CN106143143A - The weight self-adaptation control method of gas system - Google Patents
The weight self-adaptation control method of gas system Download PDFInfo
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- CN106143143A CN106143143A CN201610759329.5A CN201610759329A CN106143143A CN 106143143 A CN106143143 A CN 106143143A CN 201610759329 A CN201610759329 A CN 201610759329A CN 106143143 A CN106143143 A CN 106143143A
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000012937 correction Methods 0.000 claims abstract description 76
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- 230000005484 gravity Effects 0.000 claims description 19
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- 238000000354 decomposition reaction Methods 0.000 claims description 5
- 239000000284 extract Substances 0.000 claims description 5
- 239000000446 fuel Substances 0.000 claims description 5
- 230000037396 body weight Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 239000002828 fuel tank Substances 0.000 claims description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
- B60W2040/1315—Location of the centre of gravity
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- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
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Abstract
The present invention relates to the weight self-adaptation control method of a kind of gas system, solve the deficiencies in the prior art, technical scheme is: be applicable to electric automobile or mixed electrical automobile, it is characterized in that: set up accelerator open degree synopsis and/or accelerator open degree comparison formula for automobile gross weight, obtain current automobile gross weight, draw current responsive corrections value according to current automobile gross weight inquiry accelerator open degree synopsis or accelerator open degree comparison formula, throttle response is set according to the actual aperture of throttle and responsive corrections value.In the present invention, accelerator open degree comparison formula can be combined practical situation by user and just write amendment, setting including initial setting weight, temperature parameter, the introducing of windage, all can be set in real time, having reached to arrange the throttle response of vehicle according to live load information, throttle response can keep constant or similar effect under different load-carryings.
Description
Technical field
The present invention relates to the control method of a kind of throttle system, particularly to the weight self adaptation of a kind of gas system
Control method.
Background technology
In prior art, there is accelerator open degree and automobile engine output is the most corresponding, the most once carload
Change, trample throttle amplitude identical time, automobile engine output is constant, and the final response of automobile there occurs change, though
So this is the problem the most always existed, but for driver, driving experience has also suffered from certain shadow
Ring.
Such as: application number: CN201310168161.7, publication date on July 12nd, 2014, disclose one and be applied to automatically
The safety assisting system of transmission cars initial acceleration, comprises gas pedal, accelerator pedal sensor, throttle motor；Described throttle
Pedal sensor is arranged on the lower section of gas pedal；Described throttle motor is arranged on a mounting board；Described throttle motor is by oil
Door bracing wire steel wire is connected with the one end of the throttle rod being arranged on fuel injector；The other end of described throttle rod is by joint
Valve rotating shaft and air throttle hinge；Described air throttle is arranged in the oil duct of fuel injector；When pedal of stepping on the throttle, gas pedal passes
The information that the gas pedal of acquisition is stepped on is passed to delay circuit by sensor；After delay circuit processes, then through A/D converter
Input ECU；Described ECU controls motor-drive circuit according to the information obtained and controls the work of throttle motor or stop
Only；The present invention program can be effectively improved the safety of running car, reduces starting risk.But still there is accelerator open degree
The problem uniquely corresponding with automobile engine output.
The most such as: application number: CN201420364694.2, publication date on July 3rd, 2014, a kind of electric automobile is disclosed
Throttle system, including gas pedal, described gas pedal drives gear wheel, and little gear is engaged with gear wheel, little gear and shading
Plate is fixedly and coaxially connected, and dark slide is provided with crescent hole；The fixed disk of fixing luminous-reception external member coaxially sets with dark slide
Putting, n only luminescence-reception external member is evenly distributed on the circumference of fixed disk, and dark slide crescent hole only allows one or adjacent two to send out
Light-reception external member is by light receiving signal.Its reliability of throttle system of the present utility model is high, price is low, principle is simple.This technology
Scheme equally exists accelerator open degree and the problem of automobile engine output uniquely correspondence.
Summary of the invention
It is an object of the invention to solve above-mentioned prior art accelerator open degree and automobile engine output is unique
Correspondence, the most once carload change, trample throttle amplitude identical time, automobile engine output is constant, and automobile is
Response but there occurs change eventually, although this is the problem the most always existed, but for driver, drives body
Test the problem having also suffered from certain impact, it is provided that the weight self-adaptation control method of a kind of gas system.
