CN104760517B - 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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- CN104760517B CN104760517B CN201510137866.1A CN201510137866A CN104760517B CN 104760517 B CN104760517 B CN 104760517B CN 201510137866 A CN201510137866 A CN 201510137866A CN 104760517 B CN104760517 B CN 104760517B
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- target torque
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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 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, more particularly to a kind of motor in electric automobile based on multi-parameter many map figure
Target torque control method.
Background technology
The electric automobile melting multinomial new and high technology in one has low emission pollution, low noise advantages, in environmental protection and section
Aspect can have incomparable advantage, cause a World Auto Industry revolution.Electric automobile work condition is complicated, motor work
Make range of temperature wide, motor is often operated in nonlinear area, needs the computing of large amount of complex, on market and in patent
Most of motor target torque acquisition methods can not meet requirement, and in other patents all there is not motor target torque control method
The temperature change considering motor is so that the torque of motor can not accurately control, and it is larger to fluctuate.
Content of the invention
The technical problem to be solved is: provides a kind of motor in electric automobile mesh based on multi-parameter many map figure
Mark method for controlling torque, the method not only increases car load course continuation mileage and battery, also improves motor torque defeated
The accuracy going out and car load cornering ability.
The present invention solves its technical problem using following technical scheme:
The motor in electric automobile target torque control method that the present invention provides, is a kind of electricity based on multi-parameter many map figure
Electrical automobile motor target torque control method, the method comprises the following steps:
1. vehicle control unit of electric vehicle gathers acceleration pedal position signal, accelerator pedal change by high speed can bus
Rate signal, GES, brake pedal signal, gear signal, battery soc signal, and be intended to and car load according to operator
Operating condition judges car load drive control strategy；
2. described entire car controller gathers motor temperature signal, and according to motor Current Temperatures, the different car load of inquiry drives
The torque map figure of the two neighboring temperature spot of real electrical machinery temperature under control strategy, obtains two temperature spots under this operating mode and corresponds to
Motor torque, recycle Lagrangian linear interpolation method to obtain initial motor target torque；
3. entire car controller collection electrokinetic cell current state parameter, and according to electrokinetic cell current state, to initial electricity
Machine torque is adjusted obtaining final motor target torque.
Described entire car controller is integrated with the motor torque of 13 secondary different temperatures under each car load drive control strategy
Map schemes, and judges control strategy, and the running temperature of real-time monitoring motor by each sensor signal, is adopted according to motor temperature
Lagrangian linear interpolation method calculates initial motor target torque.
Each car load drive control strategy described include control strategy of start process, reversing control strategy, low battery control strategy,
Dynamic property control strategy, economy control strategy, braking energy feedback control strategy.
Described entire car controller is mainly by the master chip being connected with electric signal, secondary chip, can bus transceiver module, sci
Communication module, signal processing module, drive module composition, wherein: master chip is responsible for computing and the process of data, is also controlling party
The carrier that method is realized；Secondary chip monitors the operation conditions of master chip by heartbeat signal, in the case that master chip breaks down,
Master chip execution safety traffic function is replaced by auxiliary chip, safe shape is carried out by can bus and car load each node of can network
Communication under state it is ensured that 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 is turned
Square is adjusted, and obtains final motor target torque.
Described entire car controller gathers motor actual motion temperature t, as t ≠ tnWhen, and tn-1＜ t ＜ tn, inquiry is corresponding to drive
Temperature t under dynamic control strategyn-1And tnMotor torque map figure, obtain torque tn-1And tn, recycle Lagrangian linear interpolation
Method is calculated initial motor target torque t1；The formula that Lagrangian linear interpolation method adopts is:
(tl-tn-1)/(tn-tn-1)=(t-tn-1)/tn-tn-1)
Work as t=tnWhen, temperature t under inquiry respective drive control strategynMotor torque map, directly obtain initial motor mesh
Mark torque t1.
Described tn=-20, -10,0,10 ... 100 DEG C, n=1,2 ... 13, tnFor corresponding temperature tnUnder motor torque.
The present invention compared with prior art has the advantages that following main:
Domestic electric automobile no entire car controller, only electric machine controller at present, and motor control algorithms are simple, motor mesh
Mark torque can not accurately export, and car load course continuation mileage is low.
The entire car controller of present invention design judges driver intention and car load operation conditions according to each sensor signal, choosing
Select optimal traveling control strategy, and entire car controller real-time monitoring motor temperature, and calculated using Lagrangian linear interpolation method
Primary motor target torque under different motor operating temperatures；Entire car controller real-time monitoring battery soc, output voltage simultaneously,
According to battery current operating state, initial motor target torque is adjusted, obtains final motor target output torque.
Proved with test data contrast experiment by a certain electric automobile whole is emulated with data, by motor in electric automobile
The course continuation mileage that testboard bay obtains car load is 337km, and motor torque fluctuation range is -5%～-1% ,+1%～+5%, examination
Checking is bright: the present invention meets the economical of electric automobile whole and dynamic property requires, and improves car load course continuation mileage and motor
The accuracy of target torque output.
Brief description
Fig. 1 is the entire car controller structure chart of the present invention.
