CN103935261A - Electric automobile and control method thereof - Google Patents
Electric automobile and control method thereof Download PDFInfo
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- CN103935261A CN103935261A CN201410099914.8A CN201410099914A CN103935261A CN 103935261 A CN103935261 A CN 103935261A CN 201410099914 A CN201410099914 A CN 201410099914A CN 103935261 A CN103935261 A CN 103935261A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention relates to an electric automobile and a control method thereof. The control method of the electric automobile comprises the step of detecting the current position of a pedal, the step of calculating the position change state and movement speed of the pedal according to detection signals, the step of connecting a motor to an output loop of a first battery when the pedal position is changed into the speed regulating area from the braking area and a switch of the whole automobile is in a turn-on state, the step of cutting off the connection between the motor and the output loop of the first battery and connecting the motor to a storage loop of a second battery and starting a brake device when the pedal position is changed into the braking area from the speed regulating area, the step of cutting off the connection between the motor and the output loop of the first battery and connecting the motor to the storage loop of the second battery and starting the brake device when the movement speed of the pedal is larger than the preset value, and the step of adjusting the revolving direction and the revolving speed of the motor according to the gear information and the pedal position value when the pedal changes in the speed regulating area and the switch of the whole automobile is in a turn-on state.
Description
Technical field
The present invention relates to electric vehicle engineering field, and be particularly related to a kind of electronlmobil and control method thereof.
Background technology
The constantly soaring series of problems that caused of automobile pollution.The fossil fuels such as most of automobile burning gasoline, diesel oil, natural fuels, on the earth, the reserves of fossil fuel are limited, enormous amount and ever-increasing automobile quantity make energy shock day by day serious.The general 1500kg of the weight left and right of orthodox car, capacity weight only has 100kg left and right, and most of energy dissipation, in invalid load, has caused serious energy dissipation.In addition, orthodox car is bulky, general automobile floor area approximately 10 sq ms, and the growth of automobile quantity makes the problem of pounding of traffic and parking stall anxiety more and more serious.
In recent years, battery-driven car is subject to more and more customers' welcome.Battery-driven car cost ratio orthodox car is low, also low than the expense of automobile fuel filler for the expense of battery-driven car charging; Battery-driven car is small and exquisite flexibly, at Non-motorized vehicle lane running, generally can not run into traffic jam, also more easily finds parking stall; Battery-driven car does not have exhaust emissions, does not pollute the environment.
But existing electronlmobil exists some shortcomings, especially aspect safety performance, enjoy user's concern.The operating units such as existing electronlmobil acceleration, brake all concentrate on handlebar, make handlebar function too complicated, are unfavorable for safe driving.And it does not arrange any feedback braking existing electronlmobil in braking procedure, cause the energy of electronlmobil in braking procedure to be utilized.Especially the electronlmobil travelling in urban highway, its energy dissipation in braking procedure is especially obvious.
In addition also there is the problems such as intelligent level is low, and function singleness and traveling comfort are poor in existing battery-driven car.
Summary of the invention
The present invention for overcome existing electronlmobil and accelerate and braking complexity and braking procedure in the energy that the produces problem of being wasted by Dalian, a kind of electronlmobil and control method thereof are provided.
To achieve these goals, the control method of a kind of electronlmobil of the present invention, comprises and detects current pedal position.According to detection signal, calculate change in location state and the kinematic velocity of pedal.When pedal position is from braking district while becoming speed governing district and car load switch in open mode, motor is connected to the output loop of the first battery.When pedal position is become braking during district from speed governing district, cut off being connected between the output loop of motor and the first battery, and motor is connected to the store loop of the second battery, and start brake equipment.When the kinematic velocity of pedal surpasses preset value, being connected between the output loop of power machine and the first battery, and motor is connected to the store loop of the second battery, startup brake equipment.When pedal changes in speed governing district, and car load switch is when open mode, according to turning to and rotating speed of the size adjustment motor of gear information and pedal position value.
In one embodiment of the invention, in speed governing district, the positional value of pedal is greater than the positional value of pedal in braking district, and in Qie speed governing district, the rotating speed of motor is directly proportional to pedal position value.
