CN106080211A - A kind of electric automobile overspeed protection method - Google Patents

A kind of electric automobile overspeed protection method Download PDF

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Publication number
CN106080211A
CN106080211A CN201610569864.4A CN201610569864A CN106080211A CN 106080211 A CN106080211 A CN 106080211A CN 201610569864 A CN201610569864 A CN 201610569864A CN 106080211 A CN106080211 A CN 106080211A
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China
Prior art keywords
torque
motor
speed
axis
throttle
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Granted
Application number
CN201610569864.4A
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Chinese (zh)
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CN106080211B (en
Inventor
谢春林
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Weimar Automobile Technology Group Co.,Ltd.
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Hefei Weiboer Automobile Technology Co Ltd
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Priority to CN201610569864.4A priority Critical patent/CN106080211B/en
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Classifications

    • 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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/08—Means for preventing excessive speed of the vehicle
    • 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
    • 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 provides a kind of electric automobile overspeed protection method, it comprises the following steps: S1: export throttle torque requests T2 by described throttle explanation module；S2: overspeed protection threshold value max_speed and real-time speed speed do after the recovery through the 3rd actuator PI3 output protection torque T1；S4: described torque arbitration module is assigned to described motor torque request T*；S5: if torque capacity Tmax that the motor torque request T* obtained in step S4 allows more than motor, restricted T *=Tmax, do not limit；S6: described torque request T* is converted to quadrature axis current iq*, the request of direct-axis current id*；S7: obtain actual quadrature axis current iq and direct-axis current id；S8: obtain d-axis level pressure ud* by direct-axis current actuator PI3；S9: the quadrature-axis voltage uq* that step S8 is obtained and direct-axis voltage ud* send into space vector of voltage impulse modulation and obtain the on off state of respective power switch pipe, eventually pass inverter circuit and complete the driving to motor.The present invention can effectively prevent electric automobile from occurring the phenomenon of hypervelocity during accelerating.

Description

A kind of electric automobile overspeed protection method
Technical field
The present invention relates to electric automobile security technology area, particularly a kind of electric automobile overspeed protection method.
Background technology
The electric automobile that prior art provides, at descending or when wind speed is excessive with the wind, actual speed during acceleration Can exceed the speed being actually needed, cause driving danger, prior art there is presently no the method for effective regulation speed.
Summary of the invention
For solving above-mentioned technical problem, the invention provides a kind of electric automobile overspeed protection method, it includes following step Rapid:
S1: gather gas pedal aperture and be converted to throttle analogue signal send to entire car controller, described full-vehicle control Described throttle analogue signal is sent to throttle explanation module by device, exports throttle torque requests by described throttle explanation module T2；
S2: Negotiation speed sensor acquisition motor speed to obtain motor after Jie low-pass filtering module LPF real-time Speed speed, target setting speed is overspeed protection threshold value max_speed, and described overspeed protection threshold value max_speed is with in real time Speed speed does after the recovery through the 3rd actuator PI3 output protection torque T1；
Whether S4: described torque arbitration module judges to protect torque request T1 less than 0, will protect torque if less than 0 T1 and throttle torque requests T2 sum are assigned to motor torque request T*, described throttle torque requests T2 are composed if greater than 0 Value is to described motor torque request T*；
S5: if torque capacity Tmax that the motor torque request T* obtained in step S4 allows more than motor, restricted T *= Tmax, does not limits；
S6: described torque request T* obtained in step S5 is inputted the torque capacity current ratio MTPA to electric machine controller Module, described torque capacity current ratio MTPA module is according to quadrature axis inductance lq, d-axis inductance ld and the motor permanent-magnet magnetic of motor Described torque request T* is converted to quadrature axis current iq*, the request of direct-axis current id* by chain fai；
S7: while carrying out step S6, gathers the A phase current ia and B phase current ib of motor, processes through standardization Quadrature axis current iq and direct-axis current id obtaining reality is processed through Clarke inverse transformation and Parker's inverse transformation vector；
S8: regulate through quadrature axis current after the iq obtained in the iq* obtained in step S6 and step S7 is sent into adder Device PI2 obtains quadrature axis level pressure uq*；The id obtained in the id* obtained in step S6 and step S7 is sent into warp after adder simultaneously Cross direct-axis current actuator PI3 and obtain d-axis level pressure ud*；
S9: the quadrature-axis voltage uq* that step S8 is obtained and direct-axis voltage ud* send into space vector of voltage impulse modulation obtain Each the on off state of power switch pipe, eventually passes inverter circuit and completes the driving to motor.
The method have the advantages that
The electric automobile overspeed protection method that the present invention provides can effectively prevent electric automobile during accelerating The phenomenon of hypervelocity occurs.
Certainly, the arbitrary product implementing the present invention it is not absolutely required to reach all the above advantage simultaneously.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, embodiment will be described required use below Accompanying drawing is briefly described, it should be apparent that, the accompanying drawing in describing below is only some embodiments of the present invention, for ability From the point of view of the those of ordinary skill of territory, on the premise of not paying creative work, it is also possible to obtain the attached of other according to these accompanying drawings Figure.
The overspeed protection system schematic diagram that Fig. 1 provides for the embodiment of the present invention；
The work process schematic diagram of the torque arbitration module that Fig. 2 provides for the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, those of ordinary skill in the art obtained under not making creative work premise all other Embodiment, broadly falls into the scope of protection of the invention.
The invention provides a kind of electric automobile overspeed protection method, be specifically based on overspeed protection system as shown in Figure 1, It comprises the following steps:
S1: gather gas pedal aperture and be converted to throttle analogue signal send to entire car controller, described full-vehicle control Described throttle analogue signal is sent to throttle explanation module by device, exports throttle torque requests by described throttle explanation module T2；
S2: Negotiation speed sensor acquisition motor speed to obtain motor after Jie low-pass filtering module LPF real-time Speed speed, target setting speed is overspeed protection threshold value max_speed, and described overspeed protection threshold value max_speed is with in real time Speed speed does after the recovery through the 3rd actuator PI3 output protection torque T1；
S4: as in figure 2 it is shown, described torque arbitration module judges to protect whether torque request T1 is less than 0, if less than 0 Protection torque T1 is assigned to motor torque request T* with throttle torque requests T2 sum, if greater than 0, described throttle is turned Square request T2 is assigned to described motor torque request T*；
S5: if torque capacity Tmax that the motor torque request T* obtained in step S4 allows more than motor, restricted T *= Tmax, does not limits；
S6: described torque request T* obtained in step S5 is inputted the torque capacity current ratio MTPA to electric machine controller Module, described torque capacity current ratio MTPA module is according to quadrature axis inductance lq, d-axis inductance ld and the motor permanent-magnet magnetic of motor Described torque request T* is converted to quadrature axis current iq*, the request of direct-axis current id* by chain fai；
S7: while carrying out step S6, gathers the A phase current ia and B phase current ib of motor, processes through standardization Quadrature axis current iq and direct-axis current id obtaining reality is processed through Clarke inverse transformation and Parker's inverse transformation vector；
S8: regulate through quadrature axis current after the iq obtained in the iq* obtained in step S6 and step S7 is sent into adder Device PI2 obtains quadrature axis level pressure uq*；The id obtained in the id* obtained in step S6 and step S7 is sent into warp after adder simultaneously Cross direct-axis current actuator PI3 and obtain d-axis level pressure ud*；
S9: the quadrature-axis voltage uq* that step S8 is obtained and direct-axis voltage ud* send into space vector of voltage impulse modulation obtain Each the on off state of power switch pipe, eventually passes inverter circuit and completes the driving to motor.
The electric automobile overspeed protection method that the present invention provides can effectively prevent electric automobile during accelerating The phenomenon of hypervelocity occurs.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.Preferred embodiment is the most detailed Describe all of details, be also not intended to the detailed description of the invention that this invention is only described.Obviously, according to the content of this specification, Can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is to preferably explain the present invention Principle and actual application so that skilled artisan can be best understood by and utilize the present invention.The present invention is only Limited by claims and four corner thereof and equivalent.

