CN104842819A - Dynamic torque control method and system of electric vehicle - Google Patents
Dynamic torque control method and system of electric vehicle Download PDFInfo
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- CN104842819A CN104842819A CN201410438261.1A CN201410438261A CN104842819A CN 104842819 A CN104842819 A CN 104842819A CN 201410438261 A CN201410438261 A CN 201410438261A CN 104842819 A CN104842819 A CN 104842819A
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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
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- Y02T10/72—Electric energy management in electromobility
Abstract
The invention proposes a dynamic torque control method and system of an electric vehicle, wherein the method comprises the steps of: obtaining the acceleration pedal openness, the acceleration pedal change rate, the vehicle speed and the motor rotating speed to obtain the real-time torque; determining the target rotating speed according to the acceleration pedal openness, the vehicle speed or the motor rotating speed, judging if the real-time torque satisfies preset conditions through the target torque; and obtaining the torque variation changed with the acceleration pedal openness and the acceleration pedal change rate to determine the sent torque sent to the motor according to the real-time torque and the torque variation when the real-time torque satisfies the preset conditions. The dynamic torque control method of the electric vehicle, proposed by the embodiment of the invention, selectively controls the torque increment or decrement speed through the torque variation changed with the acceleration pedal openness and the acceleration pedal change rate to synthesize the dynamic property, the comfort and the safety.
Description
Technical field
The present invention relates to automobile technical field, particularly a kind of control method of electronlmobil dynamic torque and system.
Background technology
When taking electronlmobil or city railway vehicle, have shake etc. make passenger have uncomfortable sensation in the starting stage, its reason is that the characteristic of Motor torque causes.
It is according to pedal aperture, motor speed or the speed of a motor vehicle that electronlmobil torque is in the past resolved, and carries out interpolation processing to determine the target torque of motor.And then target torque is carried out to filtering process, sends to electric machine controller, the object of torque filtering is that the torque sending to motor is smoothly increased.
But, in conventional art when carrying out filtering process to target torque, owing to only increasing with fixed value or fixing changing value or reducing, therefore cause chaufeur or passenger to feel under the weather in the starting stage to torque increase is too fast.And simply by torque increment speed transformation, although can ensure the traveling comfort of chaufeur, can not start vehicle in the situations such as uphill starting fast affects dynamic property, there is potential safety hazard.
Summary of the invention
Object of the present invention is intended at least solve one of above-mentioned technological deficiency.
For this reason, first aspect present invention provides a kind of control method of electronlmobil dynamic torque.Described method can solve the problem being changed dynamic property and the traveling comfort difference brought by torque with fixed value.
Second aspect present invention provides a kind of control system of electronlmobil dynamic torque.
In view of this, the embodiment of first aspect present invention proposes a kind of control method of electronlmobil dynamic torque, comprise the following steps: torque in real time obtains step, obtain acceleration pedal aperture, acceleration pedal rate of change, the speed of a motor vehicle and motor speed to obtain real-time torque; Target torque determining step, according to described acceleration pedal aperture, the described speed of a motor vehicle or described motor speed determination rotating speed of target, to judge by described target torque whether described real-time torque meets pre-conditioned; Direct torque step, when described real-time torque meet described pre-conditioned time, obtain the torque variable quantity with described acceleration pedal aperture and the change of described acceleration pedal rate of change, to determine according to described real-time torque and described torque variable quantity the transmission torque being sent to motor, wherein relevant to described torque variable quantity described acceleration pedal aperture and described acceleration pedal rate of change are described acceleration pedal aperture under described real-time torque current state and described acceleration pedal rate of change respectively.
According to the control method of the electronlmobil dynamic torque of the embodiment of the present invention, by optionally controlling the increase of torque or the speed of reduction, with comprehensive dynamic, traveling comfort and safety with the torque variable quantity of acceleration pedal aperture and the change of acceleration pedal rate of change.
