CN103979012A - Vehicle body control system for electric vehicle and method for calculating road gradient - Google Patents
Vehicle body control system for electric vehicle and method for calculating road gradient Download PDFInfo
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- CN103979012A CN103979012A CN201410193389.6A CN201410193389A CN103979012A CN 103979012 A CN103979012 A CN 103979012A CN 201410193389 A CN201410193389 A CN 201410193389A CN 103979012 A CN103979012 A CN 103979012A
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Abstract
The invention relates to the field of electric vehicles, and discloses a vehicle body control system for an electric vehicle and a method for calculating the road gradient. The vehicle body control system comprises a lamplight control module, an alarm control module, a display control module and a steering control module, wherein at least one control module in the lamplight control module, the alarm control module, the display control module and the steering control module is integrated onto the same integrated chip together with a CPU (Central Processing Unit). The control modules for controlling the working state of each unit is integrated onto the same chip together with the CPU, and are centralized, so that wiring is simplified, wiring harnesses become simpler, and the cost is lowered; the CPU is used for acquiring signals of a three-axle gravity acceleration sensor and automatically calculating the gradient value of a road on which the electric vehicle runs in order to transmit gradient information to the motor controller; the motor controller is used for adjusting the output torque of the motor according to the current road gradient information, so that an intelligent energy output adjusting function is realized, unnecessary consumption of battery power is lowered, and the trip distance is prolonged.
Description
Technical field
The present invention relates to electric automobiles, related in particular to a kind of electric vehicle body control system and track gradient method of calculating thereof.
Background technology
On current traditional electrical motor-car, be mounted with the external equipment such as instrument, annunciator, Der Blink und Abblendschalter, controller, lamp group driver module, its cable complexity, circuit is loaded down with trivial details, and branch is more, and line drop is larger, and car load protective value is poor, and battery is easily stolen; And in use controller and instrument there is no direct order contact, like this to some hidden danger of the security presence of car load, such as some major failure instrument of controller is also ignorant, in the unwitting situation of instrument, mean that user is ignorant, what user just cannot be correct makes certain measure.
Current battery-driven car is not equipped with the equipment of auto-steering function, some users often always forget and open steering indicating light in the process of moving, the traffic accident that current battery-driven car causes is very frequent, if any the equipment of auto-steering function, even if forgetting, user opens pole changer, equipment also can identify active user what feels like doing, and can greatly improve safety.
And at present battery-driven car on the market all cannot detect the gradient of track, can not self-regulation motor output torque, comparatively obvious to the waste of battery electric quantity, battery-driven car travelled distance is shortened, inconvenient people's trip.
Thereby being therefore necessary to study a kind ofly simplifies wiring, can automatically be as the criterion with actual conditions and automatically play steering indicating light, can show the information such as dump energy, electric current, the speed of a motor vehicle, clock, ambient temperature and fault, can automatically detect the battery-driven car of the track gradient saving energy.
Summary of the invention
Thereby the object of the present invention is to provide and a kind ofly simplified wiring, can automatically be as the criterion with actual conditions and automatically play steering indicating light, can show the information such as dump energy, electric current, the speed of a motor vehicle, clock, ambient temperature and fault, can automatically detect electric vehicle body control system and the track gradient method of calculating thereof of the track gradient saving energy.
In order to solve the problems of the technologies described above, the present invention is solved by following technical proposals:
Electric vehicle body control system, comprise light unit, alarm unit, electric-motor drive unit, field bus instrument unit, turn lamp unit and CPU, light unit comprises lighting control module, alarm unit comprises alarm control module, field bus instrument unit comprises display control module, turn lamp unit comprise turn to control module with the steering evaluator that turns to control module to be connected, lighting control module, alarm control module, display control module, turn at least one control module and CPU in control module to be integrated on same integrated chip.Each unit is equipped with a control module for controlling this cell operation state.
As preferably, light unit also comprises the night-run lamp, passing light, country beam, night-run lamp switch, passing light switch, main furnace building light switch, the light sensation sensor that are all connected with lighting control module.
As preferably, turn lamp unit also comprises all and the left steering lamp that turns to control module to be connected, right steering lamp, left steering switch, right steering switch.
As preferably, alarm unit also comprises loudspeaker, horn switch, several shock sensors of being all connected with alarm control module.
As preferably, field bus instrument unit also comprises the LCDs, the USB interface that are all connected with display control module.
As preferably, electric-motor drive unit comprises motor control module and the motor being connected with motor control module.