Claims (1)

1. an electric automobile overspeed protection method, it is characterised in that comprise the following steps:
S1: gather gas pedal aperture and be converted to throttle analogue signal send to entire car controller, described entire car controller will Described throttle analogue signal sends to throttle explanation module, exports throttle torque requests T2 by described throttle explanation module；
S2: Negotiation speed sensor acquisition motor speed also obtains motor real-time speed after Jie low-pass filtering module LPF Speed, target setting speed is overspeed protection threshold value max_speed, described overspeed protection threshold value max_speed and real-time speed Speed does after the recovery through the 3rd actuator PI3 output protection torque T1；
Whether S4: described torque arbitration module judges to protect torque request T1 less than 0, if less than 0 will protection torque T1 with Throttle torque requests T2 sum is assigned to motor torque request T*, described throttle torque requests T2 is assigned to if greater than 0 Described motor torque request T*；
S5: if torque capacity Tmax that the motor torque request T* obtained in step S4 allows more than motor, restricted T *= Tmax, does not limits；
S6: described torque request T* obtained in step S5 is inputted the torque capacity current ratio MTPA mould to electric machine controller Block, described torque capacity current ratio MTPA module is according to quadrature axis inductance lq, d-axis inductance ld and the motor permanent magnet flux linkage of motor Described torque request T* is converted to quadrature axis current iq*, the request of direct-axis current id* by fai；
S7: while carrying out step S6, gathers the A phase current ia and B phase current ib of motor, processes warp gram through standardization Clarke inverse transformation and Parker's inverse transformation vector process quadrature axis current iq and direct-axis current id obtaining reality；
S8: through quadrature axis current actuator PI2 after the iq feeding adder that will obtain in the iq* obtained in step S6 and step S7 Obtain quadrature axis level pressure uq*；Through d-axis simultaneously after the id feeding adder that will obtain in the id* obtained in step S6 and step S7 Rheonome PI3 obtains d-axis level pressure ud*；
S9: the quadrature-axis voltage uq* that step S8 is obtained and direct-axis voltage ud* send into space vector of voltage impulse modulation obtain each The on off state of power switch pipe, eventually passes inverter circuit and completes the driving to motor.
CN201610569864.4A 2016-07-19 2016-07-19 A kind of electric vehicle overspeed protection method Active CN106080211B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107336638A (en) * 2016-11-30 2017-11-10 安徽江淮汽车集团股份有限公司 The method and system for preventing electric vehicle from exceeding the speed limit
CN108058617A (en) * 2017-12-01 2018-05-22 北京新能源汽车股份有限公司 A kind of processing method of Motor Over Speed, entire car controller and automobile
CN108583288A (en) * 2018-06-04 2018-09-28 深圳市锐钜科技有限公司 A kind of method for limiting speed of pure electric vehicle new-energy automobile drive control device
CN111923744A (en) * 2020-08-18 2020-11-13 厦门势拓御能科技有限公司 New energy automobile speed limit control method and automobile
CN112550547A (en) * 2020-12-03 2021-03-26 北京六十六号互动科技有限公司 Power-assisted pushing control method and device for electric scooter and computer equipment
CN114435360A (en) * 2022-04-07 2022-05-06 深圳宇通智联科技有限公司 New energy automobile speed limit control method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1712396A1 (en) * 2005-04-13 2006-10-18 Nissan Motor Co., Ltd. Vehicle torque control
CN102386836A (en) * 2010-08-27 2012-03-21 永济新时速电机电器有限责任公司 Transmission control method and device of permanent magnet synchronous motor
CN102403953A (en) * 2011-12-21 2012-04-04 中国东方电气集团有限公司 Flexible control system and method for alternating current asynchronous drive motor of electric vehicle
CN103199786A (en) * 2013-04-03 2013-07-10 安徽江淮汽车股份有限公司 Control method and system of motor for pure electric vehicle
CN104442447A (en) * 2014-12-08 2015-03-25 沈阳工业大学 High speed limit control method of motor drive controller for electrical vehicle
CN105730279A (en) * 2014-12-12 2016-07-06 北汽福田汽车股份有限公司 Overspeed control method and system for electric automobile

