CN104760517A - Electric automobile motor target torque control method based on multiple parameters and multiple MAPs - Google Patents
Electric automobile motor target torque control method based on multiple parameters and multiple MAPs Download PDFInfo
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- CN104760517A CN104760517A CN201510137866.1A CN201510137866A CN104760517A CN 104760517 A CN104760517 A CN 104760517A CN 201510137866 A CN201510137866 A CN 201510137866A CN 104760517 A CN104760517 A CN 104760517A
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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 discloses an electric automobile motor target torque control method based on multiple parameters and multiple MAPs. The method specifically comprises the steps that a vehicle controller of an electric automobile collects accelerator pedal position signals, acceleration pedal change rate signals, battery SOC signals, vehicle speed signals and brake pedal position signals and judges vehicle control strategy according to the operation intention of a driver and vehicle condition; the vehicle controller collects motor temperature signals and inquires a torque MAP of two adjacent temperature points of an actual motor temperature point under the different vehicle driving control strategies according to the current temperature of a motor so as to obtain motor torques corresponding to two temperature points under the working condition, and a Lagrangian linear interpolation method is utilized for obtaining an initial motor target torque; the vehicle controller collects current state parameters of a power battery, and adjusts the initial motor torque so as to obtain the finial motor target torque according to the current state of the power battery. According to the invention, the motor torque output can be precisely controlled, and the vehicle travelling distance and the vehicle driving performance are improved.
Description
Technical field
The present invention relates to motor in electric automobile, particularly relate to a kind of motor in electric automobile target torque control method based on the many MAP of multi-parameter.
Background technology
Melt multinomial new and high technology, in electronlmobil integrally, there is anti-emission carburetor pollution, low noise advantages, have incomparable advantage in environmental protection and energy-saving square mask, causing a World Auto Industry revolution.Electric automobile work condition is complicated, machine operation range of temperature is wide, motor is often operated in nonlinear area, need the computing of large amount of complex, most of motor target torque acquisition methods on market and in patent can not meet the demands, and motor target torque control method does not all consider the temperature change of motor in other patents, the torque of motor can not accurately be controlled, and fluctuation is larger.
Summary of the invention
Technical matters to be solved by this invention is: provide a kind of motor in electric automobile target torque control method based on the many MAP of multi-parameter, the method not only increases car load course continuation mileage and battery, also improves accuracy and the car load driving performance of motor torque output.
The present invention solves its technical matters and adopts following technical scheme:
Motor in electric automobile target torque control method provided by the invention, be a kind of motor in electric automobile target torque control method based on the many MAP of multi-parameter, the method comprises the following steps:
1. vehicle control unit of electric vehicle gathers acceleration pedal position signal, acceleration pedal rate of change signal, vehicle speed signal, brake pedal signal, gear signal, battery SOC signal by high-speed CAN bus, and judges car load drived control strategy according to driver's operation intention and car load operating condition;
2. described entire car controller gathers motor temperature signal, and according to motor Current Temperatures, inquire about the torque M AP figure of adjacent two temperature spots of real electrical machinery temperature under different car load drived control strategy, obtain the motor torque that two temperature spots under this operating mode are corresponding, recycling Lagrangian fit linear interpolation method obtains initial motor target torque;
3. entire car controller gathers electrokinetic cell current state parameter, and according to electrokinetic cell current state, carries out adjustment obtain final motor target torque to initial motor torque.
Described entire car controller is integrated with the motor torque MAP of 13 secondary different temperatures under each car load drived control strategy, control policy is judged by each sensor signal, and the running temperature of Real-Time Monitoring motor, adopt Lagrangian fit linear interpolation method to calculate initial motor target torque according to motor temperature.
Described each car load drived control strategy comprises control strategy of start process, reversing control policy, low electricity control policy, dynamic property control policy, economy control policy, braking energy feedback control policy.
Described entire car controller is primarily of the master chip be connected with electric signal, secondary chip, CAN transceiver module, SCI communication module, signal processing module, driver module composition, wherein: master chip is responsible for computing and the process of data, be also the carrier that control method realizes; Secondary chip is by the operation conditions of heartbeat signal monitoring master chip, when master chip breaks down, master chip is replaced to perform safety traffic function by auxiliary chip, carried out the communication under safe condition by CAN and each node of car load CAN network, ensure vehicle nonserviceable under basic security driving functions.
Described entire car controller Real-Time Monitoring battery current state, and according to battery current motor, initial motor target torque is adjusted, obtain final motor target torque.
