CN105730279B - A kind of the hypervelocity control method and system of electric vehicle - Google Patents
A kind of the hypervelocity control method and system of electric vehicle Download PDFInfo
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- CN105730279B CN105730279B CN201410773399.7A CN201410773399A CN105730279B CN 105730279 B CN105730279 B CN 105730279B CN 201410773399 A CN201410773399 A CN 201410773399A CN 105730279 B CN105730279 B CN 105730279B
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The present invention provides a kind of electric vehicle hypervelocity control method, current vehicle speed is compared with target restricted speed first, calculate the first torque limit coefficient, then current motor rotating speed and target limitation rotating speed are compared, calculate the second torque limit coefficient, then the first torque limit coefficient taken with the second torque limit coefficient small, as torque limit coefficient, finally, it has just obtained motor maximum torque being multiplied by the torque limit coefficient, the Motor torque limits value exported.Duplicate protection is carried out by using speed and motor speed, the precision of control is not only increased and improves the safety of driving.It effectively prevents controlling only with motor speed in the prior art, leads to the problem of torque output cuts in and out in any case when overspeed of vehicle, by the dual monitoring to speed and motor speed, ensure that effective row of output, improve safety.
Description
Technical field
The present invention relates to electric vehicle field, the hypervelocity control method of specifically a kind of electric vehicle.
Background technology
Electric vehicle has the characteristics that zero-emission, pollution-free, energy conversion efficiency is high, noise is small, is to solve urbanization vapour
The important channel of vehicle outstanding problem.Development of EV will be to the innovation ability of adjustment Industry Structure, raising major fields
And the market competitiveness, promote coordinated development of the economy and society to exert far reaching influence.The value of electric vehicle is not only energy saving subtracts
Row, it is even more a kind of fundamentally to be solved with the energy change of mode and the optimization for the energy resource structure thus brought, electric vehicle
Oil dependence, environmental pollution, greenhouse gas emission and energy security problem are the final choices for developing new-energy automobile.
For vehicle and the safety of driver, vehicle is during high speed driving, it is necessary to carry out control guarantor to max. speed
Shield.In motion, speed is risen as motor speed constantly rises to vehicle simultaneously.When motor speed reaches certain big value
When, for motor service life and the considerations of driving safety, need to limit motor speed.Orthodox car speed not only by
Be limited to engine output and torque, also transmission system transmission ratio, and the max. speed of electric vehicle be by driving motor and
Gearbox limits, this just needs entire car controller and electric machine controller to carry out speed limit to speed and motor speed.
The scheme of limit is carried out as shown in Figure 1, acquiring motor speed by entire car controller to electric vehicle in the prior art
Signal tables look-up to obtain motor torque coefficient according to current motor rotating speed interpolation.Motor maximum torque is multiplied by coefficient and just obtains motor
Torque limit value.In current programme, the numerical value of the table is：
| Rotating speed | 6000 | 9000 | 9150 | 9300 | 9500 |
| Coefficient | 1 | 1 | 0.5 | 0 | 0 |
As can be seen that before rotating speed is less than 9000rpm (calibration value), speed limit value coefficient is 1 always, arrives 9300rpm,
Speed limit value coefficient becomes 0.It is calculated using difference arithmetic between 9000-9300rpm.Finally by the rotational speed limit coefficient with
Motor parses peak torque and is multiplied, and obtains Motor torque limits value.
In the above scheme, dimensional table is looked by motor speed signal and obtains rotational speed limit coefficient, reached in rotating speed
9300rpm（Calibration value）Later, speed limit value coefficient is 0, the Motor torque being multiplied in this way with motor maximum permissible torque
It is 0.During high speed driving, Motor torque becomes 0 and is equivalent to vehicle losing power, and speed is not under the action of frictional force
Increase anti-drop.In high speed, bend the throttle, Motor torque can cut in and out always, and when speed subtracts when increasing.This can allow driver
Vehicle trouble is takeed for, a kind of fear of meaningless generation influences safety of driving.
Invention content
For this purpose, technical problem to be solved by the present invention lies in method for controlling driving speed in the prior art, in some hypervelocities
In the case of Motor torque output the problem of cutting in and out, influencing traffic safety, to propose a kind of overall speed and motor speed
The electric vehicle hypervelocity control method and system controlled, stablized.
In order to solve the above technical problems, a kind of electric vehicle hypervelocity control method of the offer of the present invention and system.