In the solution of the present invention, described acquisition comprises further with the torque variable quantity of described acceleration pedal aperture and the change of described acceleration pedal rate of change: determine described acceleration pedal aperture and the first membership function;
Determine described acceleration pedal rate of change and the second membership function; Determine described torque variable quantity and the 3rd membership function; The corresponding relation of described acceleration pedal aperture and described acceleration pedal rate of change and described torque variable quantity is obtained according to described acceleration pedal aperture, described first membership function, described acceleration pedal rate of change, described second membership function, described torque variable quantity, described 3rd membership function and control policy; According to obtained described acceleration pedal aperture and described acceleration pedal rate of change, and described corresponding relation is utilized to obtain corresponding described torque variable quantity.
In the solution of the present invention, when described pre-conditioned for described real-time torque be greater than described target torque and calibration value sum time, described torque variable quantity is torque decrement, and the transmission torque being sent to described motor is that described real-time torque deducts described torque decrement.
In the solution of the present invention, when described pre-conditioned for described real-time torque be not more than the difference of described target torque and described calibration value time, described torque variable quantity is torque increment, and the transmission torque being sent to described motor is described real-time torque and described torque increment sum.
In the solution of the present invention, can also comprise: when described real-time torque is greater than the difference of described target torque and described calibration value, and when described real-time torque is not more than described target torque and described calibration value sum, described target torque is sent to described motor.
The embodiment of second aspect present invention proposes a kind of control system of electronlmobil dynamic torque, comprising: acquisition module, for obtaining acceleration pedal aperture, acceleration pedal rate of change, the speed of a motor vehicle and motor speed; Processing module, for according to described acceleration pedal aperture, described acceleration pedal rate of change, the described speed of a motor vehicle and described motor speed to obtain real-time torque, and according to described acceleration pedal aperture, the described speed of a motor vehicle or described motor speed determination rotating speed of target, to be judged by described target torque whether described real-time torque meets pre-conditioned; Control module, for meet in described real-time torque described pre-conditioned time, obtain the torque variable quantity with described acceleration pedal aperture and the change of described acceleration pedal rate of change, to determine according to described real-time torque and described torque variable quantity the transmission torque being sent to motor, wherein relevant to described torque variable quantity described acceleration pedal aperture and described acceleration pedal rate of change are described acceleration pedal aperture under described real-time torque current state and described acceleration pedal rate of change respectively.
According to the control system of the electronlmobil dynamic torque of the embodiment of the present invention, by optionally controlling the increase of torque or the speed of reduction, with comprehensive dynamic, traveling comfort and safety with the torque variable quantity of acceleration pedal aperture and the change of acceleration pedal rate of change.
In the solution of the present invention, the step that described control module obtains described torque variable quantity specifically comprises: determine described acceleration pedal aperture and the first membership function; Determine described acceleration pedal rate of change and the second membership function; Determine described torque variable quantity and the 3rd membership function; The corresponding relation of described acceleration pedal aperture and described acceleration pedal rate of change and described torque variable quantity is obtained according to described acceleration pedal aperture, described first membership function, described acceleration pedal rate of change, described second membership function, described torque variable quantity, described 3rd membership function and control policy; According to obtained described acceleration pedal aperture and described acceleration pedal rate of change, and described corresponding relation is utilized to obtain corresponding described torque variable quantity.
In the solution of the present invention, when described pre-conditioned for described real-time torque be greater than described target torque and calibration value sum time, described torque variable quantity is torque decrement, and the transmission torque that described control module is sent to described motor is that described real-time torque deducts described torque decrement.
In the solution of the present invention, when described pre-conditioned for described real-time torque be not more than the difference of described target torque and described calibration value time, described torque variable quantity is torque increment, and the transmission torque that described control module is sent to described motor is described real-time torque and described torque increment sum.
In the solution of the present invention, when described real-time torque is greater than the difference of described target torque and described calibration value, and when described real-time torque is not more than described target torque and described calibration value sum, described target torque is sent to described motor by described control module.