As preferably, also comprise the three axle Gravity accelerometers that are connected with CPU.
Battery-driven car track gradient method of calculating, battery-driven car is provided with three axle Gravity accelerometers, CPU, electric machine controller, field bus instrument unit, comprises the following steps:
A. field bus instrument unit is installed on battery-driven car on level road, sets zero ratio of slope of track by Zero calibration apparatus;
B. the signal of field bus instrument unit Real-time Collection three axle Gravity accelerometers in the process of riding, obtains the information of current driving road gradient value α after filtering afterwards, specific as follows:
Three axle Gravity accelerometers detect the value of the acceleration due to gravity of battery-driven car X, Y, tri-directions of Z in real time, the three axle Gravity accelerometers to battery-driven car carry out initial calibration, measure the mounted angle β of three axle Gravity accelerometers while allowing battery-driven car be parked in a horizontal plane; Mounted angle β tries to achieve by the following method:
β＝tan
-1(Ay/Ax)
In formula, Ax is X-direction acceleration due to gravity, and Ay is Y direction acceleration due to gravity;
α is as follows for track ratio of slope:
α＝cos
-1{[Ax*sin(β)+Ay*cos(β)]/g}
In formula, track ratio of slope α is the angle of inclination of battery-driven car and level road; G is acceleration of free fall, and it is constant, g=9.8m/s
2;
C. field bus instrument unit sends to electric machine controller by track ratio of slope α by bus;
D. electric machine controller regulates Motor torque output according to track ratio of slope α; Expanded motor moment of torsion is controlled in climbing, and descending reduces Motor torque.
The present invention is together integrated in same chip by the control module for controlling unit mode of operation together with CPU, and module centralization, has simplified wiring, and wire harness is more succinct, and cost is cheaper; The steering evaluator arranging can detect actual steering operation, and this detection signal is fed back to and turns to control module, turns to control module to be automatically as the criterion and automatically to play steering indicating light with actual conditions, can reduce the generation of traffic accident, has improved safety by bike; Dump energy, electric current, the speed of a motor vehicle, clock, ambient temperature and failure message etc. that display control module detects system show on LCDs.
Built-in CPU gathers the signal of three axle Gravity accelerometers, automatically calculate battery-driven car track ratio of slope, thereby grade information is sent to electric machine controller, electric machine controller regulates motor output torque according to current road gradient information, thereby realize the energy and export intelligent regulatory function, reduce the unnecessary loss of battery electric quantity, extend travelled distance.Concrete advantage is as follows:
1. LCDs shows abundant content: field bus instrument unit is as a display platform intuitively, in liquid crystal display screen display abundant content as electric weight, electric current, the speed of a motor vehicle, temperature, clock, fault etc.;
2. radio frequency is antitheft: this function has improved the safety of car load greatly, and the private key that user uses vehicle need be equipped with depot's outfit could be opened, otherwise cannot normally move.
3. anti-battery-theft: this function can reduce the stolen risk of battery by actv., once battery is split, system will be reported to the police provides user or periphery crowd;
4. shock sensor, temperature sensor: the system integration two kinds of sensors, shock sensor can carry out setting up defences of car load, temperature sensor can be checked current outdoor real time temperature;
5. light sensing lamp control automatically: built-in light sensation sensor can be controlled the lamp group of vehicle automatically, also can manually control, inner integrated auto-steering function.
6. drive high-power lamp group: system is built-in can drive 12V/60W bulb, and short-circuit protection function is all with on each road, once short circuit shows fast in instrument;
7. failure analysis and demonstration: system is analyzed bus data automatically, judges fault and in instrument, shows.
8. auto-steering and gradient recognition function: in field bus instrument unit, integrated three axle Gravity accelerometers can identify user's current action, and the gradient situation on road surface, and electric machine controller carries out the increase and decrease of power-handling capability according to gradient size.
9.CPU: adopt state-of-the-art sine wave drive technology to drive motor, coordinate field bus instrument cell data rationally to control, sine wave drive reduces noise greatly, improves user's traveling comfort.
Brief description of the drawings
Fig. 1 is the principle schematic of control system of the present invention.
Fig. 2 is light unit and turn lamp unit control system figure.
Fig. 3 is radiofrequency signal Acquisition Circuit figure.
Fig. 4 is acceleration due to gravity signal acquisition circuit figure.
Fig. 5 is the circuit diagram of alarm control module.
Fig. 6 is failure alarm circuit figure.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail.
