vehicle, due to the special characteristics of motor, has been cancelled driving engine and change speed gear box, needs new solution and strategy in uphill starting.
For the solution of the uphill starting of battery-driven car, Chinese patent application CN102897058A discloses a kind of pure electric coach slope anti-running control method of stopping starting to walk, by ramp sensor is installed on car, calculate required moment of torsion by ramp sensor, motor is set to target torque.For being parked in the situation on slope with parking brake before, when parking brake unclamps, target setting moment of torsion can be greater than the actual torque of motor output to prevent to slip the moment of torsion on slope, guarantees vehicle forward; For be parked in the situation on slope with brake pedal, carry out the power of balanced system power and motor according to the degree of depth of brake pedal, the power that guarantees entirety output is greater than and prevents from slipping the moment of torsion on slope, guarantees vehicle forward.But the shortcoming of this technology is that the rising of motor actual torque needs the time, reach at motor actual torque slipping before the moment of torsion of slope that the gradient produces, vehicle is unavoidable or exist and slip the risk on slope.In the time that chaufeur carrys out parking with brake pedal, part adopts the strategy of motor force to have the operating mode of motor rotation blockage, easily causes that motor and controller burn out simultaneously.The present invention therefore.
Summary of the invention
The invention provides a kind of pure electric vehicle uphill starting control method, this system has solved in prior art the anti-running control that stops starting to walk of pure electric coach slope and has easily produced and slip slope and motor and controller stall and the problem such as burn.
In order to solve these problems of the prior art, technical scheme provided by the invention is:
A kind of pure electric vehicle uphill starting control method, is characterized in that said method comprising the steps of:
(1) judge that according to the signal of the ramp sensor of pure electric vehicle pure electric vehicle is whether on ramp, and obtain the speed of vehicle, judge that according to the state of the state of the speed of vehicle, pure electric vehicle electronics parking brake, pure electric vehicle brake pedal whether vehicle is in parking state;
(2) when vehicle is during in parking state, judge according to the state variation of pure electric vehicle electronics parking brake, brake pedal whether driver starts uphill starting pattern;
(3), in the time of vehicle launch uphill starting pattern, pure electric vehicle calculates according to the signal of pure electric vehicle ramp sensor, information of vehicles the moment of torsion that advances needing, as target torque; In the time that the actual torque of vehicle reaches target torque, pure electric vehicle electronics parking brake or brake pedal unclamp pure electric vehicle brake disc and carry out uphill starting.
In preferred technical scheme: in described method step (3), in the time of vehicle launch uphill starting pattern, pure electric vehicle also judges that according to the state of acceleration pedal whether vehicle is in stall state; When vehicle is during in stall state, start limping pattern, and point out chaufeur, quote fault; When vehicle is not during in stall state, judge whether actual torque reaches target torque; In the time that actual torque reaches target torque, pure electric vehicle electronics parking brake or brake pedal unclamp pure electric vehicle brake disc and carry out uphill starting.
In preferred technical scheme: in described method, whether vehicle is whether to be greater than stall moment of torsion by the actual torque of vehicle in stall state, and whether exceed that the schedule time judges; When the actual torque of vehicle is greater than stall moment of torsion, and exceed the schedule time, judge that vehicle is in stall state; Otherwise judge that vehicle is not in stall state.
In preferred technical scheme: in described method, when vehicle is during in stall state, after startup limping pattern, vehicle enters limping state; Vehicle continues to judge the actual torque of vehicle; When vehicle actual torque is less than the moment of torsion of stall, and while exceeding the schedule time, vehicle transfers normal operating condition to.
In preferred technical scheme: described method also comprises the step of the max. output torque of pure electric vehicle being controlled according to the motor temperature of pure electric vehicle.