Corresponding with above-mentioned Control of Electric Vehicles method, the present invention also provides a kind of electronlmobil, comprising: pedal, sensor, entire car controller, the first battery, the second battery, motor and brake equipment.Wherein, sensor is for detection of the position when front running board.Entire car controller is electrically connected sensor and motor, and the position signal of the pedal detecting according to sensor calculates change in location state and the kinematic velocity of pedal, and according to change in location state and kinematic velocity, controls the coupled condition of motor:
When pedal position is from braking district while becoming speed governing district and car load switch in open mode, motor is connected to the output loop of the first battery;
When pedal position is become braking during district from speed governing district, cut off being connected between the output loop of motor and the first battery, and motor is connected to the store loop of the second battery, and start brake equipment;
When the kinematic velocity of pedal surpasses preset value, being connected between the output loop of power machine and the first battery, and motor is connected to the store loop of the second battery, startup brake equipment;
When pedal changes in speed governing district, and car load switch is when open mode, according to turning to and rotating speed of the size adjustment motor of gear information and pedal position value.
In one embodiment of the invention, sensor is position transduser, and position transduser is arranged at pedal.
In one embodiment of the invention, sensor is angular transducer, and angular transducer is arranged at pedal shaft, characterizes the positional value of pedal with the rotational angle of pedal shaft.
In one embodiment of the invention, the second battery is rechargeable super capacitance cell.
In one embodiment of the invention, the output loop of the second battery is in parallel with the output loop of the first battery.
In one embodiment of the invention, the chassis of electronlmobil adopts four-wheel structure, and by suspension gear, is connected between vehicle body and chassis.
In one embodiment of the invention, electronlmobil also comprises GPS navigation instrument, camera and radar, and camera is arranged at the top of car body, and radar is arranged at the front portion of car body.
In one embodiment of the invention, on the bearing circle of electronlmobil, be provided with intelligent controller, intelligent controller is electrically connected GPS navigation instrument, camera, radar and entire car controller, accept the traffic information that GPS navigation instrument, camera and detections of radar arrive, after conversion, pass to entire car controller.
In sum, the present invention is by being divided into the position of pedal in speed governing district and braking district, by detecting the position of pedal and judging the change state of pedal position, carry out the annexation between conversion motor and the first battery and the second battery, not only realized startup, acceleration and the braking of electronlmobil, also the energy producing in braking procedure has been reclaimed simultaneously.Compare with brake gear with traditional throttle being arranged on handlebar, the present invention can be realized startup, be accelerated and braking by pedal, has not only simplified physical construction, has also greatly improved the degree of utilization of energy simultaneously, especially when frequent braking, this energy reclaims especially remarkable.
In addition,, for being more conducive to collection and the processing of pedal position signal, with the positional value of pedal, characterize the height of the position of pedal.Pedal is when free state, and pedal position value is maximum, and the pedal position value in speed governing district is greater than the pedal position value in braking district.Entire car controller can be controlled the rotating speed of motor according to this pedal position value, motor speed is directly proportional to pedal position value.In parallel with the output loop of the first battery by the output loop of the second battery is set, when electronlmobil starts, first second battery that can carry out stored energy is motor power supply; When the second powered battery is not enough, the first start battery power supply.Both work in coordination, and rational, actv. utilizes recuperated energy.
For above and other objects of the present invention, feature and advantage can be become apparent, preferred embodiment cited below particularly, and coordinate accompanying drawing, be described in detail below.
Accompanying drawing explanation
Figure 1 shows that the diagram of circuit of the Control of Electric Vehicles method that one embodiment of the invention provides.
Figure 2 shows that the structural representation of the electronlmobil that one embodiment of the invention provides.
Figure 3 shows that the circuit structure block diagram of the electronlmobil that one embodiment of the invention provides.
The specific embodiment
Figure 1 shows that the diagram of circuit of the Control of Electric Vehicles method that one embodiment of the invention provides.Figure 2 shows that the structural representation of the electronlmobil that one embodiment of the invention provides.Figure 3 shows that the circuit structure block diagram of the electronlmobil that one embodiment of the invention provides.See also Fig. 1 and Fig. 3.
As shown in Figure 1, the Control of Electric Vehicles method that the present embodiment provides comprises: detect current pedal position (step S100).According to detection signal, calculate the change in location state (step S101) of pedal.First, judge whether whether pedal position become speed governing district and car load switch in open mode (step S102) from braking district.If so, motor is connected to the output loop (step S103) of the first battery, starts electronlmobil.If not, judge whether pedal position is become braking district (step S104) from speed governing district.If so, cut off being connected between the output loop of motor and the first battery, and motor is connected to the store loop of the second battery, and start brake equipment (step S105); If not, entire car controller calculates the moving velocity (step S106) of electronlmobil in real time.And whether judgement surpass preset value (step S107) when the kinematic velocity of front running board, if so, cut off being connected between the output loop of motor and the first battery, and motor is connected to the store loop of the second battery, startup brake equipment (step S105).If not, judge whether pedal changes (step S108) in speed governing district.If so, judge that whether car load switch is in open mode (step S109).If car load switch opens, according to turning to and rotating speed (step S110) of the size adjustment motor of gear information and pedal position value.If car load switch cuts out, execution step S105.