The technical solution adopted for the present invention to solve the technical problems is: the weight of a kind of gas system is self-adaptive controlled
Method processed, it is adaptable to electric automobile or mixed electrical automobile, comprises the following steps:
Step one: read standard configuration parameter and illuminated, acquisition automobile are demarcated by the accelerator open degree automobile electric output power preset
Gravimetric value；
Step 2: obtain current real-time bus gross weight；
Step 3: if current real-time bus gross weight demarcates gravimetric value less than or equal to described automobile, perform step 4, otherwise perform
Step 5；
Step 4: automobile calculates standard electric output according to real-time accelerator open degree, each tire of automobile is according to power-division ratios
Export with standard electric output, then repeated execution of steps two；
Step 5: the numeric ratio that automobile demarcates gravimetric value and current real-time bus gross weight according to automobile obtains responsive corrections value,
Automobile calculates standard electric output according to real-time accelerator open degree, and each tire of automobile exports with standard electric according to power-division ratios
Power, is then multiplied by responsive corrections value and exports as final automobile electric output power, then re-execute step 2；Described
The power-division ratios of two tires of vehicle front is standard configuration parameter, and the weight meter carried by automobile is calculated currently
Real-time bus position of centre of gravity, extracts the offset vector of real time barycentre position and the position of centre of gravity preset, if offset vector is predetermined
Keep in time, then acquisition current offset vector is as value of calculation, decomposes current with automobile transverse axis for Y-axis for X-axis automotive ordinate axis
Offset vector, according to the tire power-division ratios of current X-axis offset vector decomposition value direct proportion two wheels of correction front-wheel.
In the present invention, accelerator open degree comparison formula can be combined practical situation by user and just write amendment, including initially setting weight
The setting of amount, temperature parameter, the introducing of windage, all can be set in real time, reach to arrange car according to live load information
Throttle response, throttle response can keep constant or similar effect under different load-carryings.The present invention have employed throttle
The mode of aperture synopsis or comparison formula carrys out corresponding current automobile gross weight, solves when the load-carrying difference of automobile, throttle
The problem that response can change, moreover it is possible to provide different responsive corrections values according to different driving models, at different drive the cross
Journey is trampled the impression that throttle reaches different, but in same driving model, different load-carryings is trampled throttle and reached identical
Impression.
As preferably, in the tire power-division ratios of all wheels, at least 94% is distribution definite value, the tire merit of all wheels
In rate distribution ratio, most 6% is distribution regulated value, distributes regulated value and carry out according to the allocation proportion of distribution definite value in default setting
Distribution, only to distribution regulation when being allocated according to the tire power-division ratios of the current offset resolution of vectors each wheel of value correction
Value is allocated.
As preferably, in described step 2, after automobile starting, just carry out an automobile at interval of a scheduled time T
Condition detection, detection data include vehicle speed measurement VtWith the output drawn by the electric drive power superposition of each driving motor to horse
The total electric drive power P reachedt, the pitching angle Theta of headstock tailstock longitudinal direction line and horizontal planetDefeated with the electricity for predetermined value
Go out merit conversion efficiency C to mechanical power；Automobile calculates draw current vehicle weight according to total electric drive power and change speed；
If the angle of pitch of car is zero, the real-time car quality between t and t+1 moment is M(t+t+1)/2Carry out according to following formula
Calculate:
M(t+t+1)/2= 2×P(t+t+1)/2×T×C/(Vt+1 2-Vt 2)。
If the angle of pitch of car is not zero, the real-time car quality between t and t+1 moment is M(t+t+1)/2According to following calculation
Formula calculates:
M(t+t+1)/2= 2×P(t+t+1)/2×T× C/(Vt+1 2-Vt 2)×(1-Sin(Theta(t+t+1)/2))。
In described step one, gravimetric value demarcated by automobile, has the most been imported among control system when car dispatches from the factory, standard
Car weight is pushed by wireless cloud and is modified；
In described step one, automobile is demarcated standard body weight values+curb weight value+default fuel tank that gravimetric value is driver and is carried
Fuel weight value.