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1712396A1 (en) * 2005-04-13 2006-10-18 Nissan Motor Co., Ltd. Vehicle torque control
CN102386836A (en) * 2010-08-27 2012-03-21 永济新时速电机电器有限责任公司 Transmission control method and device of permanent magnet synchronous motor
CN102403953A (en) * 2011-12-21 2012-04-04 中国东方电气集团有限公司 Flexible control system and method for alternating current asynchronous drive motor of electric vehicle
CN103199786A (en) * 2013-04-03 2013-07-10 安徽江淮汽车股份有限公司 Control method and system of motor for pure electric vehicle
CN104442447A (en) * 2014-12-08 2015-03-25 沈阳工业大学 High speed limit control method of motor drive controller for electrical vehicle
CN105730279A (en) * 2014-12-12 2016-07-06 北汽福田汽车股份有限公司 Overspeed control method and system for electric automobile

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107336638A (en) * 2016-11-30 2017-11-10 安徽江淮汽车集团股份有限公司 The method and system for preventing electric vehicle from exceeding the speed limit
CN107336638B (en) * 2016-11-30 2019-05-07 安徽江淮汽车集团股份有限公司 The method and system for preventing electric vehicle from exceeding the speed limit
CN108058617A (en) * 2017-12-01 2018-05-22 北京新能源汽车股份有限公司 A kind of processing method of Motor Over Speed, entire car controller and automobile
CN108583288A (en) * 2018-06-04 2018-09-28 深圳市锐钜科技有限公司 A kind of method for limiting speed of pure electric vehicle new-energy automobile drive control device
CN111923744A (en) * 2020-08-18 2020-11-13 厦门势拓御能科技有限公司 New energy automobile speed limit control method and automobile
CN112550547A (en) * 2020-12-03 2021-03-26 北京六十六号互动科技有限公司 Power-assisted pushing control method and device for electric scooter and computer equipment
CN114435360A (en) * 2022-04-07 2022-05-06 深圳宇通智联科技有限公司 New energy automobile speed limit control method

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Effective date of registration: 20191225

Address after: 808, floor 8, building B, business center, gangzhilong science and Technology Park, No. 6, Qinglong Road, Qinghua community, Longhua street, Longhua District, Shenzhen City, Guangdong Province

Patentee after: Shenzhen Pengbo Information Technology Co., Ltd.

Address before: 230000 Anhui city of Hefei Province Economic and Technological Development Zone Cuiwei Road West, South Road, Furong Cuiwei court two building 2 room 404

Patentee before: Hefei weiboer Automobile Technology Co Ltd

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Effective date of registration: 20200921

Address after: 201799 room 510-523, Lai Gang Road, Qingpu District, Shanghai, 510-523.

Patentee after: Weimar Automobile Technology Group Co.,Ltd.

Address before: 808, floor 8, building B, business center, gangzhilong science and Technology Park, No. 6, Qinglong Road, Qinghua community, Longhua street, Longhua District, Shenzhen City, Guangdong Province

Patentee before: Shenzhen Pengbo Information Technology Co.,Ltd.

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