The method starts from step S100, and this step is in order to detect the particular location of pedal.The detection here can adopt position transduser or angular transducer to realize.In the present embodiment, adopt position transduser to detect the change in location of pedal, and position transduser is arranged to pedal.Yet the present invention is not limited in any way this.In other embodiment, also can use angle sensor detect the position of pedal.But when mounted, angular transducer is arranged to the rotating shaft of pedal, rotating shaft angle is changed to the change in location that is converted to pedal.
In step S101, the signal that entire car controller detects according to sensor judges the change in location of pedal.When pedal position is by braking district while changing to speed governing district, and entire car controller judgement car load switch is in open mode, entire car controller output one controls signal to motor, motor is connected with the output loop of the first battery, electric motor starting, electronlmobil starts, i.e. step S102 and step S103.
In step S104 and step S105, entire car controller judges whether electronlmobil transforms to braking district by speed governing district.If so, cut off being connected between motor and the first battery, carry out braking procedure.And motor is connected to the store loop of the second battery, by the transformation of energy in motor braking process be power storage in the second battery, the energy reaching in braking procedure reclaims, and has greatly improved the energy recovery rate of electronlmobil.
In step S107 and S108, electronlmobil, in motoring condition, is the safety issue that prevents from occurring because the speed of a motor vehicle is too fast, and in the present embodiment, entire car controller calculates the kinematic velocity (step S107) of pedal in real time according to the pedal position detecting.Once the kinematic velocity of pedal surpasses preset value, execution step S105, starts brake equipment, and reclaims the energy in braking procedure.
When vehicle is in speed governing district, entire car controller judges whether car load switch opens (step S109), if open, entire car controller is controlled the power that exports motor to according to the size of pedal position value, and the rotating speed of motor is directly proportional to pedal position value.Particularly, when pedal is when free position (state while not stepped on by chaufeur), its positional value is maximum, and the rotating speed of corresponding motor also will be faster.When pedal position is lower than free state during in speed governing district, the rotating speed of the rotating speed of motor motor under free state lower than pedal, and the positional value of braking district pedal is lower than the pedal position value in speed governing district.
Above-mentioned control step is only a kind of control sequence that the present embodiment provides.Yet the present invention is not limited in any way said sequence.In other embodiment, user can arrange the priority orders of each step, thereby forms different control sequence.
Corresponding with above-mentioned Control of Electric Vehicles method, the present embodiment provides a kind of electronlmobil, comprises pedal 1, sensor 2, entire car controller 3, the first battery 4, the second battery 5, motor 6 and brake equipment 7.Wherein, sensor 2 is for detection of the position when front running board 1.Entire car controller 3 is electrically connected sensor 2 and motor 6, and the position signal of the pedal 1 detecting according to sensor 2 calculates change in location state and the kinematic velocity of pedal 1, and according to the coupled condition of change in location state and kinematic velocity control motor 6.
When the position of pedal 1 is from braking district while becoming speed governing district and car load switch in open mode, motor 6 is connected to the output loop of the first battery 4.When the position of pedal 1 is become braking during district from speed governing district, cut off being connected between the output loop of motor 6 and the first battery 4, and motor 6 is connected to the store loop of the second battery 5, and start brake equipment 7.When the kinematic velocity of pedal 1 surpasses preset value, cut off being connected between the output loop of motor 6 and the first battery 4, and motor 6 is connected to the store loop of the second battery 5, startup brake equipment 7.When pedal 1 changes in speed governing district, and car load switch is when open mode, according to turning to and rotating speed of the size adjustment motor 6 of the positional value of gear information and pedal 1.
In motor braking process, motor 6 is connected into the store loop of the second battery 5.By motor, at the transformation of energy of braking procedure, be that power storage is in the second battery 5.In the present embodiment, the second battery 5 is rechargeable super capacitance cell, and the output loop of the second battery 5 is in parallel with the output loop of the first battery 4.In motor start-up procedure, first rechargeable the second battery 5 is motor 6 power supplies, and in the situation of the second battery 5 electricity shortages, the first battery 4 is motor 6 power supplies.First with the energy that the second battery 5 reclaims, carry out starter motor 6, not only saved the service life that energy has also increased by the first battery 4 simultaneously greatly, solve existing battery of electric vehicle short problem in service life.
