CN104129305A - Method for controlling speed of electric car - Google Patents
Method for controlling speed of electric car Download PDFInfo
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- CN104129305A CN104129305A CN201410408955.0A CN201410408955A CN104129305A CN 104129305 A CN104129305 A CN 104129305A CN 201410408955 A CN201410408955 A CN 201410408955A CN 104129305 A CN104129305 A CN 104129305A
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Abstract
The invention relates to a method for controlling the speed of an electric car. The method comprises the following steps: (1) inputting an actual speed signal detected by a Hall type wheel speed signal sensor into a completed car controller, and judging whether to start the speed closed-loop control or not through a control chip; (2) selecting a driving mode on a driving mode selecting module by a driver according to a present road condition, and at the same time, stepping an electronic type accelerator pedal to one position for the driver; (3) inputting a driving mode signal, an accelerator pedal position signal and the actual speed signal into the completed car controller through corresponding channels; (4) filtering the input accelerator pedal position signal by using a low pass filter; (5) calculating the processed accelerator pedal position signal and the processed actual speed signal through a PID controller to obtain a drive motor torque command, and inputting the drive motor torque command to a drive motor controller through a CAN communication channel; and (6) controlling a drive motor to act by the drive motor controller according to the drive motor command. The method disclosed by the invention can be widely applied to the speed control of various electric cars.
Description
Technical field
The present invention relates to a kind of method for controlling driving speed, particularly about the electronlmobil method for controlling driving speed of the corresponding electronlmobil speed of a motor vehicle of a kind of accelerator pedal position.
Background technology
By the end of the end of the year 2013, Chinese automobile recoverable amount has broken through 1.3 hundred million, the whole nation has the automobile pollution in 31 cities to surpass 1,000,000, and wherein 8 city automobile recoverable amounts such as Beijing, Tianjin, Chengdu, Shenzhen, Shanghai, Guangzhou, Suzhou, Hangzhou are over 2,000,000.And at present Chinese market possess still using traditional combustion engine as power with market most automobiles on sale, give and energy-conservationly bring huge pressure with environmental protection.Comparing with internal-combustion engines vehicle, there is many advantages in electronlmobil, and for example energy conversion efficiency is high, and low speed torque is large etc.Along with constantly adding of oil consumption and Abgasgesetz is tight, the market share of having reason to believe electronlmobil (for example hybrid vehicle and pure electric automobile) can progressively increase, and then occupy the market of a part of traditional combustion engine automobile, even finally can make internal-combustion engines vehicle step down from the stage of history.
On the other hand, in traditional internal-combustion engines vehicle, chaufeur need to participate in the negative feedback closed loop of the speed of a motor vehicle and control, its control flow is: 1, chaufeur produces a desired speed at heart, this desired speed is relevant to several factors, and road speed limit for example, with leading vehicle distance or the intention etc. of overtaking other vehicles.2, instrument carrier panel by actual vehicle speed by visual feedback to chaufeur, the relation between chaufeur judgement actual vehicle speed and desired speed, is also that actual vehicle speed is to be greater than to be less than or equal to desired speed.When 3, actual vehicle speed is less than desired speed, the signal that chaufeur brain output is accelerated, controls the right crus of diaphragm pedal of stepping on the throttle, and increases accelerator open degree; When actual vehicle speed equals desired speed, the output of chaufeur brain keeps the signal of present situation, and right crus of diaphragm does not move; When actual vehicle speed is greater than desired speed, the signal that the output of chaufeur brain is slowed down, controls on right crus of diaphragm and lifts, and reduces accelerator open degree, even right crus of diaphragm is moved to brake pedal from Das Gaspedal, steps on brake pedal.4, instrument carrier panel again by actual vehicle speed by visual feedback to chaufeur, then repeating step 2 and step 3, finally realize the closed loop control of the speed of a motor vehicle.