The aspect that the present invention adds and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
The present invention above-mentioned and/or additional aspect and advantage will become obvious and easy understand from the following description of the accompanying drawings of embodiments, wherein:
Fig. 1 is the diagram of circuit of the control method of electronlmobil dynamic torque according to the embodiment of the present invention;
Fig. 2 is the schematic diagram of the control method of electronlmobil dynamic torque according to an embodiment of the invention;
Fig. 3 is the expression figure of the first membership function in the torque decrement according to the embodiment of the present invention;
Fig. 4 is the expression figure of the second membership function in the torque decrement according to the embodiment of the present invention;
Fig. 5 is the expression figure of the 3rd membership function in the torque decrement according to the embodiment of the present invention;
Fig. 6 is the corresponding relation figure in the torque decrement according to the embodiment of the present invention between e and de and torque decrement u;
Fig. 7 is the expression figure of the first membership function in the torque increment according to the embodiment of the present invention;
Fig. 8 is the expression figure of the second membership function in the torque increment according to the embodiment of the present invention;
Fig. 9 is the expression figure of the 3rd membership function in the torque increment according to the embodiment of the present invention;
Figure 10 is the corresponding relation figure in the torque increment according to the embodiment of the present invention between e and de and torque increment u;
Figure 11 is the structured flowchart of the control system of electronlmobil dynamic torque according to the embodiment of the present invention.
Detailed description of the invention
Be described below in detail embodiments of the invention, the example of embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance.
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, particular case above-mentioned term concrete meaning in the present invention can be understood.
Fig. 1 is the diagram of circuit of the control method of electronlmobil dynamic torque according to the embodiment of the present invention.As shown in Figure 1, according to the control method of the electronlmobil dynamic torque of the embodiment of the present invention, comprise the following steps: obtain acceleration pedal aperture, acceleration pedal rate of change, the speed of a motor vehicle and motor speed to obtain real-time torque (step 101).According to acceleration pedal aperture, the speed of a motor vehicle or motor speed determination rotating speed of target, to be judged by target torque whether real-time torque meets pre-conditioned (step 103).When real-time torque meets pre-conditioned, obtain the torque variable quantity with acceleration pedal aperture and the change of acceleration pedal rate of change, to determine according to real-time torque and torque variable quantity the transmission torque being sent to motor, wherein relevant to torque variable quantity acceleration pedal aperture and acceleration pedal rate of change are acceleration pedal aperture under real-time torque current state and acceleration pedal rate of change (step 105) respectively.
In one embodiment of the invention, acceleration pedal aperture and the first membership function is first determined; Determine acceleration pedal rate of change and the second membership function; Determine torque variable quantity and the 3rd membership function; The corresponding relation of acceleration pedal aperture and acceleration pedal rate of change and torque variable quantity is obtained according to acceleration pedal aperture, the first membership function, acceleration pedal rate of change, the second membership function, torque variable quantity, the 3rd membership function and control policy; According to obtained acceleration pedal aperture and acceleration pedal rate of change, and corresponding relation is utilized to obtain corresponding torque variable quantity.If pre-conditioned for real-time torque be greater than target torque and calibration value sum time, torque variable quantity is torque decrement, and the transmission torque being sent to motor is that real-time torque deducts torque decrement.If pre-conditioned for real-time torque be not more than the difference of target torque and calibration value time, torque variable quantity is torque increment, and the transmission torque being sent to motor is real-time torque and torque increment sum.
In one embodiment of the invention, when pre-conditioned for real-time torque be greater than target torque and calibration value sum time, torque variable quantity is torque decrement, and the transmission torque being sent to motor is that real-time torque deducts torque decrement.
According to the control method of the electronlmobil dynamic torque of the embodiment of the present invention, by optionally controlling the increase of torque or the speed of reduction, with comprehensive dynamic, traveling comfort and safety with the torque variable quantity of acceleration pedal aperture and the change of acceleration pedal rate of change.
