CN105383326A - Torque filter control method used for whole vehicle controller - Google Patents
Torque filter control method used for whole vehicle controller Download PDFInfo
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- CN105383326A CN105383326A CN201510859954.2A CN201510859954A CN105383326A CN 105383326 A CN105383326 A CN 105383326A CN 201510859954 A CN201510859954 A CN 201510859954A CN 105383326 A CN105383326 A CN 105383326A
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- filtering
- torsion
- moment
- torque
- limit value
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a torque filter control method used for a whole vehicle controller. The torque filter control method comprises the following steps: (1), current time, a current torque, a filter cycle, last filter time and a last filter torque are acquired; (2), whether the current time is larger than or equal to the sum of the last filter time and the filter cycle or not is determined; (3), a rising limiting value and a declining limiting value are sought and acquired; (4), whether the current torque is smaller than or equal to the difference between the last filter torque and the declining limiting value or not is determined; and (5), the current time is saved as the last filter time, and the current filter torque is saved as the last filter torque. Through the above mode, the smoothness of torque switchover is improved; the comfort of vehicle driving is enhanced; the acceleration property is improved; the energy recovery effect is improved; and the torque filter control method has a wide market prospect in popularization of torque filter control methods for the whole vehicle controller.
Description
Technical field
The present invention relates to moment of torsion filtering control field, particularly relate to a kind of moment of torsion filtering control method for entire car controller.
Background technology
In the wagon control of straight drive system, for driving engine and drive motor, mainly based on moment of torsion control; Especially for the control of drive motor, at least there is forward drive (driving vehicle to advance), plugging (energy regenerating) controls two kinds of patterns, in whole driving process, these the two kinds switchings controlled are more frequent.
In the driving process of reality, existence drives, the possibility of the abrupt transients of braking, as in driven process, suddenly throttle is unclamped, or in taxiing procedures, accelerate (energetically step on the accelerator) suddenly, in these processes, moment of torsion sports plugging (or plugging sports forward drive) by forward drive, its response time is less than 20ms(communication cycle usually), therefore, in straight drive system, main drive shaft because of the sudden change of moment of torsion, and can produce vibration, the intensity of vibration is relevant with moment of torsion mutation time, as shown in Figure 1.
Existing technology adopts the mode of filtering (amplitude threshold filtering) to solve, as shown in Figure 2: within the unit time, limit maximum variable quantity.Although can reduce vibration, the torque responsive time has significantly time delay, usually has the time delay of 1.5s to 2s, causes speed-raising to slow down, brakes problems such as weakening, affects the economy of vehicle.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of moment of torsion filtering control method for entire car controller, the multiple spot limit value based on moment of torsion is changed to by employing single-point limit value, improve vehicle torque control, improve the ride comfort of moment of torsion switching, improve the traveling comfort of vehicular drive, improve acceleration capability, improve energy regenerating effect, have market outlook widely popularizing of the moment of torsion filtering control method for entire car controller.
For solving the problems of the technologies described above, the invention provides a kind of moment of torsion filtering control method for entire car controller, for current torque is adjusted to demand torque, comprising the following steps:
(1) obtain current time, current torque, the filtering cycle, last time filtering time and filtering last time moment of torsion;
(2) judge whether current time is greater than or equal to filtering time and filtering cycle sum last time:
If current time is greater than or equal to filtering time and filtering cycle sum last time, then carry out filtering process, if current time is less than filtering time and filtering cycle sum last time, then current limit value filtering process does not also terminate, proceed, still use filtering last time moment of torsion;
(3) search amplitude filtered limit value table according to current torque, search the rising limit value and decline limit value that obtain amplitude filtered;
(4) judge whether current torque is less than or equal to the difference of filtering last time moment of torsion and decline limit value:
If current torque is less than or equal to the difference of filtering last time moment of torsion and decline limit value, then the numerical value adjusting current torque is the difference of filtering last time moment of torsion and decline limit value, ensures that moment of torsion slowly declines instead of suddenly falls,
If current torque is greater than the difference of filtering last time moment of torsion and decline limit value, then judge whether current torque is greater than or equal to filtering last time moment of torsion and rising limit value sum:
If current torque is greater than or equal to filtering last time moment of torsion and rising limit value sum, then the numerical value adjusting current torque is filtering last time moment of torsion and rising limit value sum, ensures that moment of torsion slowly rises instead of jumps,
If current torque is less than filtering last time moment of torsion and rising limit value sum, then the numerical value adjusting current torque is demand torque;
(5) current time is saved as filtering time last time, current filter moment of torsion saves as filtering last time moment of torsion, for next amplitude threshold filtering process.