Described entire car controller gathers motor real-world operation temperature t, as t ≠ t
ntime, and t
n-1< t < t
n, temperature t under inquiry respective drive control policy
n-1and t
nmotor torque MAP, obtain torque T
n-1and T
n, recycling Lagrangian fit linear interpolation method calculates initial motor target torque T
1; The formula that Lagrangian fit linear interpolation method adopts is:
(T
L-T
n-1)/(T
n-T
n-1)＝(t-t
n-1)/t
n-t
n-1)
Work as t=t
ntime, temperature t under inquiry respective drive control policy
nmotor torque MAP, directly obtain initial motor target torque T
1.
Described t
n=-20 ,-10,0,10 ... 100 DEG C, n=1,2 ... 13, T
nfor corresponding temperature t
nunder motor torque.
The present invention compared with prior art has following main advantage:
Current domestic electronlmobil, without entire car controller, only has electric machine controller, and motor control algorithms is simple, and motor target torque can not accurately export, and car load course continuation mileage is low.
The entire car controller of the present invention's design judges driver intention and car load operation conditions according to each sensor signal, select best traveling control policy, and entire car controller Real-Time Monitoring motor temperature, and the elementary motor target torque under utilizing Lagrangian fit linear interpolation method to calculate different machine operation temperature; Entire car controller Real-Time Monitoring battery SOC, output voltage, according to battery current operating state, adjust initial motor target torque, obtain final motor target Driving Torque simultaneously.
By proving a certain electric automobile whole emulated data and test figures contrast experiment, the course continuation mileage being obtained car load by electric automobile motor test stand is 337km, motor torque fluctuation range is-5% ~-1%, + 1% ~+5%, test proves: the present invention meets the economical of electric automobile whole and dynamic property requirement, and improves the particularity of car load course continuation mileage and the output of motor target torque.
Accompanying drawing explanation
Fig. 1 is entire car controller constructional drawing of the present invention.
Fig. 2 is the diagram of circuit of motor target torque control algorithm of the present invention.
Fig. 3 is car load drived control strategic process figure of the present invention.
Detailed description of the invention
Motor in electric automobile target torque control method based on the many MAP of multi-parameter provided by the invention, it considers that machine operation temperature and battery current state are on the impact of motor output characteristic, Lagrangian fit linear interpolation method is utilized to obtain elementary motor target torque, again according to battery current state adjustment initial motor target torque, obtain final motor target torque.
Below in conjunction with embodiment and accompanying drawing, the invention will be further described.
Motor in electric automobile target torque control method based on the many MAP of multi-parameter provided by the invention, its idiographic flow is as illustrated in fig. 1 and 2: first, vehicle control unit of electric vehicle gathers acceleration pedal position signal, acceleration pedal rate of change signal, vehicle speed signal, brake pedal signal, gear signal, battery SOC signal by high-speed CAN bus, and judges car load drived control strategy according to driver's operation intention and car load operating condition; Then, entire car controller gathers motor temperature signal, and according to motor Current Temperatures, inquire about the torque M AP figure of adjacent two temperature spots of real electrical machinery temperature under different car load drived control strategy, obtain the motor torque that two temperature spots under this operating mode are corresponding, recycling Lagrangian fit linear interpolation method obtains initial motor target torque; Finally, entire car controller gathers electrokinetic cell current state parameter, and according to electrokinetic cell current state, carries out adjustment obtain final motor target torque to initial motor torque.
The above-mentioned motor in electric automobile target torque control method based on the many MAP of multi-parameter provided by the invention, specifically comprises the following steps:
(1) entire car controller of electronlmobil gathers acceleration pedal position signal, acceleration pedal rate of change signal, vehicle speed signal, brake pedal signal, gear signal, battery SOC signal by high-speed CAN bus, and judges car load drived control strategy according to driver's operation intention and car load operating condition.
(2) described entire car controller gathers motor temperature signal, and according to motor Current Temperatures, inquire about the torque M AP figure of adjacent two temperature spots of real electrical machinery temperature under different car load drived control strategy, obtain the motor torque that two temperature spots under this operating mode are corresponding, recycling Lagrangian fit linear interpolation method obtains initial motor target torque.
(3) entire car controller gathers electrokinetic cell current state parameter, and according to electrokinetic cell current state, carries out adjustment obtain final motor target torque to initial motor torque.