Fig. 2 is the schematic diagram of the control method of electronlmobil dynamic torque according to an embodiment of the invention.As shown in Figure 2, entire car controller (VCU) obtains according to sensor equipment etc. acceleration pedal aperture, acceleration pedal rate of change, the speed of a motor vehicle and motor speed obtain real-time torque.Carry out interpolation according to chaufeur step on the accelerator aperture and the speed of a motor vehicle or chaufeur step on the accelerator aperture and motor speed and can determine target torque, and judge whether real-time level of torque meets predetermined condition.Be specially: judge whether real-time torque > (target torque-calibration value) and real-time torque≤(target torque+calibration value), wherein calibration value usually get 2% of real-time torque specifically can be relevant according to factors such as the speed of a motor vehicle, road conditions, motoring conditions.If torque is in real time greater than the difference of target torque and calibration value, and when torque is in real time not more than target torque and calibration value sum, target torque is sent to motor as transmission torque.Otherwise judge whether real-time torque is greater than target torque and calibration value sum further.When real-time torque is greater than target torque and calibration value sum, determine corresponding torque decrement according to the acceleration pedal aperture corresponding with current real-time torque and acceleration pedal rate of change, make the transmission torque being sent to motor be that real-time torque deducts torque decrement.When real-time torque is not more than the difference of target torque and calibration value, determine corresponding torque increment according to the acceleration pedal aperture corresponding with current real-time torque and acceleration pedal rate of change, make the transmission torque being sent to motor be that real-time torque deducts torque decrement.It should be noted that in example of the present invention and torque increment and torque decrement are referred to as torque variable quantity.The present invention embodies the controlling extent to acceleration pedal aperture and acceleration pedal rate of change of user by torque variable quantity, adjusts to meet the traveling comfort of user and the demand of dynamic property to the change speed of torque according to the intention hommization of user.
In embodiments of the invention, determine torque decrement as follows.First determine acceleration pedal aperture e codomain and first membership function S, M, B, codomain is [0,1].First membership function S, M, B as shown in Figure 3.Afterwards, acceleration pedal rate of change de codomain and the second membership function is determined.De codomain is [-1,0], the second membership function NB, NS, Z as shown in Figure 4.Determine torque decrement u codomain and the 3rd membership function again, wherein u codomain is [-10,0].3rd membership function N1, N2, N3, N4, N5 are as shown in Figure 5.According to one embodiment of present invention, the fuzzy control strategy preset is as shown in table 1 below.
Table 1
As shown in Table 1, the fuzzy control strategy preset is: when e is S and de is NB, torque decrement u is N4; When e is S and de is NS, torque decrement u is N3; When e is S and de is Z, torque decrement u is N2; When e is M and de is NB, torque decrement u is N3; When e is M and de is NS, torque decrement u is N2; When e is M and de is Z, torque decrement u is N1; When e is B and de is NB, torque decrement u is N2; When e is B and de is NS, torque decrement u is N1; When e is B and de is Z, torque decrement u is N0; Wherein, torque decrement u is obtained by fuzzy control gravity model appoach.Such as, when e is 0.2, de is-0.6,9 fuzzy control strategies are had in table 1, in every rule, two inputs all can a corresponding output, such as Article 1 rule " e be S and de is NB time, torque decrement u is N4 ", according to the ratio of 0.2 shared " S ", the ratio of-0.6 shared " NB ", by " N4 ", just can calculate 0.2 and-0.6 corresponding torque decrement u exported; In like manner, other 8 rules all can calculate 0.2 and-0.6 and export corresponding torque decrement u; 9 rule correspondences can obtain final numerical value after exporting and adopting gravity model appoach process.Can obtain, acceleration pedal aperture e as shown in Figure 6 and the corresponding relation between acceleration pedal rate of change de and torque decrement u.
In the process that real-time torque changes, utilize this corresponding relation to obtain corresponding torque decrement u by the acceleration pedal aperture e under current real-time torque and acceleration pedal rate of change de, and obtain by this torque decrement and real-time torque the transmission torque being sent to motor.
Determine that torque increment is specially: determine acceleration pedal aperture e codomain and first membership function S, M, B, codomain is [0,1].First membership function S, M, B as shown in Figure 7.Determine acceleration pedal rate of change de codomain and the second membership function.De codomain is [0,1], and second membership function Z, PS, PB as shown in Figure 8.Determine torque decrement u codomain and the 3rd membership function again, wherein u codomain is [0,10].3rd membership function P1, P2, P3, P4, P5 as shown in Figure 9.
According to one embodiment of present invention, the fuzzy control strategy preset is as shown in table 2 below.
