CN106143162B - Electric car and its torque safety monitoring and control method and device - Google Patents
Electric car and its torque safety monitoring and control method and device Download PDFInfo
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- CN106143162B CN106143162B CN201510158828.4A CN201510158828A CN106143162B CN 106143162 B CN106143162 B CN 106143162B CN 201510158828 A CN201510158828 A CN 201510158828A CN 106143162 B CN106143162 B CN 106143162B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses the torque safety monitoring and control methods and device of a kind of electric car, this method comprises: obtaining the actual torque of motor in electric car, and obtain the current demand torque of electric car；Obtain the current gear state of electric car；If judging that current demand torque is positive demand torque according to current gear state, according to the first formula, actual torque and current demand torque arithmetic difference in torque；If judging that current demand torque is negative demand torque according to current gear state, according to the second formula, actual torque and current demand torque arithmetic difference in torque；Difference in torque is integrated to generate integrated value according to preset duration；If the absolute value of integrated value is greater than the first preset threshold, carries out alarm and preset security control is carried out to motor.The torque safety monitoring and control method of the electric car of the embodiment of the present invention, expands torque safety monitoring range, improves torque safety monitoring capability, and torque deviation is bigger, and response speed is faster, avoids the unstable caused erroneous judgement of electric current.
Description
Technical field
The present invention relates to technical field of vehicle, in particular to a kind of electric car and its torque safety monitoring and control method and
Device.
Background technique
Currently, in the torque safety monitoring control of electric car, mainly according to motor inductances, electric current, number of pole-pairs, magnetic
The parameters such as flux calculate the actual torque of current motor, and according to the signals meter such as gas pedal, brake pedal, lever, revolving speed
The requested torque of current drivers is calculated, then actual torque is restricted within a certain range by requested torque, so that motor
Actual torque is able to reflect and executes the demand torque of driver, guarantees traffic safety.
But the torque safety monitoring of electric car is not comprehensive enough at present, to be difficult to effectively supervise driving danger
It surveys；And no matter the gap of actual torque and demand torque is how many when, and the response time is the same.Therefore, in practical torsion
Square and demand torque gap are likely to occur the phenomenon that can not being handled in time because of response time deficiency when larger, so as to cause
Driving is dangerous；In addition, electric current is relatively unstable in vehicle travel process, therefore calculated actual torque is also not sufficiently stable,
It is easy to appear instantaneous relatively large deviation, so as to lead to the erroneous judgement of border torque Yu demand torque gap, and then obtains false judgment
Result and operation.
In conclusion the torque safety monitoring and control method of current electric car still has much room for improvement.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, expanding an object of the present invention is to provide a kind of torque safety monitoring and control method of electric car
Torque safety monitoring range, to improve torque safety monitoring capability, response speed is faster, avoid electric current it is unstable caused by
Erroneous judgement, fault-tolerance is strong, highly-safe.
In order to achieve the above object, embodiment proposes a kind of torque safety monitoring of electric car according to a first aspect of the present invention
Control method, comprising the following steps: obtain the actual torque of motor in electric car, and obtain the current need of the electric car
Seek torque；Obtain the current gear state of the electric car；If judging the current need according to the current gear state
Torque is asked to be positive demand torque, then according to the first formula, the actual torque and the current demand torque arithmetic difference in torque；Such as
Fruit judges that the current demand torque is negative demand torque according to the current gear state, then according to the second formula, the reality
Border torque and the current demand torque arithmetic difference in torque；The difference in torque is integrated according to preset duration to generate integral
Value；If the absolute value of the integrated value is greater than the first preset threshold, carries out alarm and preset peace is carried out to the motor
Full control.