The present invention provides a kind of hypervelocity control method of electric vehicle, includes the following steps：
Current vehicle speed is compared with target restricted speed, calculates the first torque limit coefficient；
Current motor rotating speed is compared with target limitation rotating speed, calculates the second torque limit coefficient；
The first torque limit coefficient is taken with the second torque limit coefficient small, obtains torque limit coefficient；
Motor maximum torque is multiplied by the torque limit coefficient, the Motor torque limits value exported.
Preferably, current vehicle speed is compared with target restricted speed, calculates the process of the first torque limit coefficient, packet
It includes：
When current vehicle speed is less than target restricted speed, the first torque limit coefficient is 1；
When current vehicle speed is more than target restricted speed, the difference of current vehicle speed and target restricted speed is calculated, and carries out PID tune
Section exports the first torque limit coefficient.
Preferably, further include carrying out at upper lower limit value after progress PID adjustings during calculating the first torque limit coefficient
Reason, then exports the first torque limit coefficient.
Preferably, current motor rotating speed is compared with target limitation rotating speed, calculates the mistake of the second torque limit coefficient
Journey, including：
When current motor rotating speed is less than target limitation rotating speed, the second torque limit coefficient is 1；
When current motor rotating speed is more than target limitation rotating speed, the difference of current motor rotating speed and target limitation rotating speed is calculated, and
PID adjustings are carried out, the second torque limit coefficient is exported.
Preferably, further include carrying out at upper lower limit value after progress PID adjustings during calculating the second torque limit coefficient
Reason, then exports the second torque limit coefficient.
The present invention also provides a kind of overspeed control systems of electric vehicle, include the following steps：
First torque limit coefficient calculation unit：Current vehicle speed is compared with target restricted speed, first is calculated and turns round
Square limit coefficient；
Second torque limit coefficient calculation unit：Current motor rotating speed and target limitation rotating speed are compared, calculate the
Two torque limit coefficients；
Take junior unit：The first torque limit coefficient is taken with the second torque limit coefficient small, obtains torque limit
Coefficient processed；
Output unit：Motor maximum torque is multiplied by the torque limit coefficient, the Motor torque limits value exported.
Preferably, the first torque limit coefficient calculation unit, including：
The first comparing subunit of speed：When current vehicle speed is less than target restricted speed, the first torque limit coefficient is 1；
The second comparing subunit of speed：When current vehicle speed is more than target restricted speed, calculates current vehicle speed and limited with target
The difference of speed, and PID adjustings are carried out, export the first torque limit coefficient.
Preferably, further include speed limitation subelement in the second comparing subunit of speed, carried out up and down after carrying out PID adjustings
Limit value processing, then exports the first torque limit coefficient.
Preferably, the second torque limit coefficient calculation unit, including：
The first comparing subunit of rotating speed：When current motor rotating speed is less than target limitation rotating speed, the second torque limit coefficient is
1；
The second comparing subunit of rotating speed：Current motor rotating speed be more than target limitation rotating speed when, calculate current motor rotating speed with
Target limits the difference of rotating speed, and carries out PID adjustings, exports the second torque limit coefficient.
Preferably, further include rotating speed limitation subelement in the second comparing subunit of rotating speed, carried out up and down after carrying out PID adjustings
Limit value processing, then exports the second torque limit coefficient.
The above technical solution of the present invention has the following advantages over the prior art,
（1）The present invention provides a kind of electric vehicle and exceeds the speed limit control method, first by current vehicle speed and target restricted speed into
Row compares, and calculates the first torque limit coefficient, is then compared current motor rotating speed with target limitation rotating speed, calculates second
Torque limit coefficient, then the first torque limit coefficient taken with the second torque limit coefficient it is small, as torque limit
Coefficient finally has just obtained motor maximum torque being multiplied by the torque limit coefficient, the Motor torque limitation exported
Value.Duplicate protection is carried out by using speed and motor speed, the precision of control is not only increased and improves the peace of driving
Quan Xing.It effectively prevents controlling only with motor speed in the prior art, torque is defeated in any case when leading to overspeed of vehicle
Go out the problem of cutting in and out, by the dual monitoring to speed and motor speed, ensure that effective row of output, improve safety
Property.