During the speed of a motor vehicle negative feedback closed loop of traditional combustion engine is controlled, the eyes of chaufeur are responsible for feedback signal input, and brain is responsible for closed loop control, and hand and pin are responsible for carrying out the output signal of brain, and chaufeur has been born main control task.When the speed of a motor vehicle is lower, particularly under the metropolitan road conditions of blocking up, two problems display: one, under the operating mode loitering, chaufeur working strength increases greatly, and chaufeur need to constantly switch throttle and brake pedal, if in the vehicle of hand-operated transmission, chaufeur also needs operated clutch pedal and speed-changing lever, so very easily produces driving fatigue, is unfavorable for driver comfort and safety; Its two, each chaufeur is independently individual, the control cycle of above-mentioned control method, speed of response, hyperharmonic dynamic error can not be duplicate for each chaufeur.Popular saying is exactly driving habit, and someone likes gentle driving, and speed of response and overshoot are smaller, are unfavorable for like this wagon flow speed; And also someone likes fierce driving, speed of response and overshoot are larger, are unfavorable for so again energy-saving and emission-reduction.
The change of power system is that possibility has been created in the change of method for controlling driving speed, and the solution that is configured as above-mentioned two problems of electronlmobil provides possibility.The electronic function of electronlmobil produces driving torque and braking torque, and speed of response is high, and rotating speed and torque energy are accurately controlled.But under traditional method for controlling driving speed, electronlmobil likely produces excessive acceleration/accel and deceleration/decel, cause electrical motor can not be operated in the efficiency area of optimization, but also can lose a part of braking energy.
Summary of the invention
For the problems referred to above, the object of this invention is to provide a kind ofly in the process of electronlmobil low speed driving, utilize the electronlmobil method for controlling driving speed of the corresponding electronlmobil speed of a motor vehicle of accelerator pedal position.
For achieving the above object, the present invention takes following technical scheme: a kind of electronlmobil method for controlling driving speed, and it comprises the following steps: 1) analog input channel, frequency quantity acquisition channel, CAN communication port and control chip are set in entire car controller; Low pass filter blocks and PID controller are set in described control chip; 2) the actual vehicle speed signal that Hall-type Wheel speed signal sensor records, by frequency quantity acquisition channel input entire car controller, judges whether to start speed of a motor vehicle closed loop control by control chip; When actual vehicle speed is less than critical speed, start speed of a motor vehicle closed loop control; When actual vehicle speed is more than or equal to critical speed, do not start speed of a motor vehicle closed loop control; 3) chaufeur, according to current condition of road surface, is selected to select a kind of driving model in comfortable, normal or motion in module at driving model, steps on electronic type accelerating throttle pedal to a certain position simultaneously; 4) driving model selects the driving model signal of module and the acceleration pedal position signal of electronic type accelerating throttle pedal to input entire car controller by analog input channel; The actual vehicle speed signal of Hall wheel speed sensor is by frequency quantity acquisition channel input entire car controller; 5) low pass filter blocks is carried out filtering, the high-frequency fluctuation in filtering acceleration pedal position signal and noise signal to the acceleration pedal position signal of input; 6) PID controller calculates acceleration pedal position signal and actual vehicle speed signal after processing, obtains drive motor torque command, and is input to drive motor controller by CAN communication port; 7) drive motor controller increases or reduces the demand torque of drive motor according to drive motor order, makes car load carry out acceleration or deceleration according to corresponding acceleration or deceleration velocity-response curve.
The present invention is owing to taking above technical scheme, it has the following advantages: 1, the present invention is due to when the speed of a motor vehicle is lower, chaufeur only needs to select the driving model of expectation and according to the desired speed pedal position of stepping on the throttle, can according to accelerator pedal position signal, to the speed of a motor vehicle, carry out closed loop control by entire car controller, alleviate greatly the working strength of chaufeur.2, the present invention, owing to having introduced PID control law, therefore passes through reasonably to select to control parameter, just can realize the quick and accurate response of actual vehicle speed to desired speed, accurately regulation speed.3, the present invention is because the characteristic performance curve according to drive motor has been optimized response curve, the acceleration of car load and deceleration are carried out according to accelerating velocity response curve or the geard-down speed response curve of design in advance, drive efficiency and the braking energy organic efficiency of drive motor have been optimized, can reclaim energy as much as possible, effectively improve energy service efficiency.The present invention can be widely used in the speed of a motor vehicle control of the various electronlmobils such as pure electric coach, plug-in hybrid passenger car, pure electric sedan, plug-in hybrid car.