Table 2
As above, shown in table 2, the fuzzy control strategy preset is: when e is S and de is Z, torque increment u is P0; When e is S and de is PS, torque increment u is P1; When e is S and de is PB, torque increment u is P2; When e is M and de is Z, torque increment u is P1; When e is M and de is PS, torque increment u is P2; When e is M and de is PB, torque increment u is P3; When e is B and de is Z, torque increment u is P2; When e is B and de is PS, torque increment u is P3; When e is B and de is PB, torque increment u is P4; Wherein, torque increment u is obtained by fuzzy control gravity model appoach.Such as, when e is 0.2, de is 0.4,9 fuzzy control strategies are had in table 2, in every rule, two inputs all can a corresponding output, such as Article 1 rule " e be S and de is Z time, torque increment u is P0 ", according to the ratio of 0.2 shared " S ", the ratio of 0.4 shared " Z ", by " P0 ", just can calculate 0.2 and 0.4 corresponding output; In like manner, other 8 rules all can calculate 0.2 and 0.4 corresponding output; 9 rule correspondences can obtain final numerical value after exporting and adopting gravity model appoach process.Can obtain, acceleration pedal aperture e as shown in Figure 10 and the corresponding relation between acceleration pedal rate of change de and torque increment u.It should be noted that, in embodiments of the invention the first genus degree function, the second genus degree function and the 3rd genus degree function can identical also can not be identical, determine as the case may be.
According to the control method of the electronlmobil dynamic torque of the embodiment of the present invention, by optionally controlling the increase of torque or the speed of reduction, with comprehensive dynamic, traveling comfort and safety with the torque variable quantity of acceleration pedal aperture and the change of acceleration pedal rate of change.
Figure 11 is the structured flowchart of the control system of electronlmobil dynamic torque according to the embodiment of the present invention.As shown in figure 11, according to the control system of the electronlmobil dynamic torque of the embodiment of the present invention, comprising: acquisition module 100, processing module 300 and control module 500.
Particularly, acquisition module 100 is for obtaining acceleration pedal aperture, acceleration pedal rate of change, the speed of a motor vehicle and motor speed.This acquisition module 100 obtains acceleration pedal aperture, acceleration pedal rate of change, the speed of a motor vehicle or motor speed by the sensor check implement of acceleration pedal, and processing unit that also can be corresponding obtains acceleration pedal aperture, acceleration pedal rate of change, the speed of a motor vehicle or motor speed from the treatment facility of correspondence after treatment.
Processing module 300 for according to acceleration pedal aperture, acceleration pedal rate of change, the speed of a motor vehicle and motor speed to obtain real-time torque, and according to acceleration pedal aperture, the speed of a motor vehicle or motor speed determination rotating speed of target, pre-conditioned to be judged by target torque whether real-time torque meets.
Control module 500 is for when real-time torque meets pre-conditioned, obtain the torque variable quantity with acceleration pedal aperture and the change of acceleration pedal rate of change, to determine according to real-time torque and torque variable quantity the transmission torque being sent to motor, wherein relevant to torque variable quantity acceleration pedal aperture and acceleration pedal rate of change are acceleration pedal aperture under real-time torque current state and acceleration pedal rate of change respectively.
Further, when pre-conditioned for real-time torque be greater than target torque and calibration value sum time, torque variable quantity is torque decrement, and the transmission torque that control module is sent to motor is that real-time torque deducts torque decrement.When pre-conditioned for real-time torque be not more than the difference of target torque and calibration value time, torque variable quantity is torque increment, and the transmission torque that control module is sent to motor is real-time torque and torque increment sum.If torque is in real time greater than the difference of target torque and calibration value, and when torque is in real time not more than target torque and calibration value sum, target torque is sent to motor by control module.