In preferred technical scheme: preset temperature T1, T2, T3 in described method; The moment of torsion system of not limiting when wherein the motor temperature of pure electric vehicle is less than temperature T 1; The motor temperature of pure electric vehicle in the time of temperature T 1～T2, moment of torsion Linear Limit; When the motor temperature of pure electric vehicle exceedes temperature T 3, to chaufeur prompting, quote fault.
In preferred technical scheme: in described method step (2), vehicle is in parking state, if the gradient that the ramp sensor of pure electric vehicle detects is greater than the maximum gradient that moves ahead, start after uphill starting pattern pure electric vehicle electronics parking brake, brake pedal releasing of brake dish again after waiting for predetermined time.
Another object of the present invention is to provide a kind of pure electric vehicle uphill starting control system, it is characterized in that described system comprises signal input module, entire car controller and electric machine controller, described signal input module receives the ramp signal of ramp sensor, signal, the signal of brake pedal and the signal of electronics parking brake of Das Gaspedal, and incoming signal using signal as entire car controller; Described entire car controller judges the intention of state and the chaufeur of vehicle according to the signal of the signal of the signal of the ramp signal of ramp sensor, Das Gaspedal, brake pedal, electronics parking brake, car speed, motor signal, and carries out the control of gradient starting according to the intention of the state of vehicle and chaufeur; Described electric machine controller carries out moment of torsion closed loop for the moment of torsion output command that receives entire car controller, control motor output torque, and calculate actual torque and the rotating speed of motor according to the current sensor on motor and tachogen, existing condition is fed back to entire car controller.
In preferred technical scheme: electric machine controller described in described system is also for judging motor temperature according to the temperature sensor on motor; Temperature feedback, to entire car controller, and is carried out to electric motor protecting according to the instruction of entire car controller.
Current existing technology cannot guarantee that vehicle can not slip slope, and in the time that chaufeur carrys out parking with brake pedal, part adopts the strategy of motor force to have the operating mode of motor rotation blockage, easily causes that motor and controller burn out simultaneously.For solving above two problems, when proposing to replace traditional parking brake to solve vehicle start with electronics parking brake, the present invention slips hangwind danger, carry out the strategy of parking during with brake pedal completely with braking force at chaufeur simultaneously.
Pure electric vehicle uphill starting control system of the present invention comprises signal input module, entire car controller and electric machine controller.Obtained driver intention and coordinate whole pure electric vehicle uphill starting control system comprising that electric machine controller and performer motor realize the function of ramp safe starting by entire car controller.
Signal input module of the present invention comprises ramp sensor, electronics hand brake system, acceleration pedal, brake pedal, the signal of ramp signal, acceleration pedal signal, brake pedal signal and the electronics parking brake of signal input module mesoslope road sensor, as the incoming signal of entire car controller, judges the intention of the residing state of vehicle and chaufeur.
Entire car controller judges whether that now chaufeur is by realizing parking function with electronics parking brake, if at this moment the output torque of motor is 0, parking is directly to check tire by brake gear (brake disc) to realize.Entire car controller judges whether chaufeur unclamps electronic hand in a flash, if unclamp parking brake, for preventing from slipping not releasing of brake device at once of slope, but calculates the current needed moment of torsion in slope that prevents from slipping according to the gradient, and this torque demand is issued to electric machine controller.Motor controller controls motor sends moment of torsion, and electric machine controller calculates actual torque according to the information revenue such as current sensor and rotating speed when front motor, and feeds back to entire car controller.
Entire car controller judges that real electrical machinery moment of torsion reaches while preventing from slipping the needed moment of torsion in slope, and actual brake device unclamps at once, and vehicle moves ahead, and can not slip car.Entire car controller judges now whether chaufeur has stepped down on acceleration pedal, and the moment of torsion that acceleration pedal depth calculation now of judgement obtains is greater than whether prevent from slipping the moment of torsion on slope, if condition all meets, control the moment of torsion that target torque adopts pedal to obtain, preceding vehicle accelerates in ramp, otherwise vehicle is slowly up.
