CN104590052A - Slope starting anti-car-sliding control system and method thereof - Google Patents
Slope starting anti-car-sliding control system and method thereof Download PDFInfo
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- CN104590052A CN104590052A CN201410852189.7A CN201410852189A CN104590052A CN 104590052 A CN104590052 A CN 104590052A CN 201410852189 A CN201410852189 A CN 201410852189A CN 104590052 A CN104590052 A CN 104590052A
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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 provides a slope starting anti-car-sliding control system and method thereof. The control system comprises a signal input unit, a whole car controller and a motor controller, wherein the signal input unit comprises a gear device, a brake pedal and an accelerator pedal; the gear device, the brake pedal and the accelerator pedal are respectively connected with the whole car controller, and are used for inputting the driving motor rotating speed, the accelerator pedal or brake pedal opening degree and the gear signals of a car into the whole car controller; the whole car controller is connected with the motor controller; the whole car controller feeds back instructions corresponding to slope starting anti-sliding mode starting or ending to the motor controller according to parameters of the signal input unit. On the basis of not changing the operation of a driver, the backward sliding distance of the car is enabled to be in a safe distance, and the safety of the car is improved.
Description
Technical field
The present invention relates to the thermoacoustic prime engine strategy of pure electric automobile, be specifically related to a kind of hill start anti-running control system and method thereof.
Background technology
For pure electric automobile, when vehicle is started to walk on slope, when not using parking brake, when in accelerator pedal process after right crus of diaphragm leaves brake pedal, vehicle there will be in various degree slip car backward, easily accidents caused.Hill start anti-running function be exactly in order to solve start to walk in slope time pure electric automobile slip the problem of car backward, when finding to slip car backward, by motor quick adjustment moment of torsion, by vehicle stabilization in quiescence, ensure that vehicle slips spacing backward and controls in safety distance scope.
Patent (103754222A) discloses a kind of implementation method of electronlmobil uphill starting ancillary control function, comprise two steps: 1, activation condition judges, when chaufeur slams brake pedal, vehicle is remained static, do not draw open parking brake and gear at D Drive time, the state to be activated of entered function; If chaufeur loosen the brake rear vehicle starts to slip by slope, then activate uphill starting ancillary control function; 2, revise drive motor torque target value, first will increase sharply after uphill starting function activation motor output torque, and vehicle is no longer slipped by slope, and keeps this torque to export to make vehicle static in original place subsequently.When after chaufeur bend the throttle, uphill starting ancillary control function exits automatically, and vehicle is gentle start on ramp.The program is when vehicle anti-slide being detected, increases target torque value by entire car controller to electric machine controller, increases target torque gradient simultaneously, makes vehicle stabilization in quiescence fast.The shortcoming of this control policy is, by the mode of vehicle control unit controls electric machine control, torque responsive is slow, and it is comparatively large that vehicle slips spacing backward, or easily cause the accident, and cannot fundamentally overcome to slip the hidden danger of car phenomenon.
Patent (103879306A) discloses a kind of car ramp ancillary system and control method thereof, by chaufeur request ramp additional function, the information such as car load inclination angle, current vehicle speed, target vehicle speed, gear, parking, throttle, braking, motor that simultaneously gather judge upward slope starting state or up-hill journey state, starting crawling moment of torsion and upward slope moment of torsion is adjusted after determining current state, when uphill starting is without parking, loosen the brake is in the time of open out, at least maintain vehicle balance, prevent vehicle from slipping car in ramp.The enforcement of this scheme needs to increase car load obliquity sensor, namely additionally increases cost, and needs driver's operation ramp request function, add the inconvenience of certain operation.
Summary of the invention
In view of this, the invention provides a kind of hill start anti-running control system and method thereof, be intended to the anti-running performance basis that do not increase cost and do not change driver's operation being optimized pure electric automobile.