The torque safety monitoring and control method of electric car according to an embodiment of the present invention, by obtaining electricity in electric car
The actual demand torque and current demand torque of machine, and judge that current demand torque is positive demand torque according to current gear state
Or negative demand torque, and difference in torque is calculated separately according to judging result, and integrate to difference in torque, according to the exhausted of integrated value
The case where carrying out preset security control to the threshold value of value to motor, be not only greater than demand torque to actual torque is supervised
The case where surveying, being also less than demand torque to time torque is monitored, and torque safety monitoring range is expanded, to improve torsion
Square safety monitoring ability, improves the safety of vehicle, in addition, replacing threshold value more flexible by using integral, so that demand is turned round
The deviation of square and actual torque is bigger, and response speed is faster, at the same using integral mode fault-tolerance it is stronger, effectively reduce because
Electric current is unstable and causes to judge by accident caused by instantaneous relatively large deviation, and safety is higher.
Second aspect of the present invention embodiment provides a kind of torque safety monitor controller of electric car, comprising: the
One obtains module, for obtaining the actual torque of motor in electric car, and obtains the current demand torque of the electric car；
Second obtains module, for obtaining the current gear state of the electric car；First computing module, if for according to described
Current gear state judges that the current demand torque is positive demand torque, then according to the first formula, the actual torque and institute
State current demand torque arithmetic difference in torque；Second computing module, if for working as according to current gear state judgement
Preceding demand torque is negative demand torque, then according to the second formula, the actual torque and the current demand torque arithmetic torque
Difference；Generation module, for being integrated the difference in torque to generate integrated value according to preset duration；Monitoring module, for such as
The absolute value of integrated value described in fruit is greater than the first preset threshold, then carries out alarm and carry out preset safety to the motor to control
System.
The torque safety monitor controller of the electric car of the embodiment of the present invention, by obtaining motor in electric car
Actual demand torque and current demand torque, and judge that current demand torque is positive demand torque still according to current gear state
Negative demand torque, and difference in torque is calculated separately according to judging result, and integrate to difference in torque, according to the absolute value of integrated value
Threshold value the case where preset security control is carried out to motor, demand torque not only is greater than to actual torque monitored, also
The case where being less than demand torque to time torque is monitored, and torque safety monitoring range is expanded, to improve torque peace
Full monitoring capability improves the safety of vehicle, in addition, by using integral replace threshold value it is more flexible, thus demand torque with
The deviation of actual torque is bigger, and response speed is faster, while stronger using the mode fault-tolerance of integral, effectively reduces because of electric current
Unstable and cause to judge by accident caused by instantaneous relatively large deviation, safety is higher.
Third aspect present invention embodiment provides a kind of electric car, including the electronic of third aspect present invention embodiment
The torque safety monitor controller of automobile.
The electric car of the embodiment of the present invention, by obtaining the actual demand torque and current demand torque of motor, and root
Judge that current demand torque is positive demand torque or negative demand torque according to current gear state, and is counted respectively according to judging result
Difference in torque is calculated, and difference in torque is integrated, preset security control is carried out to motor according to the threshold value of the absolute value of integrated value,
The case where the case where being not only greater than demand torque to actual torque is monitored, and is also less than demand torque to time torque carries out
Monitoring, expands torque safety monitoring range, to improve torque safety monitoring capability, improves the safety of vehicle, in addition,
Replace threshold value more flexible by using integral, so that the bigger response speed of the deviation of demand torque and actual torque is faster, together
When it is stronger using the mode fault-tolerance of integral, effectively reducing causes caused by instantaneous relatively large deviation accidentally because electric current is unstable
Sentence, safety is higher.
Detailed description of the invention
Fig. 1 is the flow chart according to the torque safety monitoring and control method of the electric car of one embodiment of the invention；
Fig. 2 is to judge torque using integral when being positive demand torque according to the current demand torque of one embodiment of the invention
Whether An Quan schematic diagram；
Fig. 3 is to judge torque using integral when being negative demand torque according to the current demand torque of one embodiment of the invention
Whether An Quan schematic diagram；
Fig. 4 is the structural representation according to the torque safety monitor controller of the electric car of one embodiment of the invention
Figure；
Fig. 5 is the structural representation according to the torque safety monitor controller of the electric car of another embodiment of the present invention
Figure.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the torque safety monitoring and control method and dress of electric car according to an embodiment of the present invention are described
It sets.
Fig. 1 is the flow chart according to the torque safety monitoring and control method of the electric car of one embodiment of the invention.