（2）Electric vehicle hypervelocity control method of the present invention, when current vehicle speed is more than target restricted speed, calculating is worked as
The difference of preceding speed and target restricted speed, and PID adjustings are carried out, the first torque limit coefficient is exported, is adjusted by PID so that
Current vehicle speed to when target restricted speed smooth transition, avoided large gain generate influence.Current motor rotating speed is more than target
It is also so to control when limiting rotating speed so that its transition is more steady.
（3）Electric vehicle hypervelocity control method of the present invention, for motor speed and speed, after PID adjustment also
Can carry out upper lower limit value processing, due to PID control failure be there may be larger fluctuation, upper lower limit value processing by way of,
Control is output it in reasonable range, ensure that the reliability of control.
（4）The present invention also provides a kind of overspeed control systems of electric vehicle, including the first torque limit coefficient to calculate list
Member, the second torque limit coefficient calculation unit take junior unit and output unit, the program to solve the limitation of electric vehicle max. speed
The problem of protection and driving safety, the program limits the speed that electric vehicle is run at high speed, and improves vehicle drive
Safety, since rotating speed and the speed of motor have certain functional relation, controlling motor speed and speed simultaneously has more
High safety guarantee.
Description of the drawings
In order to make the content of the present invention more clearly understood, it below according to specific embodiments of the present invention and combines
Attached drawing, the present invention is described in further detail, wherein
Fig. 1 is the schematic diagram of hypervelocity control method in the prior art.
Fig. 2 is a kind of flow chart of electric vehicle hypervelocity control method in the embodiment of the present invention；
Fig. 3 is the schematic diagram of the entire car controller in the embodiment of the present invention；
Fig. 4 is the flow chart of the electric vehicle hypervelocity control method of the entire car controller in the embodiment of the present invention；
Fig. 5 is the flow diagram of the electric vehicle hypervelocity control method of the entire car controller in the embodiment of the present invention；
Fig. 6 is a kind of structure diagram of electric vehicle overspeed control system in the embodiment of the present invention.
Specific implementation mode
The hypervelocity control method of electric vehicle in the specific real-time mode, the full-vehicle control of main application and electric vehicle
In device, the output torque of motor is limited.By being realized with the instruction for realizing following procedure.
Embodiment 1：
The present embodiment provides a kind of hypervelocity control methods of electric vehicle, as shown in Fig. 2, including the following steps：
1, first, current vehicle speed is compared with target restricted speed, calculates the first torque limit coefficient.The process has
Body is：
When current vehicle speed is less than target restricted speed, the first torque limit coefficient is 1.Target restricted speed is exactly to the vehicle
Restricted speed, since speed has not exceeded the target restricted speed, there is no need to carry out torque limit, therefore according to the vehicle
The first torque limit coefficient value that speed obtains is 1.
When current vehicle speed is more than target restricted speed, the difference of current vehicle speed and target restricted speed is calculated, and carries out PID tune
Section exports the first torque limit coefficient.In the preferred scheme, suddenly change caused by lacking of proper care in order to avoid PID, needs
PID carries out the processing of upper lower limit value after adjusting, output it and be limited in reasonable range.It is adjusted by PID so that current vehicle
Speed to when target restricted speed smooth transition, avoided large gain generate influence.
PID adjustings refer to being adjusted by PID controller, and PID controller is to pass through ratio（proportion）, integral
（integration）, differential（differentiation）Come what is controlled, by proportional unit（P）, integral unit（I）With it is micro-
Subdivision（D）Composition.It inputs e (t）With output u (t）Relationship be
The bound integrated in u (t)=kp [e (t)+1/TI ∫ e (t) dt+TD*de (t)/dt] formula is 0 and t respectively
Therefore its transmission function is：G(s)=U(s)/E(s)=kp[1+1/(TI*s)+TD*s]
Wherein kp is proportionality coefficient；TI is integration time constant；TD is derivative time constant.
2, then, current motor rotating speed is compared with target limitation rotating speed, calculates the second torque limit coefficient.The mistake
Journey includes：
When current motor rotating speed is less than target limitation rotating speed, the second torque limit coefficient is 1.Due to the rotating speed of motor at this time
It is not out limitation, without being adjusted for it, therefore the second torque limit coefficient value is 1.
When current motor rotating speed is more than target limitation rotating speed, the difference of current motor rotating speed and target limitation rotating speed is calculated, and
PID adjustings are carried out, the second torque limit coefficient is exported.It is similar with the adjusting of speed, in the preferred scheme, after PID is adjusted
The processing that upper lower limit value can also be carried out, the output after allowing PID to adjust are limited in reasonable range.It is adjusted by PID so that when
Front motor rotating speed limits rotating speed smooth transition to target, the influence for avoiding large gain from generating.