Fig. 2 is the flow chart of the motor target torque control algolithm of the present invention.
Fig. 3 is the car load drive control strategic process figure of the present invention.
Specific embodiment
The motor in electric automobile target torque control method based on multi-parameter many map figure that the present invention provides, it is considered
The impact to motor output characteristics of motor operating temperature and battery current state, obtains primary using Lagrangian linear interpolation method
Motor target torque, adjusts initial motor target torque further according to battery current state, obtains final motor target torque.
With reference to embodiment and accompanying drawing, the invention will be further described.
The motor in electric automobile target torque control method based on multi-parameter many map figure that the present invention provides, it specifically flows
Journey is as illustrated in fig. 1 and 2: first, vehicle control unit of electric vehicle by high speed can bus gather acceleration pedal position signal, plus
Speed pedal rate of change signal, GES, brake pedal signal, gear signal, battery soc signal, and according to operator
It is intended to and car load operating condition judges car load drive control strategy；Then, entire car controller collection motor temperature signal, and according to
Motor Current Temperatures, the torque map of the two neighboring temperature spot of real electrical machinery temperature under the different car load drive control strategy of inquiry
Figure, obtains under this operating mode the corresponding motor torque of two temperature spots, recycles Lagrangian linear interpolation method to obtain initial motor
Target torque；Finally, entire car controller collection electrokinetic cell current state parameter, and according to electrokinetic cell current state, to first
Beginning motor torque is adjusted obtaining final motor target torque.
The above-mentioned motor in electric automobile target torque control method based on multi-parameter many map figure that the present invention provides, specifically
Comprise the following steps:
(1) entire car controller of electric automobile gathers acceleration pedal position signal by high speed can bus, accelerator pedal becomes
Rate signal, GES, brake pedal signal, gear signal, battery soc signal, and be intended to and whole according to operator
Car operating condition judges car load drive control strategy.
(2) described entire car controller gathers motor temperature signal, and according to motor Current Temperatures, the different car load of inquiry drives
The torque map figure of the two neighboring temperature spot of real electrical machinery temperature under control strategy, obtains two temperature spots under this operating mode and corresponds to
Motor torque, recycle Lagrangian linear interpolation method to obtain initial motor target torque.
(3) entire car controller collection electrokinetic cell current state parameter, and according to electrokinetic cell current state, to initial electricity
Machine torque is adjusted obtaining final motor target torque.
In above-mentioned steps (1), described car load drive control strategy includes control strategy of start process, reversing control strategy, low electricity
Amount control strategy, dynamic property control strategy, economy control strategy, braking energy feedback control strategy.Because car load drives control
Device processed is integrated with the motor torque map figure of 13 secondary different temperatures under each integrated vehicle control tactics, and therefore each car load drives
Include under control strategy different -20 DEG C of motor temperatures, -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, the motor torque map figure at 100 DEG C, i.e. accelerator pedal aperture-speed-torque map figure and speed-electric braking force
Square map schemes.
In above-mentioned steps (2), described entire car controller gathers motor actual motion temperature t, as t ≠ tnWhen, and tn-1＜ t
＜ tn, temperature t under inquiry respective drive control strategyn-1And tnMotor torque map figure, obtain torque tn-1And tn, recycling draws
Ge Lang linear interpolation method:
(t1-tn-1)/(tn-tn-1)=(t-tn-1)/tn-tn-1)
It is calculated initial motor target torque t1.Work as t=tnWhen, temperature t under inquiry respective drive control strategynElectricity
Machine torque map, directly obtains initial motor target torque t1.
Work as tn=-30 DEG C, -20, -10,0,10 ... 100 DEG C (n=1,2 ... 13) when, tnFor corresponding temperature tnUnder motor turn
Square.
In above-mentioned steps (1), described accelerator pedal aperture-speed-torque map figure and speed-electric braking moment map figure are all
Obtained by a large amount of pure electric automobile motor platform experiments.
The entire car controller that the present invention adopts, its structure includes master chip, secondary chip, power module, can bus transceiver
Module, sci communication module, signal processing module, drive module.
Described master chip adopts the mc9s12dp256 chip of freescale, and it is responsible for the computing of data and process, is also
The carrier that control method is realized.
Described pair chip adopts the mc9s12xep100 chip of freescale, and it monitors master chip by heartbeat signal
Operation conditions, in the case that master chip breaks down, replaces master chip execution safety traffic function by secondary chip, by can
Bus and car load each node of can network carry out communication under safe condition it is ensured that vehicle nonserviceable under basic security
Driving functions.
Described power module adopts the automotive grade switching power source chip tle7368 of company of Infineon, the electricity of 12v power-supply system
Road must be able to normal work in the voltage range of 9～16v, and it is each input and output module provides power supply, and to battery
Voltage is monitored, and is connected with master chip.
Described signal processing module, its one end is connected with sensor or switch, and the other end is connected with microcontroller.This signal
Processing module is used for the conditioning of analog- and digital- amount input signal, processes and digital quantity signal transacting including analog signalses.