As shown in Figure 1, the torque safety monitoring and control method of electric car according to an embodiment of the present invention, comprising:
S101, obtains the actual torque of motor in electric car, and obtains the current demand torque of electric car；
Wherein, actual torque is calculated according to the parameters such as the electric current of motor, inductance, magnetic flux during electric automobile during traveling
It obtains.Specifically, actual torque can be calculated by the following formula:
Actual torque=1.5p [ψ * Iq+ (Ld-Lq) * Id*Iq],
Wherein, Ld, Lq are motor inductances, and Id, Iq are that Motor torque controls electric current, and p is motor number of pole-pairs, and ψ is magnetic flux.
Current demand torque is calculated according to the parameters such as gear state, throttle depth, speed during electric automobile during traveling
It obtains.Specifically, the positive and negative of current demand torque can be judged according to gear state, for example, when gear state is D grades of drivings,
It is then positive, when gear state is D grades of feedbacks (electricity recycling) or R grades of drivings, is then negative.And current rotating speed can be determined according to speed
Under peak torque, the demand torque of driver is determined according to the percentage of throttle depth.
S102 obtains the current gear state of electric car.
S103, if judging that current demand torque is positive demand torque according to current gear state, according to the first formula,
Actual torque and current demand torque arithmetic difference in torque.
Wherein, the first formula are as follows: difference in torque=actual torque-current demand torque.
In one embodiment of the invention, when current gear state is D grades of drivings, then judge that current demand torque is
Positive demand torque.
For example, if current gear state be D grade drive, i.e., current demand torque be positive demand torque when, if
At this time actual torque be greater than current demand torque or actual torque be negative less than the first torque threshold (for example, when D grades are stepped on the gas,
Vehicle is backward when driving) when, then: difference in torque=actual torque-current demand torque.
Wherein, the first torque threshold is negative, can obtain the optimum value of the first torque threshold according to experiment.
S104, if judging that current demand torque is negative demand torque according to current gear state, according to the second formula,
Actual torque and current demand torque arithmetic difference in torque.
Wherein, the second formula are as follows: difference in torque=current demand torque-actual torque.
In one embodiment of the invention, when current gear state is D grades of feedbacks or R grades of drivings, then judgement is current
Demand torque is negative demand torque.
For example, when vehicle at D grades and when recycling state or R grades of drivings in electricity, i.e. current demand torque is
When negative demand torque, if actual torque is less than current demand torque at this time or actual torque is positive greater than the second torque threshold
When (for example, stepping on the gas when R grades, vehicle moves forward), then: difference in torque=current demand torque-actual torque.
Wherein, the second torque threshold is positive number, can obtain the optimum value of the second torque threshold according to experiment.
S105 integrates to generate integrated value difference in torque according to preset duration.
In one embodiment of the invention, which can be 200ms.
Specifically, in an embodiment of the present invention, an actual torque can be obtained and worked as every preset time (such as 1ms)
The difference in torque of preceding demand torque, and recorded.After difference in torque updates every time, it can remember according to newest difference in torque and its before
Difference in torque in the preset duration of record carries out integral and generates new integrated value.To which integrated value is also to carry out more according to preset time
New.
Fig. 2 is to judge torque using integral when being positive demand torque according to the current demand torque of one embodiment of the invention
Whether An Quan schematic diagram.Fig. 3 is that product is utilized when being negative demand torque according to the current demand torque of one embodiment of the invention
Point judge torque whether An Quan schematic diagram.As shown in Figures 2 and 3, horizontal axis indicates that time t, the longitudinal axis indicate torque value, song in figure
Line indicates actual torque versus time curve, and Treq indicates current demand torque, and CAL1 indicates the first torque threshold in Fig. 2
It is worth, CAL2 indicates the second torque threshold in Fig. 3.In Fig. 2, the t1 moment to t2 moment is the time greater than current demand torque
Section, t3 moment to t4 moment are the actual torque negative period less than the first torque threshold (CAL1).Therefore, if current demand
When relationship between torque and actual torque is relationship shown in t1 moment to t2 moment or t3 moment to t4 moment, use
First formula calculated torque is poor, and integrates to difference in torque.