Embodiment 1
Electric vehicle body control system, as shown in Figure 1 to Figure 2, comprise light unit, alarm unit, electric-motor drive unit, field bus instrument unit, turn lamp unit and CPU, light unit comprises lighting control module, alarm unit comprises alarm control module, field bus instrument unit comprises display control module, turn lamp unit comprises and turns to control module, lighting control module, alarm control module, display control module, turn at least one control module and CPU in control module to be integrated on same integrated chip, after being integrated on same integrated chip, it is called after integration module.Each unit is equipped with a control module for controlling this cell operation state.
In the present embodiment, lighting control module, alarm control module, display control module, turn to control module and CPU to be all integrated on same integrated chip.
Also comprise that inside is provided with the key of RF chip, CPU comprises radiofrequency signal Acquisition Circuit.Radiofrequency signal Acquisition Circuit is for gathering RF chip information on the key.The RFID radio RF recognition technology of uses advanced, whether after battery-driven car powers on, automatically detect tapered end mates with the heading code of key, this function has improved the safety of car load greatly, and the private key that user uses vehicle need be equipped with depot's outfit could be opened, otherwise cannot normally move.Radiofrequency signal Acquisition Circuit as shown in Figure 3.Radiofrequency signal Acquisition Circuit comprises 74HC4060 chip.
CPU also comprises anti-battery-theft circuit, and anti-battery-theft circuit is connected with loudspeaker, and anti-battery-theft circuit detects car load power supply status automatically, and removes automatic alarm under state at battery, more " insurance ".Real-Time Monitoring battery status, if detect, battery removes extremely, automatically starts the strategy of reporting to the police, loudspeaker are reported to the police, and lock motor.
Also comprise the acceleration due to gravity signal acquisition circuit and the GPS device that are all connected with CPU; Acceleration due to gravity signal acquisition circuit comprises three axle Gravity accelerometers.Whether three built-in axle Gravity accelerometers of system can have the collision of generation by Real-Time Monitoring battery-driven car, and crashworthness of systemic presupposition, exceedes this threshold values once monitor acceleration due to gravity, and system will think that traffic accident has occurred current state.System will be informed the GPS device being contained in battery-driven car by bus form, location rescue in time fast.Acceleration due to gravity signal acquisition circuit as shown in Figure 4.Three axle Gravity accelerometers adopt MXD2020E chip, MXD2020E chip is provided with the pin of called after 1-8, pin 1 is Tout interface, pin 2 is AoutY interface, and pin 3 is GND interface, and pin 4 is VDA interface, pin 5 is AoutX interface, pin 6 is Vref interface, and pin 7 is Sck interface, and pin 8 is VDD interface.Pin 3 ground connection, pin 2 is connected with the resistance of called after R6, is in series with the electric capacity of called after C3 between pin 2 and pin 3, and the capacitance of capacitor C 3 is 1uF.The power supply that after the Capacitance parallel connection of pin 4 and called after C4, one end is 3.3V with voltage is connected, other end ground connection.Pin 7 ground connection, pin 5 is connected with the resistance of called after R7, is in series with the electric capacity of called after C5 between pin 7 and pin 5, and the capacitance of capacitor C 5 is 1uF.The power supply that after the Capacitance parallel connection of pin 8 and called after C6, one section is 3.3V with voltage is connected, other end ground connection.
Light unit also comprises the night-run lamp, passing light, country beam, night-run lamp switch, passing light switch, main furnace building light switch, the light sensation sensor that are all connected with lighting control module.Lighting control module is controlled the mode of operation of night-run lamp, passing light, country beam according to the induced signal of the closed situation of night-run lamp switch, passing light switch, main furnace building light switch and light sensation sensor.
Manually control: in the time that night-run lamp switch is closed, enters manual light source control pattern and light night-run lamp; In the time of the disconnection of the closed main furnace building light switch simultaneously of passing light switch, passing light is lighted country beam and is not worked; When passing light switch and main furnace building light switch are all after closure, country beam is preferentially lighted, close dipped beam.
Full automatic control: after night-run lamp switch disconnects, system enters full automatic control pattern; In the time that light sensation sensor detects that environmental light intensity is less than 55Lux, to control night-run lamp and automatically light, when environmental light intensity continues to be reduced to 20Lux, country beam is opened automatically, now can freely be switched by far and near light switch by user; In the time that environmental light intensity goes back up to 40Lux, far-reaching headlamp turn-off, while continuing to go back up to 65Lux, night-run lamp is closed; Automatically while control, system is controlled by fuzzy algorithm, moves about 5 to 10 seconds when reaching about time delay after condition.