In a preferred embodiment of the present invention, the described demand torque in step (4) is the torque rating that described filtering process finally needs to reach.
In a preferred embodiment of the present invention, the described amplitude filtered limit value table in the described filtering cycle in step (1) and step (3) is obtained by real steering vectors.
In a preferred embodiment of the present invention, described filtering cycle and described amplitude filtered limit value and power of motor, Motor torque export response cycle, throttle response time, brake pedal response time are directly proportional.
In a preferred embodiment of the present invention, described real steering vectors comprises the following steps:
(1) when acceleration or brake, if vehicle shake, then amplitude filtered limit value is reduced gradually until jitter elimination;
(2) when vehicle acceleration is unable, need to shorten the filtering cycle, accelerate the response of moment of torsion;
(3) adjustment filtering cycle and amplitude filtered limit value, makes vehicle arrive balance between acceleration power and traveling comfort, that is, shake is eliminated on the basis ensureing acceleration power, to reach vehicle condition optimum.
The invention has the beneficial effects as follows: the present invention is used for the vibration that the moment of torsion filtering control method of entire car controller avoids main drive shaft, improve vehicle torque to control, promote the ride comfort that moment of torsion switches, improve the traveling comfort of vehicular drive, promote acceleration capability, promote energy regenerating effect, have market outlook widely popularizing of the moment of torsion filtering control method for entire car controller.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is the moment of torsion sudden change response schematic diagram of prior art;
Fig. 2 is the filter response schematic diagram of prior art;
Fig. 3 is the filter response schematic diagram of moment of torsion filtering control method one preferred embodiment for entire car controller of the present invention;
Fig. 4 is the diagram of circuit of moment of torsion filtering control method one preferred embodiment for entire car controller of the present invention.
Detailed description of the invention
Be clearly and completely described to the technical scheme in the embodiment of the present invention below, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of the present invention comprises:
As Figure 3-Figure 4, a kind of moment of torsion filtering control method for entire car controller, for current torque is adjusted to demand torque, comprises the following steps:
(1) obtain current time, current torque, the filtering cycle, last time filtering time and filtering last time moment of torsion;
(2) judge whether current time is greater than or equal to filtering time and filtering cycle sum last time:
If current time is greater than or equal to filtering time and filtering cycle sum last time, then carry out filtering process, if current time is less than filtering time and filtering cycle sum last time, then current limit value filtering process does not also terminate, proceed, still use filtering last time moment of torsion;
(3) search amplitude filtered limit value table according to current torque, search the rising limit value and decline limit value that obtain amplitude filtered, wherein said rising limit value is designated as amplitude A, and decline limit value is designated as amplitude B;
(4) judge whether current torque is less than or equal to the difference of filtering last time moment of torsion and decline limit value:
If current torque is less than or equal to the difference of filtering last time moment of torsion and decline limit value, then the numerical value adjusting current torque is the difference of filtering last time moment of torsion and decline limit value, ensures that moment of torsion slowly declines instead of suddenly falls,
If current torque is greater than the difference of filtering last time moment of torsion and decline limit value, then judge whether current torque is greater than or equal to filtering last time moment of torsion and rising limit value sum:
If current torque is greater than or equal to filtering last time moment of torsion and rising limit value sum, then the numerical value adjusting current torque is filtering last time moment of torsion and rising limit value sum, ensures that moment of torsion slowly rises instead of jumps,
If current torque is less than filtering last time moment of torsion and rising limit value sum, then the numerical value adjusting current torque is demand torque;
(5) current time is saved as filtering time last time, current filter moment of torsion saves as filtering last time moment of torsion, for next amplitude threshold filtering process.
After analyzing a large amount of data, find that the generation principal element of vibration is the switching (be driven into braking or brake to and drive) of moment of torsion, be therefore changed to the multiple spot limit value based on moment of torsion by single-point limit value.When switching larger from moment of torsion, filter magnitude A is large, and more close to switching point more hour, filter magnitude A is less, in systems in which at least 3 kinds of amplitude filtered limit values, general 5-8 amplitude filtered limit value.
