CN105480115B - One kind prevents electric automobile from the torque control method of " dead pedal phenomenon " occur - Google Patents
One kind prevents electric automobile from the torque control method of " dead pedal phenomenon " occur Download PDFInfo
- Publication number
- CN105480115B CN105480115B CN201510824567.5A CN201510824567A CN105480115B CN 105480115 B CN105480115 B CN 105480115B CN 201510824567 A CN201510824567 A CN 201510824567A CN 105480115 B CN105480115 B CN 105480115B
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- Prior art keywords
- torque
- moment
- control unit
- unit
- torsion control
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
There is the torque control method of " dead pedal phenomenon " in a kind of vehicle for preventing electric automobile, including electrokinetic cell unit, it is characterized in that, electrokinetic cell unit is connected with the input of moment of torsion control unit, the moment of torsion control unit input is also connected with accelerator pedal signal output unit；The moment of torsion control unit is connected with electric-motor drive unit；The electric-motor drive unit is connected by the gear unit being made up of gearbox, power transmission shaft and differential mechanism with the input of driver element.The maximum torque request that moment of torsion control of the present invention is likely to occur according to dynamical system peak torque ability and driver, real time modifying drives torque curve, the situation that driver torque request exceeds dynamical system peak torque ability is avoided the occurrence of, i.e., " dead pedal phenomenon ".Described torque control method was not only avoided that " dead pedal phenomenon " but also ensure that dynamical system peak torque ability, it is adaptable to need to use the pure electric vehicle and hybrid-power electric vehicle of electrokinetic cell.
Description
Technical field
The present invention relates to electric automobile and Development of HEV Technology field, specifically a kind of electric automobile that prevents
There is the torque control method of " dead pedal phenomenon " in vehicle.The control method is applicable to the pure electric vehicle using electrokinetic cell
And hybrid-power electric vehicle.
Keyword：Dead pedal phenomenon electric automobile torque control.
Background technology
With continuing to develop for society, environmental problem has been received more and more attention, and the discharge of vehicle exhaust is
Through one of principal element as influence environment, in addition in view of non-renewable and car ownership the lasting increasing of oil
Plus, therefore find the unique channel that a kind of oil of cleaning replaces the energy to be solution problem above, environment-friendly type hybrid vehicle
And electric automobile arises at the historic moment.
Current power system of electric automobile is typically made up of major parts such as lithium-ion-power cell, motors.Lithium from
The discharge power of sub- battery is always subjected to the limitation of the factors such as temperature, SOC (State of Charge, state-of-charge).Driving electricity
Machine also always reduces torque output capability due to overtemperature protection.So with longer working time power system of electric automobile meeting
There is the objective condition that temperature increases, SOC declines and causes torque capability to reduce.When system torque ability reduces to a certain extent
The deep stepping on accelerator pedal of dead pedal phenomenon, i.e. driver easily occurs if having bigger accelerator pedal demand if driver afterwards but asks
Moment of torsion is asked not change.Therefore, the generation of above-mentioned major accident how is prevented, is those skilled in the art always in the weight of research
Want one of problem.
The content of the invention
It is an object of the invention to provide a kind of moment of torsion control side for avoiding the vehicle of electric automobile from " dead pedal phenomenon " occur
Method, and there is the features such as torque request smoothes out, do not cut down automotive power peak torque ability.
The purpose of the present invention is achieved by the following technical solution：A kind of vehicle for preventing electric automobile occurs " extremely
The torque control method of pedal phenomenon ", it includes electrokinetic cell unit, it is characterised in that electrokinetic cell unit and moment of torsion control
The input of unit processed is connected, and the moment of torsion control unit input is also connected with accelerator pedal signal output unit；Institute
Moment of torsion control unit is stated with electric-motor drive unit to be connected；The electric-motor drive unit passes through by gearbox, power transmission shaft and differential
The gear unit of device composition is connected with the input of driver element.
Accelerator pedal signal output unit：Mainly it is made up of accelerator pedal and its subsidiary body, is responsible for output accelerator pedal
The voltage signal of aperture, and deliver it to moment of torsion control unit.
Electrokinetic cell unit：Mainly it is made up of, is responsible under electrokinetic cell current state electrokinetic cell and its control unit
Maximum discharge power sends moment of torsion control unit to.
Moment of torsion control unit：Moment of torsion control unit is responsible for receiving the voltage signal of accelerator pedal signal unit output and by electricity
Pressure signal is converted to 0-100% opening amount signal, and electric-motor drive unit output torque is referred to according to accelerator opening angle signal
Order.Meanwhile, moment of torsion control unit also receives maximum discharge power and motor under the current state that electrokinetic cell unit is sent and driven
Motor speed and executable peak torque instruction that moving cell is sent.