In the present embodiment, electronlmobil also comprises the solar cell 8 being arranged on roof, and the output loop of solar cell 8 is also in parallel with the output loop of the first battery 4.Solar cell 8 is electronlmobil power supply after solar power is converted to electric energy.Particularly, when the second battery 5 electricity shortage, solar cell 8 is motor 6 power supplies, just starts the first battery 4 power supplies when solar cell 8 electricity shortage, has further improved the work life of the first battery 4.
In the present embodiment, the chassis of electronlmobil adopts four wheel drive structure, and by suspension gear, is connected between the speed of a motor vehicle and chassis, and its top is enclosed construction.Four wheel drive structure, makes the electronlmobil that the present embodiment provides more easily keep balance, has strengthened stability and the safety of electronlmobil, and driving this electronlmobil will be more comfortable simple.Meanwhile, the use actv. of suspension gear has cushioned jolting that Uneven road causes, and makes chaufeur take the more comfortable safety of this electronlmobil.And enclosed structure has been avoided the impact of external environment on chaufeur in electric automobile during traveling process.Therefore, electronlmobil of the present invention can be at sleet, be exposed to the sun, use under the inclement weather such as cold.
In the present embodiment, electronlmobil also comprises GPS navigation instrument 11, camera 9 and radar 10, and camera 9 is arranged at the top of car body, and radar 10 is arranged at the front portion of car body.Meanwhile, be provided with intelligent controller 12 on the bearing circle of electronlmobil, intelligent controller 12 is electrically connected GPS navigation instrument 11, camera 9, radar 10 and entire car controller 3.Intelligent controller 12 is accepted the traffic information that GPS navigation instrument 11, camera 9 and radar 10 detect, and after conversion, passes to entire car controller 3.
Owing to there is intelligent controller 12, this electronlmobil can be realized pilot steering and automatic Pilot.Intelligent controller 12 receives traffic information that GPS navigation instrument 11, camera 9 and radar 10 collect and by its demonstration.Under pilot steering pattern, intelligent controller 12 is driven with the form of sound and the driver assistance that travels of image.And the detection of obstacles result formation control strategy that the Road Detection result that the path planning that intelligent controller 12 provides according to GPS navigation instrument 11 under automatic mode, camera 9 detect and radar 10 detect, control policy is converted to the instruction that entire car controller 3 can carry out and instruction is sent to entire car controller 3, thereby control electronlmobil automatic Pilot.
In sum, the present invention is by being divided into the position of pedal 1 in speed governing district and braking district, by detecting the position of pedal 1 and judging the change state of the position of pedal 1, carry out the annexation of 5, conversion motor 6 and the first battery 4 and the second battery, not only realized startup, acceleration and the braking of electronlmobil, also the energy producing in braking procedure has been reclaimed simultaneously.Compare with brake gear with traditional throttle being arranged on handlebar, the present invention can be realized startup, be accelerated and braking by pedal 1, has not only simplified physical construction, has also greatly improved the degree of utilization of energy simultaneously, especially when frequent braking, this energy reclaims especially remarkable.
In addition,, for being more conducive to collection and the processing of pedal 1 position signal, with the positional value of pedal 1, characterize the height of pedal 1.Pedal 1 is when free state, and the positional value of pedal 1 is maximum, and the positional value of the pedal in speed governing district 1 is greater than the positional value of the pedal 1 in braking district.Entire car controller 3 can be controlled the rotating speed of motor 6 according to the positional value of this pedal 1, the rotating speed of motor 6 is directly proportional to the positional value of pedal 1.In parallel with the output loop of the first battery 4 by the output loop of the second battery 5 is set, when electronlmobil starts, first second battery 5 that can carry out stored energy is motor 6 power supplies; When the second battery 5 electricity shortage, the first battery 4 starts power supply.Both work in coordination, and rational, actv. utilizes recuperated energy.
Although the present invention is disclosed as above by preferred embodiment; yet not in order to limit the present invention, anyly know this skill person, without departing from the spirit and scope of the present invention; can do a little change and retouching, so protection scope of the present invention is when being as the criterion depending on claims scope required for protection.