S106 carries out alarm and carries out to motor preset if the absolute value of integrated value is greater than the first preset threshold
Security control.
In one embodiment of the invention, preset security control may include that control motor is closed or control motor limits function
Rate operation.Specifically, if the absolute value of integrated value is greater than first threshold and is less than or equal to the second preset threshold, electricity is controlled
Machine limits Power operation.If the absolute value of integrated value is greater than second threshold, motor closing is controlled.
The t1 moment is the integral of the difference in torque at t1 moment to t2 moment to the shadow region area between the t2 moment in Fig. 2
The absolute value of value, t3 moment are the integrated value of the difference in torque at t3 moment to t4 moment to the shadow region area between the t4 moment
Absolute value.The t5 moment is the product of the difference in torque at t5 moment to t6 moment to the shadow region area between the t6 moment in Fig. 3
The absolute value of score value, t7 moment are the integral of the difference in torque at t7 moment to t8 moment to the shadow region area between the t8 moment
The absolute value of value.
When the absolute value of the integrated value is greater than the second preset threshold, is then alarmed and control motor closing.When the product
When the absolute value of score value is greater than the first preset threshold and is less than or equal to the second preset threshold, then controlling alarm motor limit function is carried out
Rate operation.
Thus, it is possible to find out, difference in torque is larger for difference in torque is smaller, and the absolute value growth rate of integrated value is more
Fastly, therefore the absolute value meets or exceeds the first preset threshold or the time of the second preset threshold can be shorter, can be more rapidly
Ground responds safety measure, therefore safety is higher.
In addition, integrated value is that the overall of the variation of the difference in torque in preset duration embodies, therefore, when actual torque in short-term not
When stablizing, it will not cause to judge by accident because of the accidental rising of actual torque, fault-tolerance is stronger.
In one embodiment of the invention, can be poor by adder calculated torque, and according to preset duration to difference in torque
It is integrated, therefore, causes to judge by accident because of the calculating mistake of integrated value in order to prevent, can further comprise: adder is carried out
Validation verification controls motor closing if adder fails.Specifically, scheduled addend and pre- can be inputted to adder
Fixed summand (such as 1 and 2), and obtain the output valve of adder；Such as the output valve and scheduled value (such as 3) phase of adder
Together, then judge that adder is effective, scheduled value is the sum of scheduled addend and scheduled summand；Such as output valve and scheduled value
It is not identical, then judge that adder fails.
When causing integrated value not calculate accurately thus, it is possible to fail in adder, controlling motor in time is closed, thus
The situation of actual torque Yu current demand torque deviation exception can not be found because integrated value calculates mistake in time by avoiding, and be improved
Safety.
The torque safety monitoring and control method of the electric car of the embodiment of the present invention, by obtaining motor in electric car
Actual demand torque and current demand torque, and judge that current demand torque is positive demand torque still according to current gear state
Negative demand torque, and difference in torque is calculated separately according to judging result, and integrate to difference in torque, according to the absolute value of integrated value
Threshold value the case where preset security control is carried out to motor, demand torque not only is greater than to actual torque monitored, also
The case where being less than demand torque to time torque is monitored, and torque safety monitoring range is expanded, to improve torque peace
Full monitoring capability improves the safety of vehicle, in addition, by using integral replace threshold value it is more flexible, thus demand torque with
The deviation of actual torque is bigger, and response speed is faster, while stronger using the mode fault-tolerance of integral, effectively reduces because of electric current
Unstable and cause to judge by accident caused by instantaneous relatively large deviation, safety is higher.
In order to realize above-described embodiment, the present invention also proposes a kind of torque safety monitor controller of electric car.
Fig. 4 is the structural representation according to the torque safety monitor controller of the electric car of one embodiment of the invention
Figure.
As shown in figure 4, the torque safety monitor controller of electric car according to an embodiment of the present invention, comprising: first
It obtains module 10, second and obtains module 20, the first computing module 30, the second computing module 40, generation module 50 and monitoring module
60。
Specifically, the first acquisition module 10 is used to obtain the actual torque of motor in electric car, and obtains electric car
Current demand torque.