Described can bus transceiver module, entire car controller can gather each sensor of automobile and switch letter by it
Number, and communicated with each ecu, the motor finally calculating target torque is sent to electric machine controller；This can bus is received
Send out the tja1040 transponder chip that device module adopts philp company.
Described drive module is used for driving multiple relays or system state indicator, is connected by i/o with master chip, separately
One end is connected with controlled relay (low side driving) or indicator lamp (pwm driving)；This drive module adopts 4 passages low side intelligence work(
Rate switch chip tle6220gp.
Described sci communication module is the important interface that entire car controller is connected with other equipment, meets rs232 communication mark
Standard, can external diagnostic device, 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, car load drive control strategy judge concretely comprise the following steps:
1. described entire car controller gathers gear signal, and when judging gear for r shelves, car load enters reversing control strategy,
When judging gear for d shelves, then determine whether whether brake pedal is stepped on；
2. if described brake pedal is stepped on, and battery soc≤90%, car load entrance braking energy feedback control strategy,
Otherwise determine whether whether described accelerator pedal is stepped on；
If 3. described accelerator pedal pedal is not stepped on, and speed >=30km/h, battery soc≤90%, car load enter system
Energy feedback control strategy, otherwise determines whether described battery soc whether≤20%；
If 4. described battery soc≤20%, car load enters low battery control strategy, otherwise determines whether described pure electricity
Electrical automobile speed whether≤10km/h；
If the 5. speed≤10km/h of described pure electric automobile, car load enters control strategy of start process, otherwise determines whether
Accelerator pedal rate of change；
If 6. accelerator pedal rate of change is more than preset value, car load enters dynamic property control strategy, and otherwise car load enters economy
Property control strategy.
Claims (6)
1. a kind of motor in electric automobile target torque control method, is characterized in that a kind of electronic vapour based on multi-parameter many map figure
Vehicle motor target torque control method, the method comprises the following steps:
1. vehicle control unit of electric vehicle gathers acceleration pedal position signal, accelerator pedal rate of change letter by high speed can bus
Number, GES, brake pedal signal, gear signal, battery soc signal, and according to operator be intended to and car load run
Operating mode judges car load drive control strategy；
2. described entire car controller gathers motor temperature signal, and according to motor Current Temperatures, the different car load drive control of inquiry
The torque map of the lower two neighboring temperature spot of real electrical machinery temperature of strategy schemes, and obtains under this operating mode the corresponding electricity of two temperature spots
Machine torque, recycles Lagrangian linear interpolation method to obtain initial motor target torque；
3. entire car controller collection electrokinetic cell current state parameter, and according to electrokinetic cell current state, to initial motor mesh
Mark torque is adjusted obtaining final motor target torque；
Described entire car controller is mainly by the master chip being connected with electric signal, secondary chip, can bus transceiver module, sci communication
Module, signal processing module, drive module composition, wherein: master chip is responsible for computing and the process of data, are also that control method is real
Existing carrier；Secondary chip monitors the operation conditions of master chip by heartbeat signal, in the case that master chip breaks down, by pair
Chip replaces master chip execution safety traffic function, is carried out under safe condition by can bus and car load each node of can network
Communication it is ensured that vehicle nonserviceable under basic security driving functions.
2. motor in electric automobile target torque control method as claimed in claim 1 is it is characterised in that described entire car controller
It is integrated with the motor torque map figure of 13 width different temperatures under each car load drive control strategy, by each sensor signal
Judge control strategy, and the running temperature of real-time monitoring motor, calculated using Lagrangian linear interpolation method according to motor temperature
Go out initial motor target torque.
3. motor in electric automobile target torque control method as claimed in claim 2 is it is characterised in that each car load described drives
Dynamic control strategy includes control strategy of start process, reversing control strategy, low battery control strategy, dynamic property control strategy, economy
Control strategy, braking energy feedback control strategy.
4. motor in electric automobile target torque control method as claimed in claim 1 is it is characterised in that described entire car controller
Real-time monitoring battery current state, and according to battery current state, initial motor target torque is adjusted, obtain final electricity
Machine target torque.
5. motor in electric automobile target torque control method as claimed in claim 4 is it is characterised in that described entire car controller
Collection motor actual motion temperature t, as t ≠ tnWhen, and tn-1＜ t ＜ tn, temperature t under inquiry respective drive control strategyn-1And tn
Motor torque map figure, obtain torque tn-1And tn, recycle Lagrangian linear interpolation method to be calculated initial motor target
Torque t1；The formula that Lagrangian linear interpolation method adopts is:
(t1-tn-1)/(tn-tn-1)=(t-tn-1)/tn-tn-1)
Work as t=tnWhen, temperature t under inquiry respective drive control strategynMotor torque map, directly obtain initial motor target and turn
Square t1.
6. motor in electric automobile target torque control method as claimed in claim 5 is it is characterised in that described tn=-20, -10,
0th, 10 ... 100 DEG C, n=1,2 ... 13, tnFor corresponding temperature tnUnder motor torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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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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| CN104760517B true CN104760517B (en) | 2017-01-25 |
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| 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 |
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| 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 |
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| 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 |
| 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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