In above-mentioned steps (1), described car load drived control strategy comprises control strategy of start process, reversing control policy, low electricity control policy, dynamic property control policy, economy control policy, braking energy feedback control policy.Because car load driving governor is integrated with the motor torque MAP of 13 secondary different temperatures under each integrated vehicle control tactics, therefore different motor temperature-20 DEG C, motor torque MAP at-10 DEG C, 0 DEG C, 10 DEG C, 20 DEG C, 30 DEG C, 40 DEG C, 50 DEG C, 60 DEG C, 70 DEG C, 80 DEG C, 90 DEG C, 100 DEG C is comprised under each car load drived control strategy, i.e. acceleration pedal aperture-speed of a motor vehicle-torque M AP figure and the speed of a motor vehicle-electric braking moment MAP.
In above-mentioned steps (2), described entire car controller gathers motor real-world operation temperature t, as t ≠ t
ntime, and t
n-1< t < t
n, temperature t under inquiry respective drive control policy
n-1and t
nmotor torque MAP, obtain torque T
n-1and T
n, recycling Lagrangian fit linear interpolation method:
(T
1-T
n-1)/(T
n-T
n-1)＝(t-t
n-1)/t
n-t
n-1)
Calculate initial motor target torque T
1.Work as t=t
ntime, temperature t under inquiry respective drive control policy
nmotor torque MAP, directly obtain initial motor target torque T
1.
Work as t
n=-30 DEG C ,-20 ,-10,0,10 ... 100 DEG C of (n=1,2 ... 13) time, T
nfor corresponding temperature t
nunder motor torque.
In above-mentioned steps (1), described acceleration pedal aperture-speed of a motor vehicle-torque M AP figure and the speed of a motor vehicle-electric braking moment MAP obtain by a large amount of pure electric automobile motor platform experiment.
The entire car controller that the present invention adopts, its structure comprises master chip, secondary chip, power module, CAN transceiver module, SCI communication module, signal processing module, driver module.
Described master chip adopts the MC9S12DP256 chip of Freescale, and it is responsible for computing and the process of data, is also the carrier that control method realizes.
Described secondary chip adopts the MC9S12XEP100 chip of Freescale, it is by the operation conditions of heartbeat signal monitoring master chip, when master chip breaks down, master chip is replaced to perform safety traffic function by secondary chip, carried out the communication under safe condition by CAN and each node of car load CAN network, ensure vehicle nonserviceable under basic security driving functions.
Described power module adopts the automotive grade switching power source chip TLE7368 of company of Infineon, the circuit of 12V power-supply system normally must work in the voltage range of 9 ~ 16V, it provides power supply for each input and output module, and monitors battery tension, is connected with master chip.
Described signal processing module, its one end is connected with sensor or switch, and the other end connects with microcontroller.This signal processing module is used for the conditioning of analog-and digital-amount incoming signal, comprises analog signals process and digital quantity signal process.
Described CAN transceiver module, entire car controller can gather each sensor of automobile and on-off signal by it, and carries out communication with each ECU, and the motor target torque finally calculated is sent to electric machine controller; This CAN transceiver module adopts the TJA1040 transponder chip of PHILP company.
Described driver module, for driving multiple relay or system state indicator, is connected by I/O with master chip, and the other end connects with by controlled relay (low side drives) or indicator lamp (PWM drives); This driver module adopts 4 passage low limit smart power switch chip TLE6220GP.
Described SCI communication module is the important interface that entire car controller is connected with other equipment, meets RS232 communication standard, can external diagnostic installation, and the other end is connected with master chip, detects entire car controller operation conditions.This SCI communication module adopts the MAX232ESE chip of MAIXM company.
As shown in Figure 3, the concrete steps that judge of car load drived control strategy as:
1. described entire car controller gathers gear signal, and when judging that gear is R shelves, car load enters reversing control policy, when judging that gear is D shelves, then judges whether brake pedal is stepped on further;
If when 2. described brake pedal is stepped on, and battery SOC <=90%, car load enters braking energy feedback control policy, otherwise judges whether described acceleration pedal is stepped on further;
If 3. described acceleration pedal pedal is not stepped on, and speed of a motor vehicle >=30km/h, battery SOC <=90%, car load enters braking energy feedback control policy, otherwise judges further described battery SOC whether <=20%;
If 4. described battery SOC <=20%, car load enters low electricity control policy, otherwise judges further the described pure electric automobile speed of a motor vehicle whether <=10km/h;
If the 5. speed of a motor vehicle <=10km/h of described pure electric automobile, car load enters control strategy of start process, otherwise judges acceleration pedal rate of change further;
If 6. acceleration pedal rate of change is greater than preset value, car load enters dynamic property control policy, otherwise car load enters economy control policy.
