CN104627024B - Improve the control method of pure electric vehicle driving - Google Patents
Improve the control method of pure electric vehicle driving Download PDFInfo
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- CN104627024B CN104627024B CN201510072831.4A CN201510072831A CN104627024B CN 104627024 B CN104627024 B CN 104627024B CN 201510072831 A CN201510072831 A CN 201510072831A CN 104627024 B CN104627024 B CN 104627024B
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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
Abstract
The invention discloses a kind of control methods for improving pure electric vehicle driving, belong to field of automobile control.Method includes the following steps: obtaining driving wheel wheel speed and motor speed；Amendment torque is shown to driving wheel wheel speed and motor speed the progress operation of acquisition in conjunction with the speed ratio of main reducer of the electric vehicle；The amendment torque that operation the obtains entire car controller that is added to is controlled into motor as new torque request signal in the torque request signal of motor.This method is since the speed ratio of main reducer operation of the electric vehicle obtains amendment torque in conjunction with motor speed for the driving wheel wheel speed that will acquire, and it is superimposed using the amendment torque obtained with the former torque request signal of entire car controller and to form new torque request signal control motor, so that the accelerating curve of motor output is more smooth while keeping the larger value, therefore pure electric vehicle is made both to have guaranteed quickly to accelerate, the vibration of vehicle is effectively inhibited again, the control method is simple, it is easy to accomplish, effectively improve the comfort of pure electric vehicle driving.
Description
Technical field
The present invention relates to field of automobile control, more particularly to a kind of control method for improving pure electric vehicle driving.
Background technique
New-energy automobile is widely regarded as solution automobile exhaust pollution and is the main path for having the problems such as energy crisis
One of, in order to accelerate new-energy automobile industry development, propulsion energy-saving emission reduction promotes air contaminant treatment, and country is lasting to carry out newly
Energy automobile promotes and applies work.Under the fostering energetically of national policy, there is a collection of new energy vehicle --- pure electric vehicle
And hybrid vehicle, enter individual consumer market.However consumer is the purchase of pure electric vehicle or hybrid electric vehicle
Main body, drivability are the very big factors that consumer determines purchase vehicle, and therefore, driving is that new energy vehicle has to
Consider the problems of.
Conventional truck is since the torsional oscillation of transmission system can cause the vibration of vehicle in the longitudinal direction, and this phenomenon is in pure electricity
It is more obvious on motor-car.The power source used due to pure electric vehicle --- motor, compared with engine, torque is bigger under the low speed,
So vibration can be more obvious, and the response speed of motor is faster than engine, when driver steps on the gas suddenly, due to torsional oscillation
Acting on can be worse to the experience in terms of driver's driving.So on pure electric vehicle, in order to allow consumer to be more easier to connect
By pure electric vehicle, need to carry out the control of driving improvement.
Perhaps driving or the method using accelerator pedal signal filtering are not accounted in existing pure electric vehicle,
As Chinese patent CN 102963252 scheme in by torque requests to motor and limiting motor torque requests increase speed
Rate plays the role of driving raising.But this by way of filtering, there are the request torques of driver and practical generate to turn
There is delay in square, driver is made to feel the problem of vehicle speed-raising is slow, and kinaestheic is deteriorated.
Summary of the invention
Based on the above existing technology problems, the present invention provides a kind of controlling party for improving pure electric vehicle driving
Method, under the premise of will not cause to accelerate to postpone and accelerate inability, the driving for solving existing electric vehicle is bad, when suddenly stepping on the gas
There is the problem of vibration.
In order to solve the above technical problems, the present invention provide it is a kind of improve pure electric vehicle driving control method, including with
Lower step:
Obtain driving wheel wheel speed and motor speed；
The driving wheel wheel speed and motor speed the progress operation of acquisition are obtained in conjunction with the speed ratio of main reducer of the electric vehicle
Torque is corrected out；
The amendment torque that operation is obtained be added to entire car controller in the torque request signal of motor as new
Torque request signal control motor.
The invention has the benefit that since the master of the electric vehicle subtracts in conjunction with motor speed for the driving wheel wheel speed that will acquire
Fast device speed ratio operation obtains amendment torque, and is superimposed using the amendment torque obtained with the former torque request signal of entire car controller
New torque request signal control motor is formed, so that the accelerating curve of motor output is more flat while keeping the larger value
It is suitable, therefore make pure electric vehicle not only guarantee quickly to accelerate, but also effectively inhibit the vibration of vehicle, the control method is simple, is easy real
It is existing, effectively improve the comfort of pure electric vehicle driving.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is control method flow chart provided in an embodiment of the present invention；
Fig. 2 is that the pure electric vehicle control system of application control method provided in an embodiment of the present invention constitutes schematic diagram；
Fig. 3 is driving control module schematic diagram provided in an embodiment of the present invention；
Fig. 4 is that driving control module provided in an embodiment of the present invention constitutes schematic diagram；
Fig. 5 is the accelerating curve contrast schematic diagram of control method provided in an embodiment of the present invention；
Fig. 6 is that another pure electric vehicle control system of application control method provided in an embodiment of the present invention constitutes signal
Figure.