As preferably, shoot the rubbing surface of automobile tire, carry out gray processing process successively and except distortion processes, according to automobile
The decorative pattern depth of the rubbing surface of tire determines the coefficient of friction meansigma methods of current automobile tire, puts down the coefficient of friction of automobile tire
Average carries out segmentation, and the coefficient of friction meansigma methods of every section of automobile tire is all to there being a coefficient of friction correction value, in step 5
In, if automobile is the threshold value that cornering operation and coefficient of friction meansigma methods are less than setting, then at automobile according to standard electric output
After be multiplied by coefficient of friction correction value after be multiplied by responsive corrections value again and export as final automobile electric output power, then repeat
Perform step 2.
As preferably, setting up frictional force synopsis, in frictional force synopsis, model and the Query Value of each automobile tire are equal
To there being a friction force value, the first rubbing surface shooting automobile tire, after carrying out gray processing process and processing except distortion, record
On current automobile tire rubbing surface, the color distortion value of several points is as difference reference value, after automobile starting, shoots automobile
The rubbing surface of tire, after carrying out gray processing process and processing except distortion, records several points on current automobile tire rubbing surface
Color distortion value, as comparison in difference value, rubs as Query Value inquiry according to the reduced value of comparison in difference value with difference reference value
Power synopsis, it is thus achieved that the friction force value of the rubbing surface of current automobile tire.The when that automobile forum being older, or motor pattern again
Have bigger different, therefore for automobile when that the sensing of tire toggle speed that lower drift is too much and acceleration being from new tire
Increase power output when that Tire Friction being less, frictional force is too small when, improve the stress of automobile tire, can be by
Car steering impression is maintained at a suitable scope.
As preferably, described accelerator open degree synopsis includes several current weight setting values, and each current weight sets
Value is all to there being a responsive corrections value, and the quantity of described current weight setting value sets manually, and current weight value is by being subordinate to
Genus degree function calculates the degree of membership obtained in current weight setting value, is multiplied by each weight setpoint value by degree of membership corresponding
The mode superposition of responsive corrections value obtains final responsive corrections value.
As preferably, in performing described step 5, the acceleration transducer in automobile obtains current acceleration changing value
As accelerating value of feedback, acceleration, as accelerating standard value, is fed back by the acceleration change standard value preset in standard configuration parameter
Value contrasts with accelerating standard value, if accelerating value of feedback more than accelerating standard value, reduces when next time calculates responsive corrections value
Responsive corrections value；If accelerating value of feedback less than accelerating standard value, reduce responsive corrections value when next time calculates responsive corrections value.
As preferably, to there being a standard response time in described acceleration standard value, if accelerating value of feedback equal to accelerating
Standard value, and accelerate feedback response time then employing when next time calculates responsive corrections value less than standard response time of value of feedback
Dynamic response correction value, the most first reduces the response that the responsive corrections value calculated returns to calculate after a given time and repaiies
On the occasion of.
As preferably, if when automobile turning, according to current X-axis offset vector decomposition value two cars of inverse proportion correction trailing wheel
The tire power-division ratios of wheel.
The substantial effect of the present invention is: the present invention have employed accelerator open degree synopsis or comparison formula mode come right
Automobile gross weight before should, solves when the load-carrying difference of automobile, the problem that throttle response can change；Reach basis
Live load information arranges the throttle response of vehicle, and throttle response can keep constant or similar effect under different load-carryings
Really.
Detailed description of the invention
Below by specific embodiment, technical scheme is described in further detail.
Embodiment 1:
The weight self-adaptation control method of a kind of gas system, it is adaptable to electric automobile or mixed electrical automobile, total for automobile
Weight sets up accelerator open degree synopsis and/or accelerator open degree comparison formula, it is thus achieved that current automobile gross weight,
Current responsive corrections is drawn according to current automobile gross weight inquiry accelerator open degree synopsis or accelerator open degree comparison formula
Value, arranges throttle response according to the actual aperture of throttle and responsive corrections value.
Comprise the following steps:
Step one: read standard configuration parameter and illuminated, acquisition automobile are demarcated by the accelerator open degree automobile electric output power preset
Gravimetric value；
Step 2: obtain current real-time bus gross weight；
Step 3: if current real-time bus gross weight demarcates gravimetric value less than or equal to described automobile, perform step 4, otherwise perform
Step 5；
Step 4: automobile calculates standard electric output according to real-time accelerator open degree, each tire of automobile is according to power-division ratios
Export with standard electric output, then repeated execution of steps two；
Step 5: the numeric ratio that automobile demarcates gravimetric value and current real-time bus gross weight according to automobile obtains responsive corrections value,
Automobile calculates standard electric output according to real-time accelerator open degree, and each tire of automobile exports with standard electric according to power-division ratios
Power, is then multiplied by responsive corrections value and exports as final automobile electric output power, then re-execute step 2.