Wherein, actual torque is the first acquisition module 10 according to the electric current of motor, inductance, magnetic during electric automobile during traveling
What the parameters such as flux were calculated.More specifically, the first acquisition module 10 can be calculated by the following formula actual torque:
Actual torque=1.5p [ψ * Iq+ (Ld-Lq) * Id*Iq],
Wherein, Ld, Lq are motor inductances, and Id, Iq are that Motor torque controls electric current, and p is motor number of pole-pairs, and ψ is magnetic flux.
Current demand torque be the first acquisition module 10 according to gear state during electric automobile during traveling, throttle depth,
What the parameters such as speed were calculated.More specifically, the first acquisition module 10 can judge current demand torque according to gear state
It is positive and negative, for example, be then positive when gear state is D grades of drivings, when gear state is D grades of feedbacks (electricity recycling) or R grades of drivings,
Then it is negative.And the peak torque under current rotating speed can be determined according to speed, determine driver's according to the percentage of throttle depth
Demand torque.
Second acquisition module 20 is used to obtain the current gear state of electric car.
If the first computing module 30 is used to judge that current demand torque is positive demand torque according to current gear state,
According to the first formula, actual torque and current demand torque arithmetic difference in torque.
Wherein, the first formula are as follows: difference in torque=actual torque-current demand torque.
In one embodiment of the invention, when current gear state is D grades of drivings, then judge that current demand torque is
Positive demand torque.
For example, if current gear state be D grade drive, i.e., current demand torque be positive demand torque when, if
At this time actual torque be greater than current demand torque or actual torque be negative less than the first torque threshold (for example, when D grades are stepped on the gas,
Vehicle is backward when driving) when, then: difference in torque=actual torque-current demand torque.
Wherein, the first torque threshold is negative, can obtain the optimum value of the first torque threshold according to experiment.
If the second computing module 40 is used to judge that current demand torque is negative demand torque according to current gear state,
According to the second formula, actual torque and current demand torque arithmetic difference in torque.
Wherein, the second formula are as follows: difference in torque=current demand torque-actual torque.
In one embodiment of the invention, when current gear state is D grades of feedbacks or R grades of drivings, then judgement is current
Demand torque is negative demand torque.
For example, when vehicle drives at D grades in electricity recycling state or R grades, i.e., current demand torque, which is negative, needs
When seeking torque, if at this time actual torque be less than current demand torque or actual torque be positive greater than the second torque threshold (for example,
When R grades are stepped on the gas, vehicle moves forward) when, then: difference in torque=current demand torque-actual torque.
Wherein, the second torque threshold is positive number, can obtain the optimum value of the second torque threshold according to experiment.
Generation module 50 is for integrating to generate integrated value difference in torque according to preset duration.
In one embodiment of the invention, which can be 200ms.
Specifically, in an embodiment of the present invention, an actual torque can be obtained and worked as every preset time (such as 1ms)
The difference in torque of preceding demand torque, and recorded.After difference in torque updates every time, it can remember according to newest difference in torque and its before
Difference in torque in the preset duration of record carries out integral and generates new integrated value.To which integrated value is also to carry out more according to preset time
New.
Fig. 2 is to judge torque using integral when being positive demand torque according to the current demand torque of one embodiment of the invention
Whether An Quan schematic diagram.Fig. 3 is that product is utilized when being negative demand torque according to the current demand torque of one embodiment of the invention
Point judge torque whether An Quan schematic diagram.As shown in Figures 2 and 3, horizontal axis indicates that time t, the longitudinal axis indicate torque value, song in figure
Line indicates actual torque versus time curve, and Treq indicates current demand torque, and CAL1 indicates the first torque threshold in Fig. 2
It is worth, CAL2 indicates the second torque threshold in Fig. 3.In Fig. 2, the t1 moment to t2 moment is the time greater than current demand torque
Section, t3 moment to t4 moment are the actual torque negative period less than the first torque threshold (CAL1).Therefore, if current demand
When relationship between torque and actual torque is relationship shown in t1 moment to t2 moment or t3 moment to t4 moment, generate
Module 50 is poor using the first formula calculated torque, and integrates to difference in torque.If current demand torque and actual torque it
Between relationship when being relationship shown in t5 moment to t6 moment or t7 moment to t7 moment, second public affairs of the use of generation module 50
Formula calculated torque is poor, and integrates to difference in torque.