Specific embodiment
The following is a clear and complete description of the technical scheme in the embodiments of the invention, it is clear that described embodiment
Only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiment of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, belongs to protection scope of the present invention.
Fig. 1 show a kind of control method for improving pure electric vehicle driving provided in an embodiment of the present invention, including following
Step:
Step 1, driving wheel wheel speed and motor speed are obtained；
Step 2, it is carried out in conjunction with the driving wheel wheel speed and motor speed of the speed ratio of main reducer of the electric vehicle to acquisition
Operation obtains amendment torque；
Step 3, amendment torque operation obtained is added to entire car controller in the torque request signal of motor
As new torque request signal.
In above-mentioned control method, in conjunction with the pure electric vehicle speed ratio of main reducer to the driving wheel wheel speed and electricity of acquisition
Machine revolving speed carries out operation and show that amendment torque includes:
The speed ratio of main reducer of the driving wheel wheel speed and the pure electric vehicle is carried out multiplying and obtains signal by the first step
S1；
The signal S1 that the motor speed S2 and the first step are obtained is carried out subtraction and obtains signal e by second step；
Third step carries out pid control computation to the signal e and obtains amendment dtc signal u, operational formula are as follows: and u (t)=
kp[e(t)+1/TI∫e(t)dt+TD×de(t)/dt]。
In above-mentioned control method, each step of method controls mould by driving is arranged in the entire car controller of the pure electric vehicle
Block is realized.
In above-mentioned control method, driving control module includes:
Motor speed acquisition submodule obtains motor speed, is electrically connected through arithmetic unit and PID controller；
Driving wheel wheel speed acquisition submodule obtains driving wheel wheel speed, through speed ratio of main reducer receiving submodule, the fortune
It calculates device and the PID controller is electrically connected；
The arithmetic unit, for the speed ratio of main reducer of the driving wheel wheel speed and the pure electric vehicle to be carried out multiplying
Signal S1 is obtained, and the signal S1 that the motor speed S2 and the first step are obtained is subjected to subtraction and obtains signal e,
And signal e is sent to the PID controller；
The PID controller, for by operational formula u (t)=kp [e (t)+1/TI ∫ e (t) dt+TD × de (t)/dt] into
Row pid control computation obtains amendment dtc signal u.
In above-mentioned control method, driving control module further include: wheel speed sensors obtain submodule with the motor speed
Block electrical connection, acquires driving wheel wheel speed.The case where obtaining driving wheel wheel speed for no abs controller, can increase wheel speed
Sensor obtains driving wheel wheel speed, using the control method pure electric vehicle system architecture as indicated with 6.
In above-mentioned control method, driving wheel wheel speed acquisition submodule is controlled by the entire car controller of the pure electric vehicle from ABS
Device processed obtains driving wheel wheel speed.
Control method of the invention is described further in the following with reference to the drawings and specific embodiments.
Using control method of the present invention pure electric vehicle system architecture as indicated with 2, motor passes through drive shaft and main deceleration
Device connection, main reducing gear drive wheel by semiaxis.Entire car controller is responsible for acquiring driver's operation information, as gas pedal is believed
Breath, brake pedal information etc., and the torque requests to motor are converted by the operation of driver, electric machine controller is responsible for receiving whole
The torque command request control motor of vehicle controller makes motor generate the torque of target, and controls as the ABS of anti-lock braking system
Device acquires the wheel speed signal of vehicle, and control wheel does not skid in braking.Entire car controller, electric machine controller and ABS
Controller is connected by CAN bus.
Control method of the invention can increase driving control module and realize control on the basis of entire car controller
Each step, driving control module is as shown in Figure 3,4, wherein CAN bus signal of the motor speed from electric machine controller；It drives
CAN bus signal of the driving wheel wheel speed from abs controller；And the output of driving control module is amendment torque, this is driven
The amendment torque that sailing property control module is calculated is added to forming new torque requests in the torque requests of real electrical machinery, into
And control motor.
Wherein the operation of driving control module obtain amendment torque calculating steps are as follows (as shown in connection with fig. 4):
Driving wheel wheel speed makes the difference the input quantity e (t) as PID controller multiplied by speed ratio of main reducer with motor speed again,
U (t) is denoted as by exporting amendment torque after PID controller, wherein PID (ratio (proportion), integral
(integration), differential (differentiation)) controller is easily understood, accurate system model etc. is not required in use
Prerequisite.
PID controller is made of proportional unit (P), integral unit (I) and differentiation element (D).It inputs e (t) and output u
(t) relationship are as follows:
The bound integrated in u (t)=kp [e (t)+1/TI ∫ e (t) dt+TD × de (t)/dt] formula is 0 and t respectively；
Therefore its transmission function are as follows: G (s)=U (s)/E (s)=kp [1+1/ (TI × s)+TD × s]；
Wherein kp is proportionality coefficient；TI is integration time constant；TD is derivative time constant, these three control variables pass through
Real vehicle calibration obtains.