Claims (7)
1. a motor in electric automobile target torque control method, it is characterized in that a kind of motor in electric automobile target torque control method based on the many MAP of multi-parameter, the method comprises the following steps:
1. vehicle control unit of electric vehicle gathers acceleration pedal position signal, acceleration pedal rate of change signal, vehicle speed signal, brake pedal signal, gear signal, battery SOC signal by high-speed CAN bus, and judges car load drived control strategy according to driver's operation intention and car load operating condition;
2. described entire car controller gathers motor temperature signal, and according to motor Current Temperatures, inquire about the torque M AP figure of adjacent two temperature spots of real electrical machinery temperature under different car load drived control strategy, obtain the motor torque that two temperature spots under this operating mode are corresponding, recycling Lagrangian fit linear interpolation method obtains initial motor target torque;
3. entire car controller gathers electrokinetic cell current state parameter, and according to electrokinetic cell current state, carries out adjustment obtain final motor target torque to initial motor torque.
2. motor in electric automobile target torque control method as claimed in claim 1, it is characterized in that described entire car controller is integrated with the motor torque MAP of 13 secondary different temperatures under each car load drived control strategy, control policy is judged by each sensor signal, and the running temperature of Real-Time Monitoring motor, adopt Lagrangian fit linear interpolation method to calculate initial motor target torque according to motor temperature.
3. motor in electric automobile target torque control method as claimed in claim 2, is characterized in that described each car load drived control strategy comprises control strategy of start process, reversing control policy, low electricity control policy, dynamic property control policy, economy control policy, braking energy feedback control policy.
4. motor in electric automobile target torque control method as claimed in claim 1, it is characterized in that described entire car controller is primarily of the master chip be connected with electric signal, secondary chip, CAN transceiver module, SCI communication module, signal processing module, driver module composition, wherein: master chip is responsible for computing and the process of data, be also the carrier that control method realizes; Secondary chip is by the operation conditions of heartbeat signal monitoring master chip, when master chip breaks down, master chip is replaced to perform safety traffic function by auxiliary chip, carried out the communication under safe condition by CAN and each node of car load CAN network, ensure vehicle nonserviceable under basic security driving functions.
5. motor in electric automobile target torque control method as claimed in claim 4, it is characterized in that described entire car controller Real-Time Monitoring battery current state, and according to battery current motor, initial motor target torque is adjusted, obtain final motor target torque.
6. motor in electric automobile target torque control method as claimed in claim 5, is characterized in that described entire car controller gathers motor real-world operation temperature t, as t ≠ t
ntime, and t
n-1< t < t
n, temperature t under inquiry respective drive control policy
n-1and t
nmotor torque MAP, obtain torque T
n-1and T
n, recycling Lagrangian fit linear interpolation method calculates initial motor target torque T
1; The formula that Lagrangian fit linear interpolation method adopts is:
(T
1-T
n-1)/(T
n-T
n-1)＝(t-t
n-1)/t
n-t
n-1)
Work as t=t
ntime, temperature t under inquiry respective drive control policy
nmotor torque MAP, directly obtain initial motor target torque T
1.
7. motor in electric automobile target torque control method as claimed in claim 6, is characterized in that described t
n=-20 ,-10,0,10 ... 100 DEG C, n=1,2 ... 13, T
nfor corresponding temperature t
nunder motor torque.