Owing to having configured electronics parking brake, chaufeur can also adopt direct step on the accelerator, and does not need electronics parking brake to operate the function of starting; Be that entire car controller detects that acceleration pedal is operated, actual torque rises, and in the time that the pedal degree of depth enough makes actual torque reach the moment of torsion that vehicle moves ahead, electronics parking brake unclamps automatically, and vehicle moves ahead.The action that this function can be save chaufeur and unclamps electronics parking brake, has increased the convenience of driving, and has improved the mutual impression of vehicle and people, and the satisfaction of raising chaufeur is had very great help.
In actual driving procedure, need the injury of avoiding a kind of situation to cause electric system, chaufeur steps down on throttle for a long time, the actual output of motor high pulling torque, but this moment of torsion also cannot meet the requirement that vehicle moves ahead, at this moment the actual stall pattern that enters of system, the situation of this low-speed big is easy to cause the excess temperature of motor and electric machine controller, affects the life-span of system.For avoiding this situation, technical solution of the present invention also comprises the diagnosis of motor rotation blockage, in the time that entire car controller judgement enters stall pattern, entire car controller is quoted fault and is entered limping pattern, and this limping pattern guarantees that the output torque of motor can not damage motor and electric machine controller.
Enter after limping pattern, the entire car controller judgement now demand torque of reality is less than the moment of torsion of stall and exceedes a period of time, and entire car controller can be given prominence to limping pattern, and vehicle normally moves.
The protected mode that technical solution of the present invention enters this limping pattern rather than directly enters short circuit or lower electricity, is because this operating mode is the normal driving cycle of chaufeur, likely encounter, rather than entire car controller goes wrong in mountain region or normal driving work.Therefore adopt conservative limping pattern, to distinguish the emergency protection pattern really going wrong.
The temperature conditions of this electric machine controller real-time inspection and control device and motor, if excess temperature also can limit max. output torque, to guarantee the safety of whole system.This temperature limiting is divided into two stages, when temperature is during from T1 to T2, is linear torque limiting, and specifically, when T1 temperature, moment of torsion does not limit, and T2 temperature torque limited is 0, when temperature continues to raise, while exceeding T3, quotes fault.These three temperature can obtain according to the actual type selecting of controller and motor.
Technical solution of the present invention judges that now chaufeur is realized parking function by stepping on brake pedal, brakes needed power and is realized by brake system completely, and motor is not exerted oneself.After brake pedal unclamps, brake weight can not unclamp at once, the needed power but the actual torque of waiting for motor output obtains moving ahead, and releasing of brake power just afterwards, guarantees that vehicle moves ahead.
Technical solution of the present invention can be under the virtual rating of motor and entire car controller the assurance vehicle of maximum possible do not slip slope.If but actual grade is excessive, be subject to the restriction of system, vehicle still can slip slope.Under this condition, system is by judging maximum that whether gradient the is greater than system gradient that moves ahead, if be greater than this gradient, unclamp and formulate after pedal or electronics parking brake at chaufeur, system can wait for after 1 to 2 second, then unclamps actual brake device, and vehicle slowly slips backward.This design can guarantee that vehicle is not to slip afterwards at once, gives the certain reaction of chaufeur and the time of taking measures, and has greatly increased the safety of system.
With respect to scheme of the prior art, advantage of the present invention is:
Technical solution of the present invention combines the megatrend of current automobile electric gasification, is replaced with electronics parking brake, and realizes the entirety control of starting by the signal of electronics parking brake by parking brake, and assurance system that can maximum possible is not slipped slope; Apply the diagnosis of complete stall and excess temperature simultaneously, guarantee the safety of system; Simultaneously releasing of brake or brake pedal do not slip the method on slope has immediately increased the safety of vehicle.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is the structural representation of pure electric vehicle uphill starting control system of the present invention;
Fig. 2 is the control logic figure of pure electric vehicle uphill starting control system of the present invention.