Accompanying drawing explanation
Fig. 1 is control principle block diagram of the present invention
Fig. 2 is control flow schematic diagram of the present invention
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
As shown in Figure 1, in entire car controller of the present invention, be provided with analog input channel 1, frequency quantity acquisition channel 2, CAN communication port 3 and control chip 4.In control chip 4, be provided with low pass filter blocks 41, PID controller 42.The electronic type accelerating throttle pedal 5 of car load selects module 6 to be connected with entire car controller by analog input channel 1 with driving model; Hall wheel speed sensor 7 is connected with entire car controller by frequency quantity acquisition channel 2; Drive motor 8 is connected with drive motor controller 9, and drive motor controller 9 is connected with entire car controller by CAN communication port 3.In entire car controller, 4 pairs of each signals of control chip are processed, and the drive motor torque command obtaining is outputed to 9 pairs of drive motor 8 of drive motor controller by CAN communication port 3 control.
P in PID controller 42 (ratio), I (integration) and D (differential) control parameter, can artificially select according to concrete vehicle, and PID control technology is prior art, does not repeat them here.
As shown in Figure 1, electronlmobil method for controlling driving speed of the present invention, comprises the following steps:
1) the actual vehicle speed signal that Hall-type Wheel speed signal sensor 7 records, by frequency quantity acquisition channel 2 input entire car controllers, judges whether to start speed of a motor vehicle closed loop control by control chip 4.
When actual vehicle speed is less than critical speed, start speed of a motor vehicle closed loop control;
When actual vehicle speed is more than or equal to critical speed, do not start speed of a motor vehicle closed loop control.
The concrete numerical value of above-mentioned critical speed can be determined according to different application scenarios, such as the average ground speed of city bus is generally lower, and the critical speed of speed of a motor vehicle closed loop control can arrange lowlyer, for example 10km/h; And the average ground speed of car is generally higher, the critical speed of speed of a motor vehicle closed loop control can arrange highlyer, for example 20km/h.
2) chaufeur is according to current condition of road surface, as wagon flow speed and vehicle closeness, selects driving model to select a kind of in comfortable in module 6, normal or three kinds of driving models of motion, steps on electronic type accelerating throttle pedal 5 to a certain position simultaneously.The driving model that the present invention selects chaufeur is defined as expectation driving model, because the diverse location of electronic type accelerating throttle pedal 5 is corresponding with friction speed, so the speed of a motor vehicle corresponding to electronic type accelerating throttle pedal 5 positions that the present invention sets chaufeur is defined as desired speed.
Driving model selects the driving model of module 6 correspondences to determine the speed of speed of a motor vehicle closed loop control speed of response, and speed of response corresponding to three kinds of driving models is to fast sequence being slowly: the normal < of comfortable < moves.The present invention is according to three kinds of driving models, the characteristic performance curve of drive motor 8 of take is basis, accelerating velocity response curve and the geard-down speed response curve of car load under corresponding 3 kinds of driving models have been designed, when chaufeur is selected after expectation driving model, car load carries out acceleration or deceleration according to acceleration or deceleration velocity-response curve corresponding to this driving model, makes the operation point (as rotating speed, torque) of drive motor 8 for example, in the region of efficiency higher (being greater than 80%).
3) driving model selects the driving model signal of module 6 and the acceleration pedal position signal of electronic type accelerating throttle pedal 5 by analog input channel 1 input entire car controller; Hall wheel speed sensor 7 is inputted entire car controllers by actual vehicle speed signal by frequency quantity acquisition channel 2.
4) acceleration pedal position signal of 41 pairs of inputs of low pass filter blocks carries out filtering, the high-frequency fluctuation in filtering acceleration pedal position signal and noise signal.
5) acceleration pedal position signal and the actual vehicle speed signal after 42 pairs of processing of PID controller calculates, and obtains drive motor torque command, and is input to drive motor controller 9 by CAN communication port 3.
6) drive motor controller 9 increases or reduces the demand torque of drive motor 8 according to drive motor order, make car load carry out acceleration or deceleration according to the acceleration or deceleration velocity-response curve of response, the true speed of a motor vehicle and the desired speed of finally realizing car load equate in error allowed band.
The various embodiments described above are only for illustrating the present invention; wherein the structure of each parts, connection mode and manufacture craft etc. all can change to some extent; every equivalents of carrying out on the basis of technical solution of the present invention and improvement, all should not get rid of outside protection scope of the present invention.