Preferably, the described demand torque in step (4) is the torque rating that described filtering process finally needs to reach.
Preferably, the described amplitude filtered limit value table in the described filtering cycle in step (1) and step (3) is obtained by real steering vectors.
Preferably, described filtering cycle and described amplitude filtered limit value and power of motor, Motor torque export response cycle, throttle response time, brake pedal response time be directly proportional.
Preferably, described real steering vectors comprises the following steps:
(1) when acceleration or brake, if vehicle shake, then amplitude filtered limit value is reduced gradually until jitter elimination;
(2) when vehicle acceleration is unable, need to shorten the filtering cycle, accelerate the response of moment of torsion;
(3) adjustment filtering cycle and amplitude filtered limit value, makes vehicle arrive balance between acceleration power and traveling comfort, that is, shake is eliminated on the basis ensureing acceleration power, to reach vehicle condition optimum.
The beneficial effect that the present invention is used for the moment of torsion filtering control method of entire car controller is:
One, be changed to the multiple spot limit value based on moment of torsion by employing single-point limit value, avoid the vibration of main drive shaft, improve vehicle torque and control, promote the ride comfort that moment of torsion switches, improve the traveling comfort of vehicular drive;
Two, by considering that throttle response time obtains filtering cycle and amplitude filtered limit value, while filtering, reducing throttle response time, promoting acceleration capability;
Three, by considering that drag response time obtains filtering cycle and amplitude filtered limit value, while filtering, reducing throttle response time, promoting acceleration capability.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (5)
1., for a moment of torsion filtering control method for entire car controller, for current torque is adjusted to demand torque, it is characterized in that, comprise the following steps:
(1) obtain current time, current torque, the filtering cycle, last time filtering time and filtering last time moment of torsion;
(2) judge whether current time is greater than or equal to filtering time and filtering cycle sum last time:
If current time is greater than or equal to filtering time and filtering cycle sum last time, then carry out filtering process, if current time is less than filtering time and filtering cycle sum last time, then current limit value filtering process does not also terminate, proceed, still use filtering last time moment of torsion;
(3) search amplitude filtered limit value table according to current torque, search the rising limit value and decline limit value that obtain amplitude filtered;
(4) judge whether current torque is less than or equal to the difference of filtering last time moment of torsion and decline limit value:
If current torque is less than or equal to the difference of filtering last time moment of torsion and decline limit value, then the numerical value adjusting current torque is the difference of filtering last time moment of torsion and decline limit value, ensures that moment of torsion slowly declines instead of suddenly falls,
If current torque is greater than the difference of filtering last time moment of torsion and decline limit value, then judge whether current torque is greater than or equal to filtering last time moment of torsion and rising limit value sum:
If current torque is greater than or equal to filtering last time moment of torsion and rising limit value sum, then the numerical value adjusting current torque is filtering last time moment of torsion and rising limit value sum, ensures that moment of torsion slowly rises instead of jumps,
If current torque is less than filtering last time moment of torsion and rising limit value sum, then the numerical value adjusting current torque is demand torque;
(5) current time is saved as filtering time last time, current filter moment of torsion saves as filtering last time moment of torsion, for next amplitude threshold filtering process.
2. the moment of torsion filtering control method for entire car controller according to claim 1, is characterized in that, the described demand torque in step (4) is the torque rating that described filtering process finally needs to reach.
3. the moment of torsion filtering control method for entire car controller according to claim 1, is characterized in that, the described amplitude filtered limit value table in the described filtering cycle in step (1) and step (3) is obtained by real steering vectors.
4. the moment of torsion filtering control method for entire car controller according to claim 3, it is characterized in that, described filtering cycle and described amplitude filtered limit value and power of motor, Motor torque export response cycle, throttle response time, brake pedal response time are directly proportional.