3, then, the first torque limit coefficient is taken small with the second torque limit coefficient, obtains torque limit
Coefficient.It is small by taking since motor speed and speed have certain functional relation, dual control can be carried out to the control of vehicle
System, improves control accuracy.
4, last, motor maximum torque is multiplied by the torque limit coefficient, the Motor torque limits value exported.
A kind of electric vehicle hypervelocity control method is provided in the present embodiment, first by current vehicle speed and target restricted speed into
Row compares, and calculates the first torque limit coefficient, is then compared current motor rotating speed with target limitation rotating speed, calculates second
Torque limit coefficient, then the first torque limit coefficient taken with the second torque limit coefficient it is small, as torque limit
Coefficient finally has just obtained motor maximum torque being multiplied by the torque limit coefficient, the Motor torque limitation exported
Value.Duplicate protection is carried out by using speed and motor speed, the precision of control is not only increased and improves the peace of driving
Quan Xing.It effectively prevents controlling only with speed in the prior art, when torque exports in any case when leading to overspeed of vehicle
Sometimes without the problem of, by the dual monitoring to speed and motor speed, ensure that effective row of output, improve safety.
Embodiment 2：
A kind of hypervelocity control method of electric vehicle is provided, which is related to two controllers：Entire car controller, pipe
Manage the integrality of vehicle；Electric machine controller controls the operation of motor.
Entire car controller includes input module, receives the signal of other controllers and peripheral components, and gear signal, acceleration are stepped on
Partitioned signal, motor speed signal etc.；Speed limit coefficient module calculates coefficient when speed limit；Output module passes demand torque signal
Electric machine controller is given, as shown in Figure 3.
Wherein, input module mainly receives other controllers and peripheral component is sent to the signal of entire car controller.
Gear shifting device sends the range state of current vehicle by rigid line to entire car controller, and there are three states for gear shifting device：D（Forward gear）、N
（Neutral gear）、R（Reverse gear）.Scheme in the present embodiment refers to the gear shifting device drive shift the case where.Accelerator pedal will be worked as by rigid line
The driving intention of preceding driver is sent to entire car controller.
Since the electric vehicle of this programme is suitable for the mode of non-direct drive, so motor speed is with speed, there is multiple letters
Number relationship.Therefore motor speed and speed are acquired simultaneously in the present embodiment, control accuracy not only can be improved and improved
Drive safety.
The speed that electric machine controller should receive entire car controller transmission is limited and is executed, while being built inside electric machine controller
A rotating speed speed limit module is found, is used for the maximum speed of limiting motor, plays the role of reverse gear duplicate protection.
Speed limit coefficient module is mainly to calculate the speed limit coefficient of vehicle when driving, which is multiplied with motor parsing torque
Obtain Motor torque.Speed limit coefficient is obtained by following steps, flow chart as shown in figure 4, the flow schematic diagram such as Fig. 5 institutes
Show：
First, current vehicle speed is compared with target restricted speed.If current vehicle speed is less than target restricted speed, not right
Current vehicle speed is limited output limit value coefficient 1；Otherwise, current vehicle speed and target restricted speed is needed to make the difference and adjusted by PID and
Upper lower limit value exports the first torque limit coefficient；
Secondly, current motor rotating speed and target limitation rotating speed comparison.If current motor rotating speed, which is less than target, limits rotating speed,
So output limit value coefficient 1 is not limited to current motor rotating speed；Otherwise, current motor rotating speed and target limiting motor rotating speed are needed
It makes the difference and is adjusted by PID and export the second torque limit coefficient with upper lower limit value；
Then both the first torque limit coefficient and the second torque limit coefficient are taken small, motor maximum torque is multiplied by this
It gets the small value, the Motor torque limits value just exported.This ensures that vehicle more than rotating speed of target or speed when
It waits, vehicle is being travelled according to rotating speed of target or speed, realizes double shielding and the case where power cuts in and out will not go out
It is existing, it ensure that the ride comfort of vehicle traveling.
Finally, the electric machine controller in this programme receives the Motor torque of entire car controller transmission, and control motor executes
The torque.