Turn lamp unit also comprises all and the left steering lamp that turns to control module to be connected, right steering lamp, left steering switch, right steering switch, steering evaluator.
Turn to control module to be connected with CPU.Turn to control module to control the mode of operation of corresponding steering indicating light according to the signal of left steering switch, right steering switch and steering evaluator.
Manually control: system has adopted the left and right pole changer of some dynamic formula, in the time will playing steering indicating light in advance as long as left or right switch pulls out and puts hand switch self-return, system identification is to the reminding turning sound that corresponding steering indicating light glimmered for 10 seconds and sends with system inside trumpet after manual turn sign, and loudspeaker can be used the loudspeaker in alarm unit.
Automatically control: played in advance or do not beaten steering indicating light no matter current, when steering evaluator detects actual steering operation, and this detection signal is fed back to and turns to control module, turn to control module automatically with the actual conditions reminding turning sound of automatically playing steering indicating light and sending with system inside trumpet that is as the criterion; In the time that the steering indicating light direction of manually pulling out is in advance contrary with actual steering, system is glimmered with the actual steering direction flash light that is as the criterion, and sends two sound miscue sounds, so that user forms a habit; In the time that the steering indicating light direction of manually pulling out is in advance identical with actual steering, system continues, by dialing direction flicker, now not send out miscue sound, until vehicle body just returns, flash light stops flicker.
Alarm unit also comprises loudspeaker, horn switch, several shock sensors of being all connected with alarm control module.Integrated multiple shock sensor, makes car load to environmental vibration, more " reliably ".When battery-driven car is parked, if detect, vehicle body vibrations exceed default amplitude, automatically start the strategy of reporting to the police, and loudspeaker are reported to the police, lock motor.The circuit diagram of alarm control module as shown in Figure 5, after several shock sensor parallel connections, one end is connected with power supply, the other end resistance in parallel with two is connected, two resistance in parallel called after resistance R 1 and resistance R 2 respectively, the resistance of resistance R 1 is 1K, the resistance of resistance R 2 is 100K, and resistance R 1 is connected with capacitor C 1, two resistance eutral groundings after parallel connection.The signal input part of shock sensor is in parallel with capacitor C 1.
Field bus instrument unit also comprises the LCDs, the USB interface that are all connected with display control module, and dump energy, electric current, the speed of a motor vehicle, clock, ambient temperature and failure message etc. that display control module detects system show on LCDs.USB interface facilitates user in the process of riding, to carry out mobile phone charging, and charge information can be shown on LCDs.Each control module is all with short-circuit protection circuit and bulb, once thereby the bulb of this circuit of short circuit lights on LCDs and shows fast, the bulb that bulb is 12V/60W.
As shown in Figure 6, also comprise fault alarm unit, fault alarm unit comprises failure alarm circuit, failure alarm circuit comprises ALARM_IC_COB chip, it is COB integrated chip, ALARM_IC_COB chip is provided with from top to bottom the pin of called after 1-16 successively, pin 1 is OSCI interface, pin 2 is OSCO interface, pin 3 is VDD interface, pin 4 is DAC interface, pin 5 is BK interface, pin 6 is DO interface, pin 7 is LED_K interface, pin 8 is Alarm_key interface, pin 9 is left_key interface, pin 10 is righet_key interface, pin 11 is ADj interface, pin 12 is L_r_alarm_led interface, pin 13 is R_LED interface, pin 14 is Head_led interface, pin 15 is L_LED interface, pin 16 is GND interface.Pin 1 is connected with pin 2 after connecting with the resistance of called after R3, and the prevention of resistance R 3 is 250K.Pin 3 ground connection again after being connected with the electric capacity of called after C2, the capacitance of capacitor C 2 is 0.1uF, between pin 3 and capacitor C 2, be in series with the aerotron of called after Q1, the collecting electrode of aerotron Q1 is connected with pin 3, the emitter of aerotron Q1 is connected with power supply, between the emitter of aerotron Q1 and base stage, be in series with the resistance of called after R4, the resistance of resistance R 4 is 10K.Pin 4 is being connected with the base stage of the aerotron of called after Q2 after connecting with the resistance of called after R5, the grounded emitter of aerotron Q2, the collecting electrode of aerotron Q2 is connected with the inductance of called after L1, inductance L 1 comprises lead-in wire 1, lead-in wire 2 lead-in wires 3, the collecting electrode of aerotron Q2 is connected with lead-in wire 2, between aerotron Q2 and lead-in wire 3, is connected with buzzing sheet.Pin 16 ground connection, pin 11 is connected with clock.