Claims (1)
1. an electronlmobil method for controlling driving speed, it comprises the following steps:
1) analog input channel, frequency quantity acquisition channel, CAN communication port and control chip are set in entire car controller; Low pass filter blocks and PID controller are set in described control chip;
2) the actual vehicle speed signal that Hall-type Wheel speed signal sensor records, by frequency quantity acquisition channel input entire car controller, judges whether to start speed of a motor vehicle closed loop control by control chip;
When actual vehicle speed is less than critical speed, start speed of a motor vehicle closed loop control;
When actual vehicle speed is more than or equal to critical speed, do not start speed of a motor vehicle closed loop control;
3) chaufeur, according to current condition of road surface, is selected to select a kind of driving model in comfortable, normal or motion in module at driving model, steps on electronic type accelerating throttle pedal to a certain position simultaneously;
4) driving model selects the driving model signal of module and the acceleration pedal position signal of electronic type accelerating throttle pedal to input entire car controller by analog input channel; The actual vehicle speed signal of Hall wheel speed sensor is by frequency quantity acquisition channel input entire car controller;
5) low pass filter blocks is carried out filtering, the high-frequency fluctuation in filtering acceleration pedal position signal and noise signal to the acceleration pedal position signal of input;
6) PID controller calculates acceleration pedal position signal and actual vehicle speed signal after processing, obtains drive motor torque command, and is input to drive motor controller by CAN communication port;
7) drive motor controller increases or reduces the demand torque of drive motor according to drive motor order, makes car load carry out acceleration or deceleration according to corresponding acceleration or deceleration velocity-response curve.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105511475A (en) * | 2016-01-29 | 2016-04-20 | 中国科学院合肥物质科学研究院 | Automated vehicle longitudinal control method based on movement mode judgment |
| CN106004523A (en) * | 2016-07-22 | 2016-10-12 | 清华大学 | Method for optimally controlling real-time torque of distributed type driving electric vehicle |
| CN106585378A (en) * | 2016-11-09 | 2017-04-26 | 浙江吉利控股集团有限公司 | Vehicle speed limiting system and method |
| CN107667031A (en) * | 2015-05-29 | 2018-02-06 | 赛维康有限公司 | traction control method and device |
| CN108749816A (en) * | 2018-05-15 | 2018-11-06 | 天津职业技术师范大学 | The method for carrying out intelligent vehicle speed regulation with energy dissipation theory |
| CN109656235A (en) * | 2019-01-08 | 2019-04-19 | 清华大学 | Entire car controller assemblage on-orbit test macro and its control method |
| CN110303897A (en) * | 2018-03-27 | 2019-10-08 | 湖南中车时代电动汽车股份有限公司 | A kind of the target vehicle speed response method and system of pure electric vehicle intelligent driving car |
| CN113484530A (en) * | 2021-05-26 | 2021-10-08 | 深圳市二郎神视觉科技有限公司 | Vehicle speed detection method, system and computer readable storage medium |
| WO2022247275A1 (en) * | 2021-05-27 | 2022-12-01 | 中国第一汽车股份有限公司 | Engine starting control method and apparatus, electronic device, and storage medium |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107667031A (en) * | 2015-05-29 | 2018-02-06 | 赛维康有限公司 | traction control method and device |
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| CN106004523A (en) * | 2016-07-22 | 2016-10-12 | 清华大学 | Method for optimally controlling real-time torque of distributed type driving electric vehicle |
| CN106585378A (en) * | 2016-11-09 | 2017-04-26 | 浙江吉利控股集团有限公司 | Vehicle speed limiting system and method |
| CN110303897A (en) * | 2018-03-27 | 2019-10-08 | 湖南中车时代电动汽车股份有限公司 | A kind of the target vehicle speed response method and system of pure electric vehicle intelligent driving car |
| CN108749816A (en) * | 2018-05-15 | 2018-11-06 | 天津职业技术师范大学 | The method for carrying out intelligent vehicle speed regulation with energy dissipation theory |
| CN109656235A (en) * | 2019-01-08 | 2019-04-19 | 清华大学 | Entire car controller assemblage on-orbit test macro and its control method |
| CN113484530A (en) * | 2021-05-26 | 2021-10-08 | 深圳市二郎神视觉科技有限公司 | Vehicle speed detection method, system and computer readable storage medium |
| WO2022247275A1 (en) * | 2021-05-27 | 2022-12-01 | 中国第一汽车股份有限公司 | Engine starting control method and apparatus, electronic device, and storage medium |
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