The specific embodiment
Below in conjunction with specific embodiment, such scheme is described further.Should be understood that these embodiment are not limited to limit the scope of the invention for the present invention is described.The implementation condition adopting in embodiment can be done further adjustment according to the condition of concrete producer, and not marked implementation condition is generally the condition in normal experiment.
Embodiment
As shown in Figure 1, this pure electric vehicle uphill starting control system, comprise signal input module, entire car controller and electric machine controller, described signal input module receives the ramp signal of ramp sensor, signal, the signal of brake pedal and the signal of electronics parking brake of Das Gaspedal, and incoming signal using signal as entire car controller; Described entire car controller judges the intention of state and the chaufeur of vehicle according to the signal of the signal of the signal of the ramp signal of ramp sensor, Das Gaspedal, brake pedal, electronics parking brake, car speed, motor signal, and carries out the control of gradient starting according to the intention of the state of vehicle and chaufeur; Described electric machine controller carries out moment of torsion closed loop for the moment of torsion output command that receives entire car controller, control motor output torque, and calculate actual torque and the rotating speed of motor according to the current sensor on motor and tachogen, existing condition is fed back to entire car controller.
Described electric machine controller is also for judging motor temperature according to the temperature sensor on motor; Temperature feedback, to entire car controller, and is carried out to electric motor protecting according to the instruction of entire car controller.
While carrying out the control of pure electric vehicle uphill starting, carry out according to following steps:
(1) judge that according to the signal of the ramp sensor of pure electric vehicle pure electric vehicle is whether on ramp, and obtain the speed of vehicle, judge that according to the state of the state of the speed of vehicle, pure electric vehicle electronics parking brake, pure electric vehicle brake pedal whether vehicle is in parking state;
(2) when vehicle is during in parking state, judge according to the state variation of pure electric vehicle electronics parking brake, brake pedal whether driver starts uphill starting pattern;
(3), in the time of vehicle launch uphill starting pattern, pure electric vehicle calculates according to the signal of pure electric vehicle ramp sensor, information of vehicles the moment of torsion that advances needing, as target torque; In the time that the actual torque of vehicle reaches target torque, pure electric vehicle electronics parking brake or brake pedal unclamp pure electric vehicle brake disc and carry out uphill starting.
In step (3), in the time of vehicle launch uphill starting pattern, pure electric vehicle also judges that according to the state of acceleration pedal whether vehicle is in stall state; When vehicle is during in stall state, start limping pattern, and point out chaufeur, quote fault; When vehicle is not during in stall state, judge whether actual torque reaches target torque; In the time that actual torque reaches target torque, pure electric vehicle electronics parking brake or brake pedal unclamp pure electric vehicle brake disc and carry out uphill starting.
Whether vehicle is whether to be greater than stall moment of torsion by the actual torque of vehicle in stall state, and whether exceedes that the schedule time judges; When the actual torque of vehicle is greater than stall moment of torsion, and exceed the schedule time, judge that vehicle is in stall state; Otherwise judge that vehicle is not in stall state.
When vehicle is during in stall state, start after limping pattern, vehicle enters limping state; Vehicle continues to judge the actual torque of vehicle; When vehicle actual torque is less than the moment of torsion of stall, and while exceeding the schedule time, vehicle transfers normal operating condition to.
Described method also comprises the step of the max. output torque of pure electric vehicle being controlled according to the motor temperature of pure electric vehicle.Preset temperature T1, T2, T3 in described method; The moment of torsion system of not limiting when wherein the motor temperature of pure electric vehicle is less than temperature T 1; The motor temperature of pure electric vehicle in the time of temperature T 1～T2, moment of torsion Linear Limit; When the motor temperature of pure electric vehicle exceedes temperature T 3, to chaufeur prompting, quote fault.
Vehicle is in parking state in step (2), if the gradient that the ramp sensor of pure electric vehicle detects is greater than the maximum gradient that moves ahead, starts after uphill starting pattern pure electric vehicle electronics parking brake, brake pedal releasing of brake dish again after waiting for predetermined time.