Also comprise the temperature sensor being connected with display control module, temperature sensor, for detection of extraneous real time temperature, makes user understand in real time ambient temperature, more " intimate ".
Most of unit in the present embodiment is distributed in battery-driven car car body first half, therefore the control module in these unit can be carried out integrated, form integration module.And because electric-motor drive unit is arranged on car body latter half, far away with above-mentioned integration module, therefore in the present embodiment it to be listed separately, electric-motor drive unit comprises motor control module and the motor being connected with motor control module.Motor control module is connected with integration module by connection.
In addition,, by the control program of integration module is set, corresponding control module in integration module is coordinated under the scheduling of CPU realize the S type limitation function of riding.The restriction of riding of S type: when user by bike time the first from left bottom right once rock continuous 10 times, every minor tick was less than for 4 seconds, system think active user be danger by bike, PC Speaker can yowl for 5 seconds, motor control module can limit the F-Zero of vehicle simultaneously, to improve safety by bike, interval time, number of times, F-Zero and longtime call of horn time all can be adjusted by setting.The detection signal that turning to dependence steering evaluator that turn lamp unit and this S type are ridden in limitation function is judged, and can be carried out as required adjustment of sensitivity.Sensitivity manual regulation: car load keeps without after tilting, and a selected headstock steering angle is pinned equidirectional pole changer and horn switch simultaneously, completes adjustment of sensitivity (sensitivity is directly proportional to steering angle size) after under horns blared 16-18.
Embodiment 2
Battery-driven car track gradient method of calculating, comprises the following steps: battery-driven car is provided with three axle Gravity accelerometers, CPU, electric machine controller, field bus instrument unit,
A. field bus instrument unit is installed on battery-driven car on level road, sets zero ratio of slope of track by Zero calibration apparatus; Zero calibration apparatus adopts button or combined switch;
B. the signal of field bus instrument unit Real-time Collection three axle Gravity accelerometers in the process of riding, obtains the information of current driving road gradient value α after filtering afterwards, specific as follows:
Three axle Gravity accelerometers detect the value of the acceleration due to gravity of battery-driven car X, Y, tri-directions of Z in real time, and use 3-axis acceleration sensor can be out discrete from acceleration due to gravity the acceleration/accel that travels of battery-driven car.Battery-driven car travel acceleration/accel and acceleration due to gravity on two of same vertical plane surface different axles, as long as by three axle Gravity accelerometers are placed on horizontal surface, make the inductive axis of three axle Gravity accelerometers have suitable angle, that just can improve the survey precision of track ratio of slope α again.
Longitudinally at 45 ° when the inductive axis of three axle Gravity accelerometers and battery-driven car, the inclination angle value α ' of the acceleration action that travels is as follows:
α’＝cos
-1[0.707*(Ax+Ay)/g]
The longitudinal acceleration of the battery-driven car embodying on the inductive axis of three axle Gravity accelerometers is opposite sign but equal magnitude, and therefore, value (Ax+Ay) remains unchanged.Such as, the acceleration/accel that travels of battery-driven car is forward, when that Ax increases, Ay reduces.But be difficult in actual applications accurately to accomplish to make the longitudinally at 45 ° of the inductive axis of three axle Gravity accelerometers and battery-driven car, therefore need the first three axle Gravity accelerometers to battery-driven car to carry out initial calibration, while allowing battery-driven car be parked in a horizontal plane, measure the mounted angle β of three axle Gravity accelerometers; Mounted angle β tries to achieve by the following method:
β＝tan
-1(Ay/Ax)
In formula, Ax is X-direction acceleration due to gravity, i.e. acceleration due to gravity in horizontal direction; Ay is Y direction acceleration due to gravity, i.e. acceleration due to gravity in vertical direction;
α is as follows for track ratio of slope:
α＝cos
-1{[Ax*sin(β)+Ay*cos(β)]/g}
In formula, track ratio of slope α is the angle of inclination of battery-driven car and level road; G is acceleration of free fall, and it is constant, g=9.8m/s
2;
The method of an initialized compromise is that system is operated under a continuous constant Ax and Ay state.Most of roads are all levels, are passing through after the operation of short time, and system will be measured mounted angle.System operation time is longer, and precision is just higher.Measuring, after setting angle, we can measure according to formula the gradient of battery-driven car and horizontal surface.