In described step 2, the weight meter carried by wheel calculates current real-time bus gross weight.
In described step 2, after automobile starting, just carry out the detection of condition of the vehicle at interval of a scheduled time T,
Detection data include vehicle speed measurement VtWith total to motor of output drawn by the electric drive power superposition of each driving motor
Electric drive power Pt, the pitching angle Theta of headstock tailstock longitudinal direction line and horizontal planetWith the electric output work for predetermined value to machine
Conversion efficiency C of tool merit；Automobile calculates draw current vehicle weight according to total electric drive power and change speed.
If the angle of pitch of car is zero, the real-time car quality between t and t+1 moment is M(t+t+1)/2According to following formula
Calculate:
M(t+t+1)/2= 2×P(t+t+1)/2×T×C/(Vt+1 2-Vt 2)。
If the angle of pitch of car is not zero, the real-time car quality between t and t+1 moment is M(t+t+1)/2According to following calculation
Formula calculates:
M(t+t+1)/2= 2×P(t+t+1)/2×T× C/(Vt+1 2-Vt 2)×(1-Sin(Theta(t+t+1)/2))。
In described step one, gravimetric value demarcated by automobile, has the most been imported among control system when car dispatches from the factory, standard
Car weight is pushed by wireless cloud and is modified.
In described step one, standard body weight values+curb weight value+default fuel tank that gravimetric value is driver demarcated by automobile
Carry fuel weight value.
The rubbing surface of shooting automobile tire, carries out gray processing process and successively except distortion processes, and concrete mode is: sets up and rubs
Wiping power synopsis, in frictional force synopsis, the model of each automobile tire and Query Value are all to having a friction force value, for the first time
The rubbing surface of shooting automobile tire, after carrying out gray processing process and processing except distortion, if recording on current automobile tire rubbing surface
The color distortion value of dry point is as difference reference value, after automobile starting, and the rubbing surface of shooting automobile tire, carry out gray processing
After processing and processing except distortion, record on current automobile tire rubbing surface color distortion values of several points as comparison in difference
Value, inquires about frictional force synopsis according to the reduced value of comparison in difference value with difference reference value as Query Value, it is thus achieved that current automobile
The friction force value of the rubbing surface of tire.
The decorative pattern depth of the rubbing surface according to automobile tire determines the coefficient of friction meansigma methods of current automobile tire, to automobile
The coefficient of friction meansigma methods of tire carries out segmentation, and the coefficient of friction meansigma methods of every section of automobile tire is all to there being a coefficient of friction
Correction value, in step 5, if automobile be cornering operation and coefficient of friction meansigma methods less than the threshold value set, then automobile according to
It is multiplied by responsive corrections value after being multiplied by coefficient of friction correction value after standard electric output again to enter as final automobile electric output power
Row output, then repeated execution of steps two.
Described accelerator open degree synopsis includes several current weight setting values, and each current weight setting value is all to having
One responsive corrections value, the quantity of described current weight setting value sets manually, if current weight is positioned at two current weight
Between setting value, then the response calculating current weight corresponding according to current weight ratio between two current weight setting values is repaiied
On the occasion of.
Such as current weight is T2, needs to obtain responsive corrections value X2, and have recorded weight T1 in accelerator open degree synopsis
Corresponding responsive corrections value X1 and weight T3 correspondence responsive corrections value X3, if T1 < T2 < T3, then X2=(T2/ (T1+T3)) ×
(X1+X3).
In performing described step 5, it is anti-as accelerating that the acceleration transducer in automobile obtains current acceleration changing value
Feedback value, the acceleration change standard value preset in standard configuration parameter, as accelerating standard value, will be accelerated value of feedback and accelerate mark
Quasi-value contrasts, if accelerating value of feedback more than accelerating standard value, reduces responsive corrections when next time calculates responsive corrections value
Value；If accelerating value of feedback less than accelerating standard value, reduce responsive corrections value when next time calculates responsive corrections value.Described acceleration
To there being a standard response time in standard value, if accelerating value of feedback equal to accelerating standard value, and accelerate the feedback of value of feedback
Response time then uses dynamic response correction value less than standard response time when next time calculates responsive corrections value, the most first reduces meter
The responsive corrections value drawn returns to the responsive corrections value calculated after a given time.Described preset time is 1 second, fall
The amplitude of low current responsive corrections value is equal to feedback response time and 1/4th of the ratio of standard response time.