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|---|---|---|---|
| CN201510137866.1A CN104760517B (en) | 2015-03-27 | 2015-03-27 | Electric automobile motor target torque control method based on multiple parameters and multiple MAPs |
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|---|---|---|---|
| CN201510137866.1A CN104760517B (en) | 2015-03-27 | 2015-03-27 | Electric automobile motor target torque control method based on multiple parameters and multiple MAPs |
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| CN104760517A true CN104760517A (en) | 2015-07-08 |
| CN104760517B CN104760517B (en) | 2017-01-25 |
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|---|---|---|---|
| CN201510137866.1A Expired - Fee Related CN104760517B (en) | 2015-03-27 | 2015-03-27 | Electric automobile motor target torque control method based on multiple parameters and multiple MAPs |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105599638A (en) * | 2016-01-04 | 2016-05-25 | 武汉理工大学 | Torque control method aiming at magnetic recession characteristic of motor of electric vehicle |
| CN105667337A (en) * | 2016-03-10 | 2016-06-15 | 北京新能源汽车股份有限公司 | Electric automobile as well as power system and control method thereof |
| CN108001297A (en) * | 2017-12-12 | 2018-05-08 | 湘潭电机股份有限公司 | A kind of automobile drive electric motor control method of three branched structures |
| CN108215938A (en) * | 2018-01-05 | 2018-06-29 | 重庆长安汽车股份有限公司 | The method and device of power drive system direct torque |
| CN108382324A (en) * | 2018-01-18 | 2018-08-10 | 沈阳中科唯电子技术有限公司 | A kind of low-power consumption entire car controller of integrated gateway function |
| CN108790938A (en) * | 2018-04-25 | 2018-11-13 | 武汉理工大学 | Motor torque control method for different driving modes |
| CN109141921A (en) * | 2018-08-31 | 2019-01-04 | 北京新能源汽车股份有限公司 | A kind of generation method, device and the equipment of motor contour map |
| CN109305115A (en) * | 2018-09-28 | 2019-02-05 | 上汽通用五菱汽车股份有限公司 | A kind of automobile control method, electric car and computer readable storage medium |
| CN109484210A (en) * | 2018-12-20 | 2019-03-19 | 重庆长安新能源汽车科技有限公司 | A kind of Motor torque output method, system and the associated component of electric vehicle |
| CN109489991A (en) * | 2018-12-07 | 2019-03-19 | 安徽江淮汽车集团股份有限公司 | A kind of calculation method and system of the accelerator open degree of electric car performance test |
| CN109986974A (en) * | 2019-03-11 | 2019-07-09 | 汉腾汽车有限公司 | The temperature condition that a kind of electric car electricity drives energy regenerating judges algorithm |
| GB2571324A (en) * | 2018-02-26 | 2019-08-28 | Jaguar Land Rover Ltd | A controller for a vehicle |
| CN111186424A (en) * | 2020-01-21 | 2020-05-22 | 江苏大学 | Composite brake control system and method based on motor brake characteristics |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105599638A (en) * | 2016-01-04 | 2016-05-25 | 武汉理工大学 | Torque control method aiming at magnetic recession characteristic of motor of electric vehicle |
| CN105599638B (en) * | 2016-01-04 | 2017-12-29 | 武汉理工大学 | For the method for controlling torque of motor in electric automobile magnetic fade characteristics |
| CN105667337A (en) * | 2016-03-10 | 2016-06-15 | 北京新能源汽车股份有限公司 | Electric automobile as well as power system and control method thereof |
| CN108001297A (en) * | 2017-12-12 | 2018-05-08 | 湘潭电机股份有限公司 | A kind of automobile drive electric motor control method of three branched structures |
| CN108215938A (en) * | 2018-01-05 | 2018-06-29 | 重庆长安汽车股份有限公司 | The method and device of power drive system direct torque |
| CN108382324A (en) * | 2018-01-18 | 2018-08-10 | 沈阳中科唯电子技术有限公司 | A kind of low-power consumption entire car controller of integrated gateway function |
| GB2571324A (en) * | 2018-02-26 | 2019-08-28 | Jaguar Land Rover Ltd | A controller for a vehicle |
| CN108790938A (en) * | 2018-04-25 | 2018-11-13 | 武汉理工大学 | Motor torque control method for different driving modes |
| CN109141921A (en) * | 2018-08-31 | 2019-01-04 | 北京新能源汽车股份有限公司 | A kind of generation method, device and the equipment of motor contour map |
| CN109305115A (en) * | 2018-09-28 | 2019-02-05 | 上汽通用五菱汽车股份有限公司 | A kind of automobile control method, electric car and computer readable storage medium |
| CN109305115B (en) * | 2018-09-28 | 2022-04-01 | 上汽通用五菱汽车股份有限公司 | Automobile control method, electric automobile and computer readable storage medium |
| CN109489991A (en) * | 2018-12-07 | 2019-03-19 | 安徽江淮汽车集团股份有限公司 | A kind of calculation method and system of the accelerator open degree of electric car performance test |
| CN109489991B (en) * | 2018-12-07 | 2020-05-19 | 安徽江淮汽车集团股份有限公司 | Method and system for calculating opening degree of accelerator pedal in electric vehicle performance test |
| CN109484210A (en) * | 2018-12-20 | 2019-03-19 | 重庆长安新能源汽车科技有限公司 | A kind of Motor torque output method, system and the associated component of electric vehicle |
| CN109986974A (en) * | 2019-03-11 | 2019-07-09 | 汉腾汽车有限公司 | The temperature condition that a kind of electric car electricity drives energy regenerating judges algorithm |
| CN111186424A (en) * | 2020-01-21 | 2020-05-22 | 江苏大学 | Composite brake control system and method based on motor brake characteristics |
| CN111186424B (en) * | 2020-01-21 | 2021-09-10 | 江苏大学 | Composite brake control system and method based on motor brake characteristics |
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