C. field bus instrument unit sends to electric machine controller by track ratio of slope α by bus;
D. electric machine controller regulates Motor torque output according to track ratio of slope α; Expanded motor moment of torsion is controlled in climbing, and descending reduces Motor torque.
Field bus instrument unit sends to electric machine controller by bus current driving road gradient value α scope (90 °-90 °) after measuring grade information.It is level that general road can be regarded, electric machine controller is as long as the handle signal of giving according to field bus instrument unit carries out Linear Driving, once but the field bus instrument unit judges track ratio of slope α that out current road surface is is non-vanishing, such as current, for growing slope, the track ratio of slope α that electric machine controller need to send according to field bus instrument unit carry out the adjustment of output torque.Such as current driving road gradient value, α is 20 °, battery-driven car handle moment of torsion of electric machine controller output on earth in the situation that on level road is 50 to turn round, but due to the impact of the gradient, electric machine controller just need to increase moment of torsion according to track ratio of slope α, and concrete added value will be tested and be as the criterion on road surface.If current driving road gradient value α is negative value, be illustrated as descending, when descending, electric machine controller will reduce moment of torsion, the moment of torsion of handle controller output on earth also can be relatively little, in brake process, can reclaim accordingly energy by energy recycle device, play the reasonable utilization of resource.
In a word, the foregoing is only preferred embodiment of the present invention, all equalizations of doing according to the present patent application the scope of the claims change and modify, and all should belong to the covering scope of patent of the present invention.
Claims (8)
1. electric vehicle body control system, it is characterized in that: comprise light unit, alarm unit, electric-motor drive unit, field bus instrument unit, turn lamp unit and CPU, light unit comprises lighting control module, alarm unit comprises alarm control module, field bus instrument unit comprises display control module, turn lamp unit comprise turn to control module with the steering evaluator that turns to control module to be connected, lighting control module, alarm control module, display control module, turn at least one control module and CPU in control module to be integrated on same integrated chip.
2. electric vehicle body control system according to claim 1, is characterized in that: light unit also comprises the night-run lamp, passing light, country beam, night-run lamp switch, passing light switch, main furnace building light switch, the light sensation sensor that are all connected with lighting control module.
3. electric vehicle body control system according to claim 1, is characterized in that: turn lamp unit also comprises all and the left steering lamp that turns to control module to be connected, right steering lamp, left steering switch, right steering switch.
4. electric vehicle body control system according to claim 1, is characterized in that: alarm unit also comprises the loudspeaker, horn switch, the shock sensor that are all connected with alarm control module.
5. electric vehicle body control system according to claim 1, is characterized in that: field bus instrument unit also comprises the LCDs, the USB interface that are all connected with display control module.
6. electric vehicle body control system according to claim 1, is characterized in that: electric-motor drive unit comprises motor control module and the motor being connected with motor control module.
7. electric vehicle body control system according to claim 1, is characterized in that: also comprise the three axle Gravity accelerometers that are connected with CPU.
8. battery-driven car track gradient method of calculating, battery-driven car is provided with three axle Gravity accelerometers, CPU, electric machine controller, field bus instrument unit, comprises the following steps:
A. field bus instrument unit is installed on battery-driven car on level road, sets zero ratio of slope of track by Zero calibration apparatus;
B. the signal of field bus instrument unit Real-time Collection three axle Gravity accelerometers in the process of riding, obtains the information of current driving road gradient value α after filtering afterwards, specific as follows:
Three axle Gravity accelerometers detect the value of the acceleration due to gravity of battery-driven car X, Y, tri-directions of Z in real time, the three axle Gravity accelerometers to battery-driven car carry out initial calibration, measure the mounted angle β of three axle Gravity accelerometers while allowing battery-driven car be parked in a horizontal plane; Mounted angle β tries to achieve by the following method:
β＝tan
-1(Ay/Ax)
In formula, Ax is X-direction acceleration due to gravity, and Ay is Y direction acceleration due to gravity;
α is as follows for track ratio of slope:
α＝cos
-1{[Ax*sin(β)+Ay*cos(β)]/g}
In formula, track ratio of slope α is the angle of inclination of battery-driven car and level road; G is acceleration of free fall, and it is constant, g=9.8m/s
2;
C. field bus instrument unit sends to electric machine controller by track ratio of slope α by bus;
D. electric machine controller regulates Motor torque output according to track ratio of slope α; Expanded motor moment of torsion is controlled in climbing, and descending reduces Motor torque.
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