It is the maximum discharge power for the electrokinetic cell unit that moment of torsion control unit passes through collection and the rotating speed of motor, executable
Peak torque is instructed, and anticipation goes out the aperture increase moment of torsion whether accelerator pedal occurs accelerator pedal in the strokes such as 0-100%
The constant situation of torque command of the control unit to electric-motor drive unit.If above-mentioned situation moment of torsion control unit occurs in anticipation
Can be by the way of the torque command of limitation moment of torsion control unit in advance, it is ensured that be not in situation about occurring in anticipation, that is, exist
The moment of torsion of moment of torsion control unit output starts to correct torque request curve after reaching 80% system peak torque ability, it is ensured that
When accelerator pedal aperture is 100%, the system that torque request instruction of the moment of torsion control unit to electric-motor drive unit is 100% is most
High pulling torque.
Electric-motor drive unit：Mainly it is made up of motor and controller, is responsible for receiving the torque request of moment of torsion control unit
Instruction, and to gear unit output torque；Simultaneously electric-motor drive unit can also to moment of torsion control unit transmit motor rotating speed and
Executable peak torque instruction.
Gear unit：Mainly it is made up of gearbox, power transmission shaft and differential portion, is responsible for transmitting power to driver element.
Driver element：Master is made up of driving wheel and its appurtenances, is responsible for direct drive vehicle and advances or retreat.
To achieve these goals, the maximum discharge power of control system of the invention collection battery system, electric system are turned round
The information such as square ability, rotating speed, accelerator pedal aperture；
First, automotive power maximum is calculated according to the maximum discharge power of battery system and electric system torque capability
Output torque, its computational methods is：
1st, the peak power that battery is supplied to motor to be used for driving vehicle is determined, the power is battery system maximum electric discharge work(
Rate subtracts the loss of other loads；According to the available peak torque of power meter slide rule battery system.
PE=Pb-Pc (1)
P in formula 1,2eThe maximum electric power of motor is supplied to for battery；PbFor the maximum discharge power of battery system；PcTo be
Unite other accessory powers, such as DCDC power, air-conditioning power；T is changed to machinery for the maximum power dress that battery is provided to motor
The peak torque of work(；It is motor speed that η is taken as 0.9, N for electric system efficiency.
2nd, T and electric system peak torque ability T are comparedmObtain the minimum value T of the twoc, TcIt is maximum for automotive power
Moment of torsion；
Secondly, T is comparedcWith torque request T during 100% aperture of accelerator pedal in control systemr；
Work as Tr≤TcWhen, control system torque request is not corrected automatically；
Work as Tr＞ TcWhen, control system torque request is corrected automatically；
It is to the method that control system torque request is corrected automatically：
1st, control system output torque is calculated for 0.8*TcWhen accelerator pedal aperture APP；
2nd, when accelerator pedal aperture is more than APP, according to two torque request points (APP, 0.8*Tc) and (100%, Tc) meter
Straight line is calculated, as the current aperture APP of accelerator pedalrDuring more than APP, torque request changes along the straight line.
I.e.：
It is of the invention to calculate accelerator pedal torque request, automotive power peak torque ability, dead pedal aperture area in real time；
Start modification driver torque request when driver torque request reaches 0.8 times of automotive power peak torque ability bent
Line, fits when straight line line makes the accelerator pedal reach 100% aperture driver's requested torque exactly vehicle power again
System peak torque ability.
In summary, the control system of the torque control method used herein has advantages below：
1st, because this control method shifts to an earlier date whether anticipation can occur dead pedal phenomenon, so when automotive power moment of torsion energy
When power is restricted, being prevented effectively from driver's bend the throttle, still driving torque does not have increased dead pedal phenomenon,
Improve the driving of vehicle；
2nd, because this control method has taken into full account the maximum capacity of electrokinetic cell, motor, so when driver will accelerate
When pedal is stepped on completely, the torque request of control system is automotive power peak torque, does not thus influence vehicle most
High pulling torque is exported, will not rigid vehicle acceleration；
3rd, because this control method is using the method for limiting moment of torsion in advance, so automotive power torque capability is limited
When processed, when driver's requested torque is continuously increased, part reduction is done to driver's requested torque in advance, it is stronger in protection electricity
Mechanical, electrical pond；
4th, due to the online modification driver's requested torque automatic in real time of this control method, drivability will not be increased, moved
The difficulty of power demarcation.
Brief description of the drawings
Fig. 1 is the control system theory diagram of the present invention；
Accompanying drawing 2 is the algorithm of the present invention to the contrast curve before and after torque demand curve automatic Fitting.