Monitoring module 60 is for judging whether the absolute value of integrated value is greater than the first preset threshold, if integrated value is absolute
Value is greater than the first preset threshold, then carries out alarm and carry out preset security control to motor.
In one embodiment of the invention, preset security control may include that control motor is closed or control motor limits function
Rate operation.Monitoring module 60 is specifically used for: presetting if the absolute value of integrated value is greater than first threshold and is less than or equal to second
Threshold value then controls motor limit Power operation；If the absolute value of integrated value is greater than second threshold, motor closing is controlled.
The t1 moment is the integral of the difference in torque at t1 moment to t2 moment to the shadow region area between the t2 moment in Fig. 2
The absolute value of value, t3 moment are the integrated value of the difference in torque at t3 moment to t4 moment to the shadow region area between the t4 moment
Absolute value.The t5 moment is the product of the difference in torque at t5 moment to t6 moment to the shadow region area between the t6 moment in Fig. 3
The absolute value of score value, t7 moment are the integral of the difference in torque at t7 moment to t8 moment to the shadow region area between the t8 moment
The absolute value of value.
When the absolute value of the integrated value is greater than the first preset threshold, then monitoring module 60 is alarmed and controls motor pass
It closes.When the absolute value of the integrated value is greater than the first preset threshold and is less than or equal to the second preset threshold, then monitoring module 60
It carries out controlling alarm motor and limits Power operation.
Thus, it is possible to find out, difference in torque is larger for difference in torque is smaller, and the absolute value growth rate of integrated value is more
Fastly, therefore the absolute value meets or exceeds the first preset threshold or the time of the second preset threshold can be shorter, can be more rapidly
Ground responds safety measure, therefore safety is higher.
In addition, integrated value is that the overall of the variation of the difference in torque in preset duration embodies, therefore, when actual torque in short-term not
When stablizing, it will not cause to judge by accident because of the accidental rising of actual torque, fault-tolerance is stronger.
In one embodiment of the invention, the function of the first computing module, the second computing module and generation module can
It is completed, difference in torque can be integrated by adder calculated torque difference and according to preset duration by adder, therefore, in order to
It prevents from causing to judge by accident because of the calculating mistake of integrated value, as shown in figure 5, the device can further comprise: authentication module 70 is used for
Validation verification is carried out to adder.Wherein, monitoring module 60 is also used to when adder fails, and control motor is closed.More
Body, scheduled addend and scheduled summand (such as 1 and 2) can be inputted to adder, and obtain the output valve of adder；Such as
The output valve of adder is identical as scheduled value (such as 3), then judges that adder is effective, and scheduled value is for scheduled addend and in advance
The sum of fixed summand；If output valve and scheduled value be not identical, then judge that adder fails.
When causing integrated value not calculate accurately thus, it is possible to fail in adder, controlling motor in time is closed, thus
The situation of actual torque Yu current demand torque deviation exception can not be found because integrated value calculates mistake in time by avoiding, and be improved
Safety.
The torque safety monitor controller of the electric car of the embodiment of the present invention, by obtaining motor in electric car
Actual demand torque and current demand torque, and judge that current demand torque is positive demand torque still according to current gear state
Negative demand torque, and difference in torque is calculated separately according to judging result, and integrate to difference in torque, according to the absolute value of integrated value
Threshold value the case where preset security control is carried out to motor, demand torque not only is greater than to actual torque monitored, also
The case where being less than demand torque to time torque is monitored, and torque safety monitoring range is expanded, to improve torque peace
Full monitoring capability improves the safety of vehicle, in addition, by using integral replace threshold value it is more flexible, thus demand torque with
The deviation of actual torque is bigger, and response speed is faster, while stronger using the mode fault-tolerance of integral, effectively reduces because of electric current
Unstable and cause to judge by accident caused by instantaneous relatively large deviation, safety is higher.