The power-division ratios of each tire of described automobile is standard configuration parameter, and the weight meter carried by wheel is calculated
Go out current real-time bus gross weight and position of centre of gravity, extract the offset vector of real time barycentre position and the position of centre of gravity preset, if
Offset vector keeps in the given time, then acquisition current offset vector is as value of calculation, with automobile transverse axis for X-axis automotive ordinate axis
Current offset vector is decomposed, according to the tire power-division ratios of the current offset resolution of vectors each wheel of value correction for Y-axis.
In the tire power-division ratios of all wheels, 98% is distribution definite value, in the tire power-division ratios of all wheels 2%
For distribution regulated value, default setting distributes regulated value and is allocated according to the allocation proportion of distribution definite value, according to current inclined
Only distribution regulated value is allocated when the tire power-division ratios of the shifting resolution of vectors each wheel of value correction is allocated.
The power-division ratios of each tire of described automobile is standard configuration parameter, and the weight meter carried by wheel is calculated
Go out current real-time bus gross weight and position of centre of gravity, extract the offset vector of real time barycentre position and the position of centre of gravity preset, if
Offset vector keeps in the given time, then acquisition current offset vector is as value of calculation, and with automobile transverse axis as X-axis, automobile is indulged
Axle is that Y-axis decomposes current offset vector, according to the tire power-division ratios of the current offset resolution of vectors each wheel of value correction.
X-axis and Y-axis are fixing axle, calculate in current offset vector component X-axis accounting in X-axis in X-axis, calculate
Current offset vector is component Y-axis accounting in Y-axis in Y-axis,
Vehicle right and left both sides are equal to towards the regulated value sum of distribution in real time of wheel before and after position of centre of gravity side:
(X-axis accounting+0.5) × distribution regulated value；
In vehicle right and left both sides, in real time distribution regulated value sum towards position of centre of gravity side front and back wheel is not equal to:
Distribution regulated value-(X-axis accounting+0.5) × distribution regulated value；
Before and after automobile, in both sides, in real time distribution regulated value sum towards the left and right wheels of position of centre of gravity side is equal to:
(Y-axis accounting+0.5) × distribution regulated value；
Before and after automobile, in both sides, in real time distribution regulated value sum towards position of centre of gravity side left and right wheels is not equal to:
Distribution regulated value-(Y-axis accounting+0.5) × distribution regulated value)；
The realtime power distribution ratio of each wheel of automobile equal in real time distribution regulated value and distribution definite value and.
Concrete example is as follows: unit's point i.e. X-axis and the center of Y-axis are set in the center of automobile, left front, right before, left back
Four tires rear with the right side are recorded as LA, LB, LC and LD, it is assumed that become center of gravity after load-carrying and are positioned at the right front portion that automobile is overall, deduct sky
Especially by calculating after the side-play amount itself having during load, the X position of position of centre of gravity is at the 50% of X-axis forward, and center of gravity
The Y location of position is at the 50% of Y-axis forward, then it is known that X-axis accounting is 0.5/2=0.25, and Y-axis accounting is also 0.5/
2=0.25, distribution regulated value is 2(%), then LA+LB=1.5, LC+LD=0.5, LB+LD=1.5, LA+LC=0.5 and, center of gravity position
In the overall right front portion of automobile so the distribution regulated value that left back portion obtains is 0, can draw accordingly, the distribution of distribution regulated value
Scheme is: LA:0.5, LB:1, LC:0, LD:0.5.
Being set with in step one and trample limit velocity, if when trampling throttle, throttle speed of action is more than trampling the limit
Speed, then stop to each tire output, and send control signal to automobile ECU.