Claims (10)
1. a Control of Electric Vehicles method, is characterized in that, comprising:
Detect current pedal position;
According to detection signal, calculate change in location state and the kinematic velocity of pedal;
When pedal position is from braking district while becoming speed governing district and car load switch in open mode, motor is connected to the output loop of the first battery;
When pedal position is become braking during district from speed governing district, cut off being connected between the output loop of motor and the first battery, and motor is connected to the store loop of the second battery, and start brake equipment;
When the kinematic velocity of pedal surpasses preset value, being connected between the output loop of power machine and the first battery, and motor is connected to the store loop of the second battery, startup brake equipment;
When pedal changes in speed governing district, and car load switch is when open mode, according to turning to and rotating speed of the size adjustment motor of gear information and pedal position value.
2. Control of Electric Vehicles method according to claim 1, is characterized in that, in described speed governing district, the positional value of pedal is greater than the positional value of pedal in described braking district, and the rotating speed of motor is directly proportional to pedal position value in described speed governing district.
3. an electronlmobil, is characterized in that, comprising:
Pedal;
Sensor, for detection of the position when front running board;
Entire car controller, be electrically connected described sensor and motor, the position signal of the pedal detecting according to described sensor calculates change in location state and the kinematic velocity of pedal, and according to described change in location state and kinematic velocity, controls the coupled condition of motor:
When pedal position is from braking district while becoming speed governing district and car load switch in open mode, motor is connected to the output loop of the first battery;
When pedal position is become braking during district from speed governing district, cut off being connected between the output loop of motor and the first battery, and motor is connected to the store loop of the second battery, and start brake equipment;
When the kinematic velocity of pedal surpasses preset value, being connected between the output loop of power machine and the first battery, and motor is connected to the store loop of the second battery, startup brake equipment;
When pedal changes in speed governing district, and car load switch is when open mode, according to turning to and rotating speed of the size adjustment motor of gear information and pedal position value.
4. electronlmobil according to claim 3, is characterized in that, described sensor is position transduser, and described position transduser is arranged at described pedal.
5. electronlmobil according to claim 3, is characterized in that, described sensor is angular transducer, and described angular transducer is arranged at pedal shaft, characterizes the positional value of pedal with the rotational angle of pedal shaft.
6. electronlmobil according to claim 3, is characterized in that, described the second battery is rechargeable super capacitance cell.
7. electronlmobil according to claim 3, is characterized in that, the output loop of described the second battery is in parallel with the output loop of described the first battery.
8. electronlmobil according to claim 3, is characterized in that, the chassis of described electronlmobil adopts four-wheel structure, and by suspension gear, is connected between vehicle body and chassis.
9. electronlmobil according to claim 3, is characterized in that, described electronlmobil also comprises GPS navigation instrument, camera and radar, and described camera is arranged at the top of car body, and radar is arranged at the front portion of car body.
10. electronlmobil according to claim 9, it is characterized in that, on the bearing circle of electronlmobil, be provided with intelligent controller, described intelligent controller is electrically connected described GPS navigation instrument, camera, radar and entire car controller, accept the traffic information that described GPS navigation instrument, camera and detections of radar arrive, after conversion, pass to described entire car controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410099914.8A CN103935261B (en) | 2014-03-18 | 2014-03-18 | Electronlmobil and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410099914.8A CN103935261B (en) | 2014-03-18 | 2014-03-18 | Electronlmobil and control method thereof |
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| CN103935261A true CN103935261A (en) | 2014-07-23 |
| CN103935261B CN103935261B (en) | 2016-04-20 |
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| CN201410099914.8A Active CN103935261B (en) | 2014-03-18 | 2014-03-18 | Electronlmobil and control method thereof |
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| CN105034818A (en) * | 2015-07-13 | 2015-11-11 | 北京现代汽车有限公司 | Electromobile energy recovery method and device |
| CN105599639A (en) * | 2016-01-22 | 2016-05-25 | 福州大学 | Method and system for selecting and regulating speed of electric car |
| CN106553554A (en) * | 2015-09-30 | 2017-04-05 | 湖南南车时代电动汽车股份有限公司 | A kind of brake control method and system |
| CN108092595A (en) * | 2016-11-21 | 2018-05-29 | 德昌电机(深圳)有限公司 | Motor application equipment |
| CN113002319A (en) * | 2019-12-20 | 2021-06-22 | 北京宝沃汽车股份有限公司 | Vehicle control method and device and vehicle |
| CN113815351A (en) * | 2021-11-03 | 2021-12-21 | 合肥海源机械有限公司 | Driving axle unmanned control system |
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| CN113815351A (en) * | 2021-11-03 | 2021-12-21 | 合肥海源机械有限公司 | Driving axle unmanned control system |
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|---|---|
| CN103935261B (en) | 2016-04-20 |
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