As shown in Figure 2, acceleration pedal aperture, acceleration pedal rate of change, the speed of a motor vehicle and motor speed that acquisition module 100 obtains by sensor equipment etc., and carry out process by processing module 300 and obtain real-time torque.Processing module 300 carries out interpolation according to chaufeur step on the accelerator aperture and the speed of a motor vehicle or chaufeur step on the accelerator aperture and motor speed can determine target torque, and judges whether real-time level of torque meets predetermined condition.Control module 500 judges whether satisfied real-time torque > (target torque-calibration value) and the condition of real-time torque≤(target torque+calibration value), wherein calibration value usually get 2% of real-time torque specifically can be relevant according to factors such as the speed of a motor vehicle, road conditions, motoring conditions.If torque is in real time greater than the difference of target torque and calibration value, and when torque is in real time not more than target torque and calibration value sum, target torque is sent to motor as transmission torque by control module 500.Otherwise control module 500 judges whether real-time torque is greater than target torque and calibration value sum further.When real-time torque is greater than target torque and calibration value sum, control module 500 determines corresponding torque decrement according to the acceleration pedal aperture corresponding with current real-time torque and acceleration pedal rate of change, makes the transmission torque being sent to motor be that real-time torque deducts torque decrement.When real-time torque is not more than the difference of target torque and calibration value, control module 500 determines corresponding torque increment according to the acceleration pedal aperture corresponding with current real-time torque and acceleration pedal rate of change, makes the transmission torque being sent to motor be that real-time torque deducts torque decrement.It should be noted that in example of the present invention and torque increment and torque decrement are referred to as torque variable quantity.The present invention embodies the controlling extent to acceleration pedal aperture and acceleration pedal rate of change of user by torque variable quantity, adjusts to meet the traveling comfort of user and the demand of dynamic property to the change speed of torque according to the intention hommization of user.Determine that the process of torque increment and torque decrement is as implied above, be not repeated.The present invention embodies the controlling extent to acceleration pedal aperture and acceleration pedal rate of change of user by torque variable quantity, adjusts to meet the traveling comfort of user and the demand of dynamic property to the change speed of torque according to the intention hommization of user.
According to the control system of the electronlmobil dynamic torque of the embodiment of the present invention, by optionally controlling the increase of torque or the speed of reduction, with comprehensive dynamic, traveling comfort and safety with the torque variable quantity of acceleration pedal aperture and the change of acceleration pedal rate of change.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, those of ordinary skill in the art can change above-described embodiment within the scope of the invention when not departing from principle of the present invention and aim, revising, replacing and modification.
Claims (10)
1. a control method for electronlmobil dynamic torque, is characterized in that, comprises the following steps:
Real-time torque obtains step, obtains acceleration pedal aperture, acceleration pedal rate of change, the speed of a motor vehicle and motor speed to obtain real-time torque;
Target torque determining step, according to described acceleration pedal aperture, the described speed of a motor vehicle or described motor speed determination rotating speed of target, to judge by described target torque whether described real-time torque meets pre-conditioned;
Direct torque step, when described real-time torque meet described pre-conditioned time, obtain the torque variable quantity with described acceleration pedal aperture and the change of described acceleration pedal rate of change, to determine according to described real-time torque and described torque variable quantity the transmission torque being sent to motor, wherein relevant to described torque variable quantity described acceleration pedal aperture and described acceleration pedal rate of change are described acceleration pedal aperture under described real-time torque current state and described acceleration pedal rate of change respectively.
2. the control method of electronlmobil dynamic torque as claimed in claim 1, is characterized in that, described acquisition comprises further with the torque variable quantity of described acceleration pedal aperture and the change of described acceleration pedal rate of change:
Determine described acceleration pedal aperture and the first membership function;
Determine described acceleration pedal rate of change and the second membership function;
Determine described torque variable quantity and the 3rd membership function;
The corresponding relation of described acceleration pedal aperture and described acceleration pedal rate of change and described torque variable quantity is obtained according to described acceleration pedal aperture, described first membership function, described acceleration pedal rate of change, described second membership function, described torque variable quantity, described 3rd membership function and control policy;
According to obtained described acceleration pedal aperture and described acceleration pedal rate of change, and described corresponding relation is utilized to obtain corresponding described torque variable quantity.
3. the control method of electronlmobil dynamic torque as claimed in claim 1 or 2, it is characterized in that, when described pre-conditioned for described real-time torque be greater than described target torque and calibration value sum time, described torque variable quantity is torque decrement, and the transmission torque being sent to described motor is that described real-time torque deducts described torque decrement.
4. the control method of electronlmobil dynamic torque as claimed in claim 1 or 2, it is characterized in that, when described pre-conditioned for described real-time torque be not more than the difference of described target torque and described calibration value time, described torque variable quantity is torque increment, and the transmission torque being sent to described motor is described real-time torque and described torque increment sum.