Entire car controller judges by the signal of ramp signal, acceleration pedal signal, brake pedal signal and the electronics parking brake of ramp sensor.These four signals, as the incoming signal of entire car controller, judge the intention of the residing state of vehicle and chaufeur.
Specifically, first entire car controller detects the signal of ramp sensor, judges that pure electric vehicle is whether on ramp.Slope Transducer adopts common inclination angle class sensor, and this sensor output electrical signals is to controller, and controller is processed into concrete gradient signal.Then judge that according to the gradient signal vehicle is whether in the gradient.
If be in the gradient, judge that according to vehicle speed whether vehicle is static.If stationary vehicle, simultaneity factor judges electronics parking brake signal, and electronics parking brake sensor adopts high low voltage to judge signal, but parking brake works, output high level, otherwise, output low level.Therefore system when judge that electronics parking brake transmits PIN angle high level time, parking brake works.If parking brake works.Vehicle is in on-grade parking state.
If the PIN angle that electronics parking brake is corresponding becomes low level, enter calculated torque.
Also have a kind of mode, when the PIN of electronics parking brake is still high level, but system discovery accelerating throttle is operated.The signal of accelerating throttle obtains by accelerating throttle sensor, throttle sensor is essentially an electric displacement sensor, obtain different magnitudes of voltage according to the degree of depth of pedal, system obtains the different throttle degree of depth according to different magnitudes of voltage, thereby judges whether vehicle is in acceleration phase and calculates and accelerate moment of torsion.
If electronics parking brake does not work, and now system discovery now vehicle be in the gradient and the speed of a motor vehicle is 0, also having kind may be that battery-driven car brake pedal works, at this moment system judges whether brake pedal is operated.The information exchange of brake pedal is crossed brake pedal sensor and is obtained.This sensor can be low and high level sensor or electric displacement sensor, if brake pedal signal discovery pedal is operated, illustrative system is in on-grade parking state.
System continues judgement, if brake pedal unclamps, illustrates that chaufeur will carry out gradient starting.In the time of vehicle launch uphill starting pattern, pure electric vehicle calculates according to the signal of pure electric vehicle ramp sensor, information of vehicles the moment of torsion that advances needing, as target torque; In the time that the actual torque of vehicle reaches target torque, pure electric vehicle electronics parking brake or brake pedal unclamp pure electric vehicle brake disc and carry out uphill starting.
Wherein entire car controller generally by the control chip of 16 as calculating core, comprise that hardware pin comes in above incoming signal collection, due to more with the interactive signal of electric machine controller, adopt CAN bus mode to realize.Entire car controller completes the master control of gradient starting, comprises the processing of signal, the calculating of target torque, the judgement of vehicle existing condition.
Electric machine controller due to the computation speed of Motor torque require very high, generally by the control chip of 32 as calculating core.Electric machine controller receives the moment of torsion output command of vehicle control unit controls motor, and by existing condition if rotating speed, torque feedback are to entire car controller.Electric machine controller carries out moment of torsion closed loop according to the moment of torsion receiving, and controls motor output torque; And calculate actual torque and the rotating speed of motor according to the current sensor on motor and tachogen.Electric machine controller judges correlation behavior simultaneously, as motor enters stall state, and the protection of being correlated with.
Above-mentioned example is only explanation technical conceive of the present invention and feature, and its object is to allow person skilled in the art can understand content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalent transformations that Spirit Essence does according to the present invention or modification, within all should being encompassed in protection scope of the present invention.