The technical solution used in the present invention is specially:
A kind of hill start anti-running control system, comprise signal input unit, entire car controller and electric machine controller, described signal input unit comprises gear shifting device, brake pedal and Das Gaspedal, described gear shifting device, described brake pedal are connected with described entire car controller respectively with described Das Gaspedal, for the drive motor rotating speed of vehicle, Das Gaspedal or brake pedal aperture, shift signal are inputed to entire car controller; Described entire car controller is connected with described electric machine controller, described entire car controller is according to the parameter of described signal input unit, anti-slip for hill start pattern is started or forbids that corresponding instruction feedback is to described electric machine controller, after electric machine controller receives this instruction, then judge that current gear and motor speed determine whether to enter and anti-ly slip by slope function.
A kind of hill start anti-running control method, specifically comprises the following steps:
First entire car controller judges whether to start anti-running functional conditions according to the current state of car load, if satisfy condition, namely allow to prevent slipping by slope function on, otherwise, No starting is anti-slips by slope function, and the order of permission or No starting anti-running function is sent to electric machine controller by entire car controller;
When allowing to start anti-running function, if after electric machine controller receives the order allowing anti-running function, judge that whether gear signal is with consistent with motor hand of rotation, if unanimously, then do not enter 0 speed conditions; If inconsistent, and motor speed is now greater than setting value three, then motor enters 0 rotating speed pattern; Forbid preventing slipping by slope command function if electric machine controller receives, then all can not enter 0 speed conditions under any condition;
When motor enters 0 rotating speed pattern, passing ratio integration control PI calculates stall moment of torsion, Motor torque is transitioned into the stall moment of torsion maintaining motor 0 rotating speed fast from current torque, by motor stabilizing at 0 rotating speed, the actual stall moment of torsion of motor is sent to entire car controller simultaneously.
In above-mentioned hill start anti-running control method, described proportional plus integral control PI is specially:
The stall torque T orque=TP+TI exported, wherein:
TP＝Kp*(MotSpeed-MotSpeedSet)；
TI＝Ki*(MotSpeed-MotSpeedSet)+PreKi*(PreMotSpeed-MotSpeedSet)；
In above formula:
TP: proportional;
TI: integration item;
Kp: proportionality coefficient, current period is tabled look-up according to motor speed and is drawn;
Ki: integral coefficient, current period is tabled look-up according to motor speed and is drawn;
PreKi: a upper cycle to table look-up the integral coefficient drawn according to motor;
MotSpeed: current motor rotating speed;
PreMotSpeed: the motor speed in last cycle;
MotSpeedSet: target setting motor speed.
In above-mentioned hill start anti-running control method, the condition of anti-running function on comprises:
The discharge power that electrokinetic cell allows is greater than setting value one; Motor temperature is less than setting value two;
The temperature of electric machine controller is less than setting value three; And perform broken height pressure and 0 moment of torsion fault without car load; When above-mentioned condition all meets, allow entire car controller to send to electric machine controller and start the anti-order slipping by slope function.
In above-mentioned hill start anti-running control method, described setting value one > 5kW.
In above-mentioned hill start anti-running control method, described setting value two < 120 DEG C.
In above-mentioned hill start anti-running control method, described setting value three < 80 DEG C.
The beneficial effect that the present invention produces is:
Hill start anti-running control method of the present invention enter anti-slip by slope function and exit anti-running function time moment of torsion transition smooth-going, and hill start car load to slip the distance of car backward short, ensure that safety; And a whole set of control method only need revise software strategy, without the need to increasing hardware cost, chaufeur is also without the need to just realizing anti-slip function operation bidirectional, and comformability is good.
Accompanying drawing explanation
When considered in conjunction with the accompanying drawings, more completely the present invention can be understood better.Accompanying drawing described herein is used to provide a further understanding of the present invention, and embodiment and explanation thereof, for explaining the present invention, do not form inappropriate limitation of the present invention.
Fig. 1 is the structural representation of a kind of hill start anti-running of the present invention control system;
Fig. 2 is the FB(flow block) of a kind of hill start anti-running of the present invention control method.
In figure: 1, gear shifting device 2, brake pedal 3 Das Gaspedal 4, entire car controller 5, electric machine controller.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described in further detail.