Below in conjunction with accompanying drawing by example, the present invention is described in further detail, but following examples are only this hair
Bright example, does not represent the rights protection scope that the present invention is limited, and the scope of the present invention will with right
Book is asked to be defined.
Embodiment：
Example 1
As shown in Fig. 1-2, using the battery capacity of a pure electric automobile as 60Ah, the peak power of motor is 65kw, attached
Part general power PcIt is example for 8kw.
Described electrokinetic cell unit is connected with the input of moment of torsion control unit, the moment of torsion control unit input
Also it is connected with accelerator pedal signal output unit；The moment of torsion control unit is connected with electric-motor drive unit；The motor
Driver element is connected by the gear unit being made up of gearbox, power transmission shaft and differential mechanism with the input of driver element.
The information that control system is collected is：Accelerator pedal aperture is 5%, and motor speed is N=2000r/min；Due to
The maximum discharge power P of battery is influenceed by factors such as temperature, SOCbFor 40kw, motor maximum torque ability is 220Nm；
First, the peak torque ability of automotive power is calculated；
1st, the maximum electric power that battery is provided to motor is：
PE=Pb-Pc=40kw-8kw=32kw；
Electric energy dress is changed to peak torque after mechanical work and is
2nd, automotive power peak torque ability is：
Tc=137.52Nm
Secondly, T is comparedcWith torque request T during 100% aperture of accelerator pedal in control systemr；
1st, control system is in N=2000r/min, and torque request is T when accelerator pedal aperture is 100%rFor 220Nm；This
When Tr＞ Tc, and calculated according to calibrating parameters inside tool control system, when the request of control system output torque is 0.8*
Accelerator pedal aperture is that APP is 60% during 137.52Nm ≈ 110Nm；
It can be seen from calibrating parameters inside control system, turned round before torque request curve matching when accelerator pedal is 70%
Square request be about 137Nm, now the aperture of accelerator pedal is dead pedal area between 70%-100%, now continue to step on plus
Speed pedal requested torque is constant, dead pedal state occurs；
2nd, driver continues bend the throttle, and torque request output can be according to plan after accelerator pedal aperture is more than 60%
The torque request curve of conjunction is corrected automatically；
If accelerator pedal aperture is 90%；
It is that the torque request exported is after torque request curve automatic Fitting：
When accelerator pedal aperture is 100%,
Tr=0.8*137.52+0.2*137.52Nm=137.52Nm；
As shown in Figure 2, heavy line is the former torque request curve of control system in figure, as can be seen from the figure because vehicle is dynamic
Force system peak torque ability is asked less than control system peak torque, so with the increase of accelerator pedal aperture, working as moment of torsion
Request is equal to after automotive power peak torque ability, and the continuation increase of accelerator pedal aperture but torque request do not continue to increase
Plus, Ji Tuzhongsi pedals area；And torque request curve realizes linear change of the torque request with accelerator pedal after correcting automatically
Change, i.e., with the increase of accelerator pedal aperture, after torque request is equal to 0.8 times of vehicle peak torque ability, with adding
The continuation increase of speed pedal, torque request will continue to increase along the dotted line in figure, when accelerator pedal aperture reaches 100% aperture
When control system torque ability it is equal with Vehicular system peak torque ability, effectively avoid dead pedal phenomenon.So as to realize
The purpose of the present invention.
The present invention also has the characteristics that：
1st, operator demand's moment of torsion is smoothed out, terminal the rising for second segment demand torque curve of first paragraph demand torque curve
Point, it is ensured that operator demand is not mutated guarantee vehicle drive performance.
2nd, operator demand's torque maximum is system peak torque ability, it is ensured that the power performance of vehicle.
Certainly, the present invention there may also be other a variety of embodiments, in the situation without departing substantially from spirit of the invention and its essence
Under, those skilled in the art work as can make various corresponding changes and deformation according to the present invention, but these change accordingly
Become and deformation should all belong to the protection domain of appended claims of the invention.
Claims (5)
1. the torque control method of " dead pedal phenomenon " occurs in a kind of vehicle for preventing electric automobile, it includes electrokinetic cell list
Member, it is characterised in that electrokinetic cell unit is connected with the input of moment of torsion control unit, the moment of torsion control unit input
Also it is connected with accelerator pedal signal output unit；The moment of torsion control unit is connected with electric-motor drive unit；The motor
Driver element is connected by the gear unit being made up of gearbox, power transmission shaft and differential mechanism with the input of driver element；
It is the maximum discharge power for the electrokinetic cell unit that the moment of torsion control unit passes through collection and the rotating speed of motor, executable
Peak torque is instructed, and anticipation goes out the aperture increase moment of torsion whether accelerator pedal occurs accelerator pedal in the strokes such as 0-100%
The constant situation of torque command of the control unit to electric-motor drive unit；If above-mentioned situation moment of torsion control unit occurs in anticipation
Can be by the way of the torque command of limitation moment of torsion control unit in advance, it is ensured that be not in situation about occurring in anticipation, that is, exist
The moment of torsion of moment of torsion control unit output starts to correct torque request curve after reaching 80% system peak torque ability, it is ensured that
When accelerator pedal aperture is 100%, the system that torque request instruction of the moment of torsion control unit to electric-motor drive unit is 100% is most
High pulling torque.