Claims (9)
1. a pure electric vehicle uphill starting control method, is characterized in that said method comprising the steps of:
(1) judge that according to the signal of the ramp sensor of pure electric vehicle pure electric vehicle is whether on ramp, and obtain the speed of vehicle, judge that according to the state of the state of the speed of vehicle, pure electric vehicle electronics parking brake, pure electric vehicle brake pedal whether vehicle is in parking state;
(2) when vehicle is during in parking state, judge according to the state variation of pure electric vehicle electronics parking brake, brake pedal whether driver starts uphill starting pattern;
(3), in the time of vehicle launch uphill starting pattern, pure electric vehicle calculates according to the signal of pure electric vehicle ramp sensor, information of vehicles the moment of torsion that advances needing, as target torque; In the time that the actual torque of vehicle reaches target torque, pure electric vehicle electronics parking brake or brake pedal unclamp pure electric vehicle brake disc and carry out uphill starting.
2. pure electric vehicle uphill starting control method according to claim 1, is characterized in that in described method step (3) that, in the time of vehicle launch uphill starting pattern, pure electric vehicle also judges that according to the state of acceleration pedal whether vehicle is in stall state; When vehicle is during in stall state, start limping pattern, and point out chaufeur, quote fault; When vehicle is not during in stall state, judge whether actual torque reaches target torque; In the time that actual torque reaches target torque, pure electric vehicle electronics parking brake or brake pedal unclamp pure electric vehicle brake disc and carry out uphill starting.
3. pure electric vehicle uphill starting control method according to claim 2, is characterized in that in described method, whether vehicle is whether to be greater than stall moment of torsion by the actual torque of vehicle in stall state, and whether exceedes that the schedule time judges; When the actual torque of vehicle is greater than stall moment of torsion, and exceed the schedule time, judge that vehicle is in stall state; Otherwise judge that vehicle is not in stall state.
4. pure electric vehicle uphill starting control method according to claim 2, is characterized in that in described method, when vehicle is during in stall state, starting after limping pattern, and vehicle enters limping state; Vehicle continues to judge the actual torque of vehicle; When vehicle actual torque is less than the moment of torsion of stall, and while exceeding the schedule time, vehicle transfers normal operating condition to.
5. pure electric vehicle uphill starting control method according to claim 2, is characterized in that described method also comprises the step of the max. output torque of pure electric vehicle being controlled according to the motor temperature of pure electric vehicle.
6. pure electric vehicle uphill starting control method according to claim 5, is characterized in that preset temperature T1, T2, T3 in described method; The moment of torsion system of not limiting when wherein the motor temperature of pure electric vehicle is less than temperature T 1; The motor temperature of pure electric vehicle in the time of temperature T 1～T2, moment of torsion Linear Limit; When the motor temperature of pure electric vehicle exceedes temperature T 3, to chaufeur prompting, quote fault.
7. pure electric vehicle uphill starting control method according to claim 2, it is characterized in that in described method step (2) that vehicle is in parking state, if the gradient that the ramp sensor of pure electric vehicle detects is greater than the maximum gradient that moves ahead, start after uphill starting pattern pure electric vehicle electronics parking brake, brake pedal releasing of brake dish again after waiting for predetermined time.
8. a pure electric vehicle uphill starting control system, it is characterized in that described system comprises signal input module, entire car controller and electric machine controller, described signal input module receives the ramp signal of ramp sensor, signal, the signal of brake pedal and the signal of electronics parking brake of Das Gaspedal, and incoming signal using signal as entire car controller; Described entire car controller judges the intention of state and the chaufeur of vehicle according to the signal of the signal of the signal of the ramp signal of ramp sensor, Das Gaspedal, brake pedal, electronics parking brake, car speed, motor signal, and carries out the control of gradient starting according to the intention of the state of vehicle and chaufeur; Described electric machine controller carries out moment of torsion closed loop for the moment of torsion output command that receives entire car controller, control motor output torque, and calculate actual torque and the rotating speed of motor according to the current sensor on motor and tachogen, existing condition is fed back to entire car controller.
9. pure electric vehicle uphill starting control system according to claim 8, is characterized in that electric machine controller described in described system is also for judging motor temperature according to the temperature sensor on motor; Temperature feedback, to entire car controller, and is carried out to electric motor protecting according to the instruction of entire car controller.
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