A kind of hill start anti-running control system as shown in Figure 1, comprise signal input unit, entire car controller 4 and electric machine controller 5, described signal input unit comprises gear shifting device 1, brake pedal 2 and Das Gaspedal 3, described gear shifting device 1, above-mentioned brake pedal 2 are connected with described entire car controller 4 respectively with described Das Gaspedal 3, for the drive motor rotating speed of vehicle, Das Gaspedal or brake pedal aperture, shift signal are inputed to entire car controller 4; Described entire car controller 4 is connected with described electric machine controller 5, described entire car controller 4 is according to the parameter of described signal input unit, anti-slip for hill start pattern is allowed or forbids that corresponding instruction feedback is to described electric machine controller 5, that is: entire car controller 4 is by the signal combination car load current state of signal input unit, judges whether to allow anti-running function.Electric machine controller 5 receives after whether car load allow anti-running order, whether enters 0 speed conditions according to gear positions and motor speed determination motor, if determine that motor meets the condition entering 0 speed conditions, is then fast transitioned into 0 rotating speed from current rotating speed; If motor meets the condition exiting 0 rotating speed, then Motor torque is transitioned into the target torque value of entire car controller 4 transmission fast from current stall moment of torsion.
The control method of above-mentioned hill start anti-running control system as shown in Figure 2, first entire car controller judges whether to allow to prevent slipping by slope function, if entire car controller allows to prevent slipping by slope function, entire car controller sends to electric machine controller to send by network and allows to prevent slipping by slope function, electric machine controller receive entire car controller allow anti-slip by slope order after, judge that whether the gear signal of vehicle is consistent with motor hand of rotation, if unanimously, then motor does not enter 0 speed conditions; If inconsistent, now illustrate that the phenomenon of car appears slipping backward in car load, and motor speed is greater than setting value, then motor enters 0 rotating speed pattern;
After motor enters 0 rotating speed pattern, passing ratio integration control (PI) calculates stall moment of torsion, be transitioned into the stall moment of torsion maintaining motor 0 rotating speed fast from current torque, by motor stabilizing at 0 rotating speed, the actual stall moment of torsion of motor sent to entire car controller simultaneously.
Can find out, in the anti-slip control program of hill start of the present invention, the anti-entry and exit slipping by slope function, all comprise condition arranged side by side, wherein:
Entire car controller allows or forbids preventing slipping by slope functional conditions:
The discharge power that battery allows is greater than certain value and motor temperature and electric machine control actuator temperature are less than relevant temperature value, and performs broken height pressure or 0 moment of torsion fault without car load.Any condition does not meet, and entire car controller is all forbidden preventing slipping by slope function.
The 0 speed conditions condition that enters of motor comprises:
Entry condition 1:
Revolve accident barrier without motor, gear be D shelves, motor hand of rotation is reversion, motor speed be greater than setting value one and receive entire car controller send anti-slip by slope enable.
Entry condition 2:
Without motor revolve accident barrier, gear at R shelves, motor hand of rotation for rotating forward, motor speed be greater than setting value two and receive entire car controller send anti-slip by slope enable.
The anti-exit criteria slipping by slope function comprises:
Exit criteria 1:
The car load demand torque that entire car controller 4 sends is greater than the stall moment of torsion of motor feedback.
Exit criteria 2:
Chaufeur has carried out gear-change operation (namely changing to other gear from current gear).
Exit criteria 3:
Motor has been in the anti-slip operating mode in slope, if the enable command that entire car controller 4 sends become not enable command time, motor exits and anti-slips by slope function, transits to current torque order.
After motor enters 0 speed conditions, 2s (for 2s) rear motor is also in 0 speed conditions, and motor exits 0 speed conditions, and Motor torque reduces from current stall moment of torsion gradually according to certain gradient.In the process that Motor torque reduces, motor still meets the condition entering 0 speed conditions, then motor reenters 0 speed conditions, restarts timing.Motor enter anti-slip by slope operating mode after, the maximum torque that its maximum stall moment of torsion that can export allows according to motor temperature curve limits.
As mentioned above, embodiments of the invention are explained, obviously, as long as do not depart from fact inventive point of the present invention and effect, will be readily apparent to persons skilled in the art distortion, is also all included within protection scope of the present invention.