In the program, entire car controller receives speed and motor speed signal, judges whether two signals reach valve respectively
Value, and PID adjustings and limitation processing are carried out to the signal more than threshold values, then comparison obtains minimum limit coefficient.Motor control
Device processed receives restriction signal, calculates the output rotating speed of limiting motor.Not only improve the ride comfort of traveling in this way, but also motor obtains
To protection, speed obtains the safety for controlling to improve driving.This programme is limited jointly using speed and motor speed, dual
Protection improves safety guarantee.
Embodiment 3：
A kind of overspeed control system of electric vehicle is provided in the present embodiment, as shown in fig. 6, including：
First torque limit coefficient calculation unit：Current vehicle speed is compared with target restricted speed, first is calculated and turns round
Square limit coefficient；
Second torque limit coefficient calculation unit：Current motor rotating speed and target limitation rotating speed are compared, calculate the
Two torque limit coefficients；
Take junior unit：The first torque limit coefficient is taken with the second torque limit coefficient small, obtains torque limit
Coefficient processed；
Output unit：Motor maximum torque is multiplied by the torque limit coefficient, the Motor torque limits value exported.
In the present embodiment, the first torque limit coefficient calculation unit, including：
The first comparing subunit of speed：When current vehicle speed is less than target restricted speed, the first torque limit coefficient is 1；
The second comparing subunit of speed：When current vehicle speed is more than target restricted speed, calculates current vehicle speed and limited with target
The difference of speed, and PID adjustings are carried out, export the first torque limit coefficient.
Further include speed limitation subelement in other preferred embodiments, in the second comparing subunit of speed, carries out
PID carries out upper lower limit value processing after adjusting, and then exports the first torque limit coefficient.
In the present embodiment, the second torque limit coefficient calculation unit, including：
The first comparing subunit of rotating speed：When current motor rotating speed is less than target limitation rotating speed, the second torque limit coefficient is
1；
The second comparing subunit of rotating speed：Current motor rotating speed be more than target limitation rotating speed when, calculate current motor rotating speed with
Target limits the difference of rotating speed, and carries out PID adjustings, exports the second torque limit coefficient.
Further include rotating speed limitation subelement as preferred mode, in the second comparing subunit of rotating speed, after carrying out PID adjustings
Upper lower limit value processing is carried out, the second torque limit coefficient is then exported.
The overspeed control system of electric vehicle in the present embodiment solves electric vehicle max. speed limitation protection and drives
The problem of safety, the program limits the speed that electric vehicle is run at high speed, and improves the safety of vehicle drive, due to
The rotating speed of motor has certain functional relation with speed, therefore controls motor speed and speed simultaneously and have higher safety guarantee
Property.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
Usable storage medium（Including but not limited to magnetic disk storage, CD-ROM, optical memory etc.）The computer program of upper implementation produces
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, equipment（System）And the flow of computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Claims (10)
1. a kind of hypervelocity control method of electric vehicle, which is characterized in that include the following steps：
Current vehicle speed is compared with target restricted speed, calculates the first torque limit coefficient；
Current motor rotating speed is compared with target limitation rotating speed, calculates the second torque limit coefficient；
The first torque limit coefficient is taken with the second torque limit coefficient small, obtains torque limit coefficient；
Motor maximum torque is multiplied by the torque limit coefficient, the Motor torque limits value exported.
2. according to the method described in claim 1, it is characterized in that, current vehicle speed is compared with target restricted speed, meter
The process of the first torque limit coefficient is calculated, including：
When current vehicle speed is less than target restricted speed, the first torque limit coefficient is 1；
When current vehicle speed is more than target restricted speed, the difference of current vehicle speed and target restricted speed is calculated, and carries out PID adjustings,
Export the first torque limit coefficient.
3. according to the method described in claim 1, it is characterized in that, current vehicle speed is compared with target restricted speed, meter
During calculating the first torque limit coefficient, the difference of current vehicle speed and target restricted speed is calculated, after carrying out PID adjustings to the difference
Further include the output quantity progress upper lower limit value processing after being adjusted to PID, then exports the first torque limit coefficient.
4. method according to claim 1 or 2 or 3, which is characterized in that by current motor rotating speed and target limit rotating speed into
Row compares, and calculates the process of the second torque limit coefficient, including：
When current motor rotating speed is less than target limitation rotating speed, the second torque limit coefficient is 1；
When current motor rotating speed is more than target limitation rotating speed, the difference of current motor rotating speed and target limitation rotating speed is calculated, and is carried out
PID is adjusted, and exports the second torque limit coefficient.