The mode that have employed accelerator open degree synopsis or comparison formula in the present invention carrys out corresponding current automobile gross weight, solves
When the load-carrying difference of automobile, the problem that throttle response can change；Reach to arrange car according to live load information
Throttle response, throttle response can keep constant or similar effect under different load-carryings.Can basis when of use
Demand is from the scope of application of Row sum-equal matrix accelerator open degree synopsis, such as during in fine motion scope with close to the limit range that aperture is maximum
The form using accelerator open degree synopsis obtains responsive corrections value, and uses comparison public affairs accelerator open degree reaches intermediate range when
The mode of formula obtains responsive corrections value, the purpose of do so primarily to improve experience and the safety of user,
Such as, in the case of heavy weight, sound is obtained close to the form of employing accelerator open degree synopsis when the limit range that aperture is maximum
Answer correction value, the maximum improving responsive corrections value can be limited, it is therefore prevented that situation about exporting at full capacity for a long time, more may be used simultaneously
To offset, windage etc. is original ignores increasing of factor, reaches higher accuracy, meet throttle response constant in the case of protect
Demonstrate,proved safety, certain the application limited and must make in two ways, in fact only with accelerator open degree synopsis or
It is all feasible only with accelerator open degree comparison formula, such as, uses and also have through the accelerator open degree synopsis that correction is repeated several times
The most comfortable driving experience may be obtained so that accelerator open degree change and regular gasoline car closer to.In the present invention, throttle
Aperture comparison formula can be deduced by the basis of T1/W1=T2/ (W1+W2), turns round according to the unloaded output that existing T1 is initial
Square, W1 is empty-weight, and T2 is for export moment of torsion in real time, and W2 is loading capacity, the simplest accelerator open degree comparison that the present invention uses
Formula: responsive corrections value=real-time weight/initial setting weight.Certainly, in the present invention, accelerator open degree comparison formula can be by user
Just write amendment in conjunction with practical situation, including the setting of initial setting weight, temperature parameter, the introducing of windage, all can carry out in real time
Set.
Embodiment 2:
The present embodiment is substantially the same manner as Example 1, and the automobile in embodiment 2 is equipped with a L-shaped air below gas pedal
Pipe, is equipped with piston rod in L-shaped air hose, the upper end of described air hose is towards gas pedal, the upper end of described piston rod and institute
Stating the fixing connection of gas pedal lower surface, the lower end of described L-shaped air hose offers two passages, the aperture of two passages
Sum, less than the diameter of the upper end of air hose, one of them described passage is equipped with Safety Redundancy electromagnetic valve, described safety
Redundant electric magnet valve is connected with automobile ECU, and in step one, the limit velocity of trampling of setting there are adjusting range, tramples the limit
Speed size in adjusting range is relevant to the proportional example of aperture of described Safety Redundancy electromagnetic valve, Safety Redundancy electromagnetic valve according to
Set trample limit velocity be transformed to correspondence aperture.In the present invention, add the air hose of L-shaped, so arrange, once oil
Door and brake are got wrong, can be by the resistance of air from the generation of hardware aspect prevention mistake when of bringing to a halt, meanwhile,
Set rational electromagnetic valve aperture can ensure that foot when trample throttle feel be to maintain consistent, it is possible to reach to control peace
Complete consistent with feel.
In step one, if throttle speed of action is more than trampling limit velocity, then stop to each tire output, and
After automobile ECU sends control signal, Safety Redundancy electromagnetic valve completely closes, when automobile ECU detects that automobile stops fortune completely
After Dong, Safety Redundancy electromagnetic valve reopens completely.
Embodiment 3:
The present embodiment is substantially the same manner as Example 1, and difference is: the power-division ratios of two tires of described vehicle front
For standard configuration parameter, the weight meter carried by wheel calculates current real-time bus gross weight and position of centre of gravity, extracts
Real time barycentre position and the offset vector of the position of centre of gravity preset, if offset vector keeps in the given time, then obtain current
Offset vector, as value of calculation, decomposes current offset vector for X-axis automotive ordinate axis for Y-axis with automobile transverse axis, inclined according to current X-axis
Move the tire power-division ratios of resolution of vectors value direct proportion two wheels of correction front-wheel.In the tire power-division ratios of all wheels
94% is distribution definite value, and in the tire power-division ratios of all wheels, 6% is distribution regulated value, distributes regulated value in default setting
Allocation proportion according to distribution definite value is allocated, and divides according to the tire power of the current offset resolution of vectors each wheel of value correction
Only distribution regulated value is allocated when proportioning is allocated.If when automobile turning, according to current X-axis offset vector decomposition value
The tire power-division ratios of inverse proportion two wheels of correction trailing wheel.The present invention is so arranged, and mainly prevents too much power
Distribution, causes excessive or too small power to be distributed, and so influences whether the stability that vehicle is overall, although the most also can
There to be compensation in counterweight, but once carrying out turning or braking, meeting large effect is to vehicle safety and manipulation
Property.The present invention provides certain compensation, it is possible to the change for center of gravity compensates, and the biggest distribution definite value ensure that vapour
The safety of car entirety and maneuverability.