Control method of the invention is realized by increasing driving control module in entire car controller, can make pure electric vehicle
Vehicle obtains good acceleration and high comfort when suddenly stepping on the gas, and effectively reduces vibration caused by acceleration shock.
Fig. 5 is not use the acceleration of control method and use driving control method of the present invention of the invention in the case of urgency is stepped on the gas
Curve comparison, as can be seen that the accelerating curve using control method of the invention is keeping larger from accelerating curve
It is smoother in the case where value, thus reduce the impact formed by sudden change of acceleration.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Within the technical scope of the present disclosure, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (3)
1. a kind of control method for improving pure electric vehicle driving, which comprises the following steps:
Obtain driving wheel wheel speed and motor speed；
It carries out operation to the driving wheel wheel speed and motor speed of acquisition and obtains to repair in conjunction with the speed ratio of main reducer of the electric vehicle
Positive torque specifically includes:
The speed ratio of main reducer of the driving wheel wheel speed and the pure electric vehicle is carried out multiplying and obtains signal S1 by the first step；
The signal S1 that the motor speed S2 and the first step are obtained is carried out subtraction and obtains signal e by second step；
Third step carries out pid control computation to the signal e and obtains amendment dtc signal u, operational formula are as follows: u (t)=kp [e
(t)+1/TI∫e(t)dt+TD×de(t)/dt]；
Wherein: u is amendment dtc signal；E is signal；Kp is proportionality coefficient；TI is integration time constant；TD is derivative time
Constant；The bound of integral is 0 and t respectively；
The amendment torque that operation the is obtained entire car controller that is added to turns in the torque request signal of motor as new
Square request signal controls motor；
Each step of the method is realized by driving control module is arranged in the entire car controller of the pure electric vehicle；
The driving control module includes:
Motor speed acquisition submodule obtains motor speed, is electrically connected through arithmetic unit and PID controller；
Driving wheel wheel speed acquisition submodule obtains driving wheel wheel speed, through speed ratio of main reducer receiving submodule, the arithmetic unit
It is electrically connected with the PID controller；
The arithmetic unit is obtained for the speed ratio of main reducer of the driving wheel wheel speed and the pure electric vehicle to be carried out multiplying
Signal S1, and the signal S1 that the motor speed S2 and the first step are obtained is subjected to subtraction and obtains signal e, and will
Signal e is sent to the PID controller；
The PID controller, for being carried out by operational formula u (t)=kp [e (t)+1/TI ∫ e (t) dt+TD × de (t)/dt]
Pid control computation obtains amendment dtc signal u.
2. the control method according to claim 1 for improving pure electric vehicle driving, which is characterized in that the driving control
Molding block further include:
Wheel speed sensors are electrically connected with the driving wheel wheel speed acquisition submodule, acquire driving wheel wheel speed.
3. the control method according to claim 1 for improving pure electric vehicle driving, which is characterized in that the driving wheel wheel
Fast acquisition submodule obtains driving wheel wheel speed from abs controller by the entire car controller of the pure electric vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510072831.4A CN104627024B (en) | 2015-02-11 | 2015-02-11 | Improve the control method of pure electric vehicle driving |
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| CN201510072831.4A CN104627024B (en) | 2015-02-11 | 2015-02-11 | Improve the control method of pure electric vehicle driving |
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| CN104627024A CN104627024A (en) | 2015-05-20 |
| CN104627024B true CN104627024B (en) | 2019-01-11 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105416092B (en) * | 2015-12-29 | 2018-04-03 | 潍柴动力股份有限公司 | A kind of pure electric vehicle back-sliding prevention control method and system |
| CN106218415A (en) * | 2016-07-22 | 2016-12-14 | 深圳市大地和电气股份有限公司 | A kind of monitoring system and method for Motor torque |
| CN108725255A (en) * | 2017-04-21 | 2018-11-02 | 阿尔特汽车技术股份有限公司 | Electric vehicle driving torque smoothness control method |
| CN108891304B (en) * | 2018-06-27 | 2020-07-03 | 北京长城华冠汽车科技股份有限公司 | Acceleration control method and device for unmanned electric vehicle |
| CN111775869B (en) * | 2020-07-28 | 2021-12-21 | 厦门金龙联合汽车工业有限公司 | Method for inhibiting abnormal sound of transmission chain of pure electric bus |
| CN112319240B (en) * | 2020-11-17 | 2021-12-24 | 安徽江淮汽车集团股份有限公司 | Electric vehicle drivability management method, device, apparatus, and storage medium |
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| JP2007336705A (en) * | 2006-06-15 | 2007-12-27 | Fanuc Ltd | Motor controller |
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| CN101701624A (en) * | 2009-11-27 | 2010-05-05 | 青特集团有限公司 | Method for changing speed ratio of main reducer of middle axle of automobile |
| CN103826950A (en) * | 2011-09-27 | 2014-05-28 | 丰田自动车株式会社 | Vehicle drive force control apparatus |
| CN103906648A (en) * | 2011-10-27 | 2014-07-02 | 丰田自动车株式会社 | Electric vehicle and method for controlling the same |
Non-Patent Citations (1)
| Title |
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