5. according to the method described in claim 4, it is characterized in that, during calculating the second torque limit coefficient, calculating is worked as
The difference of front motor rotating speed and target limitation rotating speed, for the difference carry out further include after PID adjustings to the output quantity after PID adjustings into
The processing of row upper lower limit value, then exports the second torque limit coefficient.
6. a kind of overspeed control system of electric vehicle, which is characterized in that include the following steps：
First torque limit coefficient calculation unit：Current vehicle speed is compared with target restricted speed, calculates the first torque limit
Coefficient processed；
Second torque limit coefficient calculation unit：Current motor rotating speed is compared with target limitation rotating speed, second is calculated and turns round
Square limit coefficient；
Take junior unit：The first torque limit coefficient is taken with the second torque limit coefficient small, obtains torque limit system
Number；
Output unit：Motor maximum torque is multiplied by the torque limit coefficient, the Motor torque limits value exported.
7. system according to claim 6, which is characterized in that the first torque limit coefficient calculation unit, including：
The first comparing subunit of speed：When current vehicle speed is less than target restricted speed, the first torque limit coefficient is 1；
The second comparing subunit of speed：When current vehicle speed is more than target restricted speed, current vehicle speed and target restricted speed are calculated
Difference, and carry out PID adjustings, export the first torque limit coefficient.
8. system according to claim 7, which is characterized in that be compared current vehicle speed with target restricted speed, count
It further includes speed limitation subelement to calculate in the second comparing subunit of process speed of the first torque limit coefficient, calculates current vehicle speed
With the difference of target restricted speed, upper lower limit value processing is carried out to the output quantity after PID adjustings after carrying out PID adjustings to the difference, so
After export the first torque limit coefficient.
9. the system described according to claim 6 or 7 or 8, which is characterized in that the second torque limit coefficient calculation unit, including：
The first comparing subunit of rotating speed：When current motor rotating speed is less than target limitation rotating speed, the second torque limit coefficient is 1；
The second comparing subunit of rotating speed：When current motor rotating speed is more than target limitation rotating speed, current motor rotating speed and target are calculated
The difference of rotating speed is limited, and carries out PID adjustings, exports the second torque limit coefficient.
10. system according to claim 9, which is characterized in that further include rotating speed limitation in the second comparing subunit of rotating speed
Subelement calculates the difference of current motor rotating speed and target limitation rotating speed, after being adjusted to PID after difference progress PID adjustings
Output quantity carries out upper lower limit value processing, then exports the second torque limit coefficient.
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| CN111137138A (en) * | 2019-09-12 | 2020-05-12 | 苏州奥易克斯汽车电子有限公司 | Electric automobile speed limit control method |
| CN110884361A (en) * | 2019-12-02 | 2020-03-17 | 武汉理工通宇新源动力有限公司 | Speed limiting method of new energy automobile driving motor and motor driver thereof |
| CN113071329A (en) * | 2021-03-23 | 2021-07-06 | 北汽福田汽车股份有限公司 | Vehicle and motor rotating speed control method and device thereof and storage medium |
| CN113815433A (en) * | 2021-10-29 | 2021-12-21 | 重庆长安新能源汽车科技有限公司 | Electric vehicle torque limit control method and system and electric vehicle |
| CN113829897A (en) * | 2021-11-15 | 2021-12-24 | 合众新能源汽车有限公司 | Control method and device for maximum speed limit of electric automobile |
| CN114291766B (en) * | 2021-12-20 | 2024-04-12 | 河南嘉晨智能控制股份有限公司 | Method for improving micro-motion driving feeling of industrial vehicle |
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| JP5994705B2 (en) * | 2013-03-26 | 2016-09-21 | 株式会社明電舎 | Each wheel motor control device for each wheel independent drive cart |
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| CN102514493A (en) * | 2011-12-16 | 2012-06-27 | 奇瑞汽车股份有限公司 | Safe torque monitoring method for electric vehicle |
| CN102910088A (en) * | 2012-11-09 | 2013-02-06 | 苏州海格新能源汽车电控系统科技有限公司 | Electric vehicle speed control method |
| CN103248281A (en) * | 2013-04-18 | 2013-08-14 | 奇瑞汽车股份有限公司 | Electric automobile overspeed protection control method and system and electric automobile |
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