Embodiment 4:
Substantially the same manner as Example 1, difference is: in step 5, if accelerator open degree is in set point, obtains current
Throttle trample speed, if throttle tramples speed more than setting value, use the mode of comparison formula to obtain responsive corrections value,
If throttle is trampled speed and is less than or equal to setting value, use the mode of comparison accelerator open degree synopsis to obtain responsive corrections value.
Embodiment 5:
Substantially the same manner as Example 1, difference is: recorded vehicle sets the accelerator open degree data of quantity, and calculation of throttle is opened
Degree meansigma methods, chooses all data less than calculation of throttle aperture meansigma methods 80% in the accelerator open degree data of record and calculates flat
Average as fine motion value range, is chosen all higher than calculation of throttle aperture meansigma methods 80% in the accelerator open degree data of record
Data calculating meansigma methods is as limit range value, when accelerator open degree value is less than or equal to fine motion value range or when accelerator open degree value is more than
The mode using accelerator open degree synopsis equal to limit range value obtains responsive corrections value, when accelerator open degree value is more than fine motion model
Enclose value and when accelerator open degree value uses the mode of comparison formula to obtain responsive corrections value less than limit range value.
Embodiment described above is the one preferably scheme of the present invention, not makees the present invention any pro forma
Limit, on the premise of without departing from the technical scheme described in claim, also have other variant and remodeling.
Claims (9)
1. the weight self-adaptation control method of a gas system, it is adaptable to electric automobile or mixed electrical automobile, its feature exists
In: comprise the following steps:
Step one: read standard configuration parameter and illuminated, acquisition automobile are demarcated by the accelerator open degree automobile electric output power preset
Gravimetric value；
Step 2: obtain current real-time bus gross weight；
Step 3: if current real-time bus gross weight demarcates gravimetric value less than or equal to described automobile, perform step 4, otherwise perform
Step 5；
Step 4: automobile calculates standard electric output according to real-time accelerator open degree, each tire of automobile is according to power-division ratios
Export with standard electric output, then repeated execution of steps two；
Step 5: the numeric ratio that automobile demarcates gravimetric value and current real-time bus gross weight according to automobile obtains responsive corrections value,
Automobile calculates standard electric output according to real-time accelerator open degree, and each tire of automobile exports with standard electric according to power-division ratios
Power, is then multiplied by responsive corrections value and exports as final automobile electric output power, then re-execute step 2；Described
The power-division ratios of two tires of vehicle front is standard configuration parameter, and the weight meter carried by automobile is calculated currently
Real-time bus position of centre of gravity, extracts the offset vector of real time barycentre position and the position of centre of gravity preset, if offset vector is predetermined
Keep in time, then acquisition current offset vector is as value of calculation, decomposes current with automobile transverse axis for Y-axis for X-axis automotive ordinate axis
Offset vector, according to the tire power-division ratios of current X-axis offset vector decomposition value direct proportion two wheels of correction front-wheel.
The weight self-adaptation control method of gas system the most according to claim 1, it is characterised in that: all wheels
Tire power-division ratios at least 94% for distribution definite value, in the tire power-division ratios of all wheels most 6% for distribution adjust
Joint value, distributes regulated value in default setting and is allocated according to the allocation proportion of distribution definite value, divide according to current offset vector
Only distribution regulated value is allocated when the tire power-division ratios of each wheel of solution value correction is allocated.