2. torque control method according to claim 1, it is characterised in that described accelerator pedal signal output unit is
Refer to and send the voltage signal for exporting accelerator pedal aperture to moment of torsion control unit.
3. torque control method according to claim 1, it is characterised in that the electrokinetic cell unit refers in current shape
The maximum discharge power value of electrokinetic cell gathered under state sends moment of torsion control unit to.
4. torque control method according to claim 1, it is characterised in that the moment of torsion control unit refers to believe voltage
0-100% opening amount signal number is converted to, and electric-motor drive unit output torque is instructed according to accelerator opening angle signal；Together
When, moment of torsion control unit also receives maximum discharge power and electric-motor drive unit under the current state that electrokinetic cell unit is sent
The motor speed of transmission and executable peak torque instruction.
5. torque control method according to claim 1, it is characterised in that the electric-motor drive unit mainly includes motor
And its controller, it is responsible for receiving the torque request instruction of moment of torsion control unit, and to gear unit output torque；Motor drives simultaneously
The rotating speed and executable peak torque that moving cell can also transmit motor to moment of torsion control unit are instructed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510824567.5A CN105480115B (en) | 2015-11-24 | 2015-11-24 | One kind prevents electric automobile from the torque control method of " dead pedal phenomenon " occur |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510824567.5A CN105480115B (en) | 2015-11-24 | 2015-11-24 | One kind prevents electric automobile from the torque control method of " dead pedal phenomenon " occur |
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| Publication Number | Publication Date |
|---|---|
| CN105480115A CN105480115A (en) | 2016-04-13 |
| CN105480115B true CN105480115B (en) | 2017-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510824567.5A Expired - Fee Related CN105480115B (en) | 2015-11-24 | 2015-11-24 | One kind prevents electric automobile from the torque control method of " dead pedal phenomenon " occur |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554353B (en) * | 2017-08-25 | 2020-07-03 | 现代商用汽车(中国)有限公司 | Whole vehicle torque control method of electric vehicle |
| CN108715139B (en) * | 2018-05-30 | 2021-05-07 | 北京新能源汽车股份有限公司 | Torque control method, device and equipment for electric automobile |
| CN112829605B (en) * | 2021-02-19 | 2022-10-04 | 恒大新能源汽车投资控股集团有限公司 | Vehicle torque control method and device and computer readable storage medium |
| US11912135B2 (en) | 2021-03-24 | 2024-02-27 | Fca Us Llc | Battery electric vehicle accelerator pedal control based on user-selectable deceleration limit and driver intent |
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|---|---|---|---|---|
| CN1555990A (en) * | 2003-12-30 | 2004-12-22 | 联合汽车电子有限公司 | Mixed power automobile control system and its control method |
| CN101244721A (en) * | 2008-03-24 | 2008-08-20 | 南京汽车集团有限公司 | Multi-power-operated control method and system for hybrid power vehicle |
| JP2009153281A (en) * | 2007-12-20 | 2009-07-09 | Denso Corp | Controller of electric vehicle |
| CN102666184A (en) * | 2009-11-03 | 2012-09-12 | 株式会社V-Ens | Electric car and control method thereof |
| CN203780329U (en) * | 2014-03-18 | 2014-08-20 | 万向电动汽车有限公司 | Series regenerative brake system for electric vehicle |
-
2015
- 2015-11-24 CN CN201510824567.5A patent/CN105480115B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1555990A (en) * | 2003-12-30 | 2004-12-22 | 联合汽车电子有限公司 | Mixed power automobile control system and its control method |
| JP2009153281A (en) * | 2007-12-20 | 2009-07-09 | Denso Corp | Controller of electric vehicle |
| CN101244721A (en) * | 2008-03-24 | 2008-08-20 | 南京汽车集团有限公司 | Multi-power-operated control method and system for hybrid power vehicle |
| CN102666184A (en) * | 2009-11-03 | 2012-09-12 | 株式会社V-Ens | Electric car and control method thereof |
| CN203780329U (en) * | 2014-03-18 | 2014-08-20 | 万向电动汽车有限公司 | Series regenerative brake system for electric vehicle |
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| CN105480115A (en) | 2016-04-13 |
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