5. the control method of electronlmobil dynamic torque as claimed in claim 1, is characterized in that, also comprise:
When described real-time torque is greater than the difference of described target torque and described calibration value, and when described real-time torque is not more than described target torque and described calibration value sum, described target torque is sent to described motor.
6. a control system for electronlmobil dynamic torque, is characterized in that, comprising:
Acquisition module, for obtaining acceleration pedal aperture, acceleration pedal rate of change, the speed of a motor vehicle and motor speed;
Processing module, for according to described acceleration pedal aperture, described acceleration pedal rate of change, the described speed of a motor vehicle and described motor speed to obtain real-time torque, and according to described acceleration pedal aperture, the described speed of a motor vehicle or described motor speed determination rotating speed of target, to be judged by described target torque whether described real-time torque meets pre-conditioned;
Control module, for meet in described real-time torque described pre-conditioned time, obtain the torque variable quantity with described acceleration pedal aperture and the change of described acceleration pedal rate of change, to determine according to described real-time torque and described torque variable quantity the transmission torque being sent to motor, wherein relevant to described torque variable quantity described acceleration pedal aperture and described acceleration pedal rate of change are described acceleration pedal aperture under described real-time torque current state and described acceleration pedal rate of change respectively.
7. the control system of electronlmobil dynamic torque as claimed in claim 6, it is characterized in that, the step that described control module obtains described torque variable quantity specifically comprises:
Determine described acceleration pedal aperture and the first membership function;
Determine described acceleration pedal rate of change and the second membership function;
Determine described torque variable quantity and the 3rd membership function;
The corresponding relation of described acceleration pedal aperture and described acceleration pedal rate of change and described torque variable quantity is obtained according to described acceleration pedal aperture, described first membership function, described acceleration pedal rate of change, described second membership function, described torque variable quantity, described 3rd membership function and control policy;
According to obtained described acceleration pedal aperture and described acceleration pedal rate of change, and described corresponding relation is utilized to obtain corresponding described torque variable quantity.
8. the control system of electronlmobil dynamic torque as claimed in claims 6 or 7, it is characterized in that, when described pre-conditioned for described real-time torque be greater than described target torque and calibration value sum time, described torque variable quantity is torque decrement, and the transmission torque that described control module is sent to described motor is that described real-time torque deducts described torque decrement.
9. the control system of electronlmobil dynamic torque as claimed in claims 6 or 7, it is characterized in that, when described pre-conditioned for described real-time torque be not more than the difference of described target torque and described calibration value time, described torque variable quantity is torque increment, and the transmission torque that described control module is sent to described motor is described real-time torque and described torque increment sum.
10. the control system of electronlmobil dynamic torque as claimed in claim 6, it is characterized in that, when described real-time torque is greater than the difference of described target torque and described calibration value, and described real-time torque is when being not more than described target torque and described calibration value sum, described target torque is sent to described motor by described control module.
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| CN201410438261.1A CN104842819B (en) | 2014-08-29 | 2014-08-29 | The control method and system of electric automobile dynamic torque |
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| CN201410438261.1A CN104842819B (en) | 2014-08-29 | 2014-08-29 | The control method and system of electric automobile dynamic torque |
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| CN110861497A (en) * | 2019-11-28 | 2020-03-06 | 安徽江淮汽车集团股份有限公司 | Electric vehicle shake detection method and device, electronic equipment and storage medium |
| CN111098717A (en) * | 2019-12-20 | 2020-05-05 | 中国第一汽车股份有限公司 | Single-pedal control method, device and system for electric automobile |
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| CN106853780A (en) * | 2015-12-08 | 2017-06-16 | 北汽福田汽车股份有限公司 | Electric automobile and its moment of torsion analytic method and moment of torsion resolution system |
| CN107472081A (en) * | 2016-12-13 | 2017-12-15 | 宝沃汽车（中国）有限公司 | Control method, system and the vehicle of electric automobile |
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| CN111098717B (en) * | 2019-12-20 | 2021-07-30 | 中国第一汽车股份有限公司 | Single-pedal control method, device and system for electric automobile |
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| CN113547926B (en) * | 2020-04-24 | 2024-04-30 | 北京新能源汽车股份有限公司 | Vehicle control method and device, vehicle and equipment |
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