Claims (7)
1. a hill start anti-running control system, it is characterized in that, comprise signal input unit, entire car controller and electric machine controller, described signal input unit comprises gear shifting device, brake pedal and Das Gaspedal, described gear shifting device, described brake pedal are connected with described entire car controller respectively with described Das Gaspedal, for the drive motor rotating speed of vehicle, Das Gaspedal or brake pedal aperture, shift signal are inputed to entire car controller; Described entire car controller is connected with described electric machine controller, and anti-slip for hill start pattern, according to the parameter of described signal input unit, starts or terminates corresponding instruction feedback to described electric machine controller by described entire car controller.
2. a hill start anti-running control method, is characterized in that, specifically comprises the following steps:
First entire car controller judges whether to start anti-running functional conditions according to the current state of car load, if satisfy condition, namely allow to prevent slipping by slope function on, otherwise, No starting is anti-slips by slope function, and the order of permission or No starting anti-running function is sent to electric machine controller by entire car controller;
When allowing to start anti-running function, if after electric machine controller receives the order allowing anti-running function, judge that whether gear signal is with consistent with motor hand of rotation, if unanimously, then do not enter 0 speed conditions; If inconsistent, and motor speed is now greater than setting value three, then motor enters 0 rotating speed pattern; Forbid preventing slipping by slope command function if electric machine controller receives, then all can not enter 0 speed conditions under any condition;
When motor enters 0 rotating speed pattern, passing ratio integration control PI calculates stall moment of torsion, Motor torque is transitioned into the stall moment of torsion maintaining motor 0 rotating speed fast from current torque, by motor stabilizing at 0 rotating speed, the actual stall moment of torsion of motor is sent to entire car controller simultaneously.
3. hill start anti-running control method according to claim 2, is characterized in that, described proportional plus integral control PI is specially:
The stall torque T orque=TP+TI exported, wherein:
TP＝Kp*(MotSpeed-MotSpeedSet)；
TI＝Ki*(MotSpeed-MotSpeedSet)+PreKi*(PreMotSpeed-MotSpeedSet)
In above formula:
TP: proportional;
TI: integration item;
Kp: proportionality coefficient, current period is tabled look-up according to motor speed and is drawn;
Ki: integral coefficient, current period is tabled look-up according to motor speed and is drawn;
PreKi: a upper cycle to table look-up the integral coefficient drawn according to motor;
MotSpeed: current motor rotating speed;
PreMotSpeed: the motor speed in last cycle;
MotSpeedSet: target setting motor speed.
4. hill start anti-running control method according to claim 2, it is characterized in that, the condition of anti-running function on comprises:
The discharge power that electrokinetic cell allows is greater than setting value one;
Motor temperature is less than setting value two;
The temperature of electric machine controller is less than setting value three; And
Broken height pressure and 0 moment of torsion fault is performed without car load;
When above-mentioned condition all meets, allow entire car controller to send to electric machine controller and start the anti-order slipping by slope function.
5. hill start anti-running control method according to claim 4, is characterized in that, in above-mentioned hill start anti-running control method, and described setting value one > 5kW.
6. hill start anti-running control method according to claim 4, is characterized in that, described setting value two < 120 DEG C.
7. hill start anti-running control method according to claim 4, is characterized in that, described setting value three < 80 DEG C.
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| CN201410852189.7A CN104590052B (en) | 2014-12-31 | 2014-12-31 | A kind of anti-slip control method of hill start |
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| CN201410852189.7A CN104590052B (en) | 2014-12-31 | 2014-12-31 | A kind of anti-slip control method of hill start |
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| CN104842821A (en) * | 2015-05-18 | 2015-08-19 | 阳光电源股份有限公司 | Method and device for slope parking of electric vehicle |
| CN105313861A (en) * | 2015-11-10 | 2016-02-10 | 中国北方车辆研究所 | Hill start assisting system for load-carrying vehicle and control method thereof |
| CN105416090A (en) * | 2015-12-07 | 2016-03-23 | 东南（福建）汽车工业有限公司 | Control system and method for preventing reversing of blade electric vehicle during starting |
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