The weight self-adaptation control method of gas system the most according to claim 2, it is characterised in that:
In described step 2, after automobile starting, just carry out the detection of condition of the vehicle, detection at interval of a scheduled time T
Data include vehicle speed measurement VtDrive with total electricity of the output drawn by the electric drive power superposition of each driving motor to motor
Kinetic power Pt, the pitching angle Theta of headstock tailstock longitudinal direction line and horizontal planetWith the electric output work for predetermined value to mechanical power
Conversion efficiency C；Automobile calculates draw current vehicle weight according to total electric drive power and change speed；
If the angle of pitch of car is zero, the real-time car quality between t and t+1 moment is M(t+t+1)/2Carry out according to following formula
Calculate:
M(t+t+1)/2= 2×P(t+t+1)/2×T×C/(Vt+1 2-Vt 2)；
If the angle of pitch of car is not zero, the real-time car quality between t and t+1 moment is M(t+t+1)/2Enter according to following formula
Row calculates:
M(t+t+1)/2= 2×P(t+t+1)/2×T× C/(Vt+1 2-Vt 2)×(1-Sin(Theta(t+t+1)/2))；
In described step one, gravimetric value demarcated by automobile, has the most been imported among control system when car dispatches from the factory, standard car weight
Pushed by wireless cloud and be modified；
In described step one, automobile is demarcated standard body weight values+curb weight value+default fuel tank that gravimetric value is driver and is carried
Fuel weight value.
The weight self-adaptation control method of gas system the most according to claim 1, it is characterised in that:
The rubbing surface of shooting automobile tire, carries out gray processing process and except distortion processes, successively according to the rubbing surface of automobile tire
The decorative pattern depth determine the coefficient of friction meansigma methods of current automobile tire, the coefficient of friction meansigma methods of automobile tire is carried out point
Section, the coefficient of friction meansigma methods of every section of automobile tire is all to there being a coefficient of friction correction value, in step 5, if automobile is
Cornering operation and coefficient of friction meansigma methods less than the threshold value set, are then multiplied by friction system after automobile is according to standard electric output
It is multiplied by responsive corrections value again after number correction value to export as final automobile electric output power, then repeated execution of steps two.
The weight self-adaptation control method of gas system the most according to claim 4, it is characterised in that:
Setting up frictional force synopsis, in frictional force synopsis, the model of each automobile tire and Query Value are all to there being a friction
Force value, the first rubbing surface shooting automobile tire, after carrying out gray processing process and processing except distortion, record current automobile tire and rub
On wiping face, the color distortion value of several points is as difference reference value, after automobile starting, the rubbing surface of shooting automobile tire, enters
After row gray processing processes and processes except distortion, record on current automobile tire rubbing surface color distortion values of several points as difference
Different fiducial value, inquires about frictional force synopsis according to the reduced value of comparison in difference value with difference reference value as Query Value, it is thus achieved that when
The friction force value of the rubbing surface of front automobile tire.
The weight self-adaptation control method of gas system the most according to claim 1, it is characterised in that:
Described accelerator open degree synopsis includes several current weight setting values, and each current weight setting value is all to there being one
Responsive corrections value, the quantity of described current weight setting value sets manually, and current weight value is calculated by membership function and obtains
Obtain degree of membership in current weight setting value, be multiplied by the side of responsive corrections value corresponding to each weight setpoint value by degree of membership
Formula superposition obtains final responsive corrections value.
The weight self-adaptation control method of gas system the most according to claim 1, it is characterised in that: performing institute
Stating in step 5, the acceleration transducer in automobile obtains current acceleration changing value joins as acceleration value of feedback, standard configuration
Acceleration value of feedback, as accelerating standard value, is contrasted by the acceleration change standard value preset in number with accelerating standard value, if
Accelerate value of feedback more than accelerating the standard value then reduction responsive corrections value when next time calculates responsive corrections value；If it is little to accelerate value of feedback
Responsive corrections value is then reduced when next time calculates responsive corrections value in accelerating standard value.
The weight self-adaptation control method of gas system the most according to claim 7, it is characterised in that: described acceleration
To there being a standard response time in standard value, if accelerating value of feedback equal to accelerating standard value, and accelerate the feedback of value of feedback
Response time then uses dynamic response correction value less than standard response time when next time calculates responsive corrections value, the most first reduces meter
The responsive corrections value drawn returns to the responsive corrections value calculated after a given time.
The weight self-adaptation control method of gas system the most according to claim 2, it is characterised in that: if at automobile
During turning, according to the tire power-division ratios of current X-axis offset vector decomposition value inverse proportion two wheels of correction trailing wheel.
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