5. the moment of torsion filtering control method for entire car controller according to claim 3, it is characterized in that, described real steering vectors comprises the following steps:
(1) when acceleration or brake, if vehicle shake, then amplitude filtered limit value is reduced gradually until jitter elimination;
(2) when vehicle acceleration is unable, need to shorten the filtering cycle, accelerate the response of moment of torsion;
(3) adjustment filtering cycle and amplitude filtered limit value, makes vehicle arrive balance between acceleration power and traveling comfort, that is, shake is eliminated on the basis ensureing acceleration power, to reach vehicle condition optimum.
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| CN201510859954.2A CN105383326B (en) | 2015-12-01 | 2015-12-01 | A kind of moment of torsion filtering control method for entire car controller |
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| CN201510859954.2A CN105383326B (en) | 2015-12-01 | 2015-12-01 | A kind of moment of torsion filtering control method for entire car controller |
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| CN105383326A true CN105383326A (en) | 2016-03-09 |
| CN105383326B CN105383326B (en) | 2018-02-06 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107117069A (en) * | 2017-04-21 | 2017-09-01 | 阿尔特汽车技术股份有限公司 | Motor in electric automobile moment of torsion Super-zero control method |
| CN108263246A (en) * | 2016-12-30 | 2018-07-10 | 长城汽车股份有限公司 | Torque filtering control method, system and the vehicle of vehicle |
| CN110171297A (en) * | 2019-05-05 | 2019-08-27 | 北京新能源汽车股份有限公司 | Driving motor output torque control method, system and the vehicle of electric car |
| CN110341499A (en) * | 2019-07-02 | 2019-10-18 | 博雷顿科技有限公司 | A kind of pure electric vehicle driving motor torque control method |
| CN112046301A (en) * | 2020-09-14 | 2020-12-08 | 广州小鹏自动驾驶科技有限公司 | Torque control method and device for vehicle motor and vehicle |
| CN112730931A (en) * | 2020-12-17 | 2021-04-30 | 潍柴动力股份有限公司 | Fault diagnosis method, apparatus, device and medium for PWM-driven load |
| CN113071496A (en) * | 2021-04-13 | 2021-07-06 | 佛山市飞驰汽车科技有限公司 | New energy automobile driver demand torque filtering method |
| CN114435141A (en) * | 2020-11-05 | 2022-05-06 | 郑州宇通客车股份有限公司 | Vehicle output torque control method and device |
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| CN108263246A (en) * | 2016-12-30 | 2018-07-10 | 长城汽车股份有限公司 | Torque filtering control method, system and the vehicle of vehicle |
| CN108263246B (en) * | 2016-12-30 | 2020-01-03 | 长城汽车股份有限公司 | Torque filtering control method and system of vehicle and vehicle |
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| CN114435141A (en) * | 2020-11-05 | 2022-05-06 | 郑州宇通客车股份有限公司 | Vehicle output torque control method and device |
| CN114435141B (en) * | 2020-11-05 | 2023-07-21 | 宇通客车股份有限公司 | Vehicle output torque control method and device |
| CN112730931A (en) * | 2020-12-17 | 2021-04-30 | 潍柴动力股份有限公司 | Fault diagnosis method, apparatus, device and medium for PWM-driven load |
| CN112730931B (en) * | 2020-12-17 | 2022-04-26 | 潍柴动力股份有限公司 | Fault diagnosis method, apparatus, device and medium for PWM-driven load |
| CN113071496A (en) * | 2021-04-13 | 2021-07-06 | 佛山市飞驰汽车科技有限公司 | New energy automobile driver demand torque filtering method |
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Address after: Building 7, No. 15, Weiting Tingrong Street, Suzhou Industrial Park, Jiangsu Province, 215000 Patentee after: Suzhou Hager Electric Control Co.,Ltd. Patentee after: SUZHOU LANSHENG ELECTRONIC Co.,Ltd. Patentee after: KINGLONG UNITED AUTOMOTIVE INDUSTRY (SUZHOU) Co.,Ltd. Address before: No. 89, Weixin Road, Suzhou Industrial Park, Jiangsu Province, 215000 Patentee before: SUZHOU HAIGE NEW ENERGY AUTO ELECTRIC CONTROL SYSTEM TECHNOLOGY Co.,Ltd. Patentee before: SUZHOU LANSHENG ELECTRONIC Co.,Ltd. Patentee before: KINGLONG UNITED AUTOMOTIVE INDUSTRY (SUZHOU) Co.,Ltd. |
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