In order to realize above-described embodiment, the present invention also proposes a kind of electric car, the electricity including any embodiment of that present invention
The torque safety monitor controller of electrical automobile.
The electric car of the embodiment of the present invention, by obtaining the actual demand torque and current demand torque of motor, and root
Judge that current demand torque is positive demand torque or negative demand torque according to current gear state, and is counted respectively according to judging result
Difference in torque is calculated, and difference in torque is integrated, preset security control is carried out to motor according to the threshold value of the absolute value of integrated value,
The case where the case where being not only greater than demand torque to actual torque is monitored, and is also less than demand torque to time torque carries out
Monitoring, expands torque safety monitoring range, to improve torque safety monitoring capability, improves the safety of vehicle, in addition,
Replace threshold value more flexible by using integral, so that the bigger response speed of the deviation of demand torque and actual torque is faster, together
When it is stronger using the mode fault-tolerance of integral, effectively reducing causes caused by instantaneous relatively large deviation accidentally because electric current is unstable
Sentence, safety is higher.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (13)
1. a kind of torque safety monitoring and control method of electric car, which comprises the following steps:
The actual torque of motor in electric car is obtained, and obtains the current demand torque of the electric car；
Obtain the current gear state of the electric car；Wherein, according to the current gear state, throttle depth, speed, meter
Calculate the current demand torque；
If judging that the current demand torque is positive demand torque according to the current gear state, according to the first formula,
The actual torque and the current demand torque arithmetic difference in torque；
If judging that the current demand torque is negative demand torque according to the current gear state, according to the second formula,
The actual torque and the current demand torque arithmetic difference in torque；
The difference in torque is integrated to generate integrated value according to preset duration；
If the absolute value of the integrated value is greater than the first preset threshold, carries out alarm and preset peace is carried out to the motor
Full control, wherein the preset security control includes controlling the motor to close or control the motor limit Power operation.
2. the torque safety monitoring and control method of electric car as described in claim 1, which is characterized in that described to the electricity
Machine carries out preset security control and specifically includes:
If the absolute value of the integrated value is greater than first preset threshold less than the second preset threshold, the motor is controlled
Limit Power operation；
If the absolute value of the integrated value is greater than second preset threshold, controls the motor and close.
3. the torque safety monitoring and control method of electric car as claimed in claim 1 or 2, which is characterized in that wherein, pass through
Adder integrates the difference in torque according to preset duration, the method also includes:
Validation verification is carried out to the adder；
If the adder failure, controls the motor and closes.
4. the torque safety monitoring and control method of electric car as claimed in claim 3, which is characterized in that the adder
Validation verification is carried out to specifically include:
Scheduled addend and scheduled summand are inputted to the adder, and obtains the output valve of the adder；
Output valve such as the adder is identical as scheduled value, then judges that the adder is effective, and the scheduled value is institute
State the sum of scheduled addend and scheduled summand；
If the output valve and the scheduled value be not identical, then the adder failure is judged.
5. the torque safety monitoring and control method of electric car as claimed in claim 1 or 2, which is characterized in that wherein, described
First formula are as follows: difference in torque=actual torque-current demand torque, second formula are as follows: difference in torque=current demand torque-
Actual torque.
6. the torque safety monitoring and control method of electric car as claimed in claim 1 or 2, which is characterized in that wherein,
When the current gear state is D grades of drivings, then judge that the current demand torque is positive demand torque；
When the current gear state is D grades of feedbacks or R grades of drivings, then judge the current demand torque for negative demand torsion
Square.
7. a kind of torque safety monitor controller of electric car characterized by comprising
First obtains module, for obtaining the actual torque of motor in electric car, and obtains the current need of the electric car
Seek torque；
Second obtains module, for obtaining the current gear state of the electric car；Wherein, according to the current gear shape
State, throttle depth, speed calculate the current demand torque；
First computing module, if for according to the current gear state judge the current demand torque be positive demand turn round
Square, then according to the first formula, the actual torque and the current demand torque arithmetic difference in torque；
Second computing module, if for judging the current demand torque for negative demand torsion according to the current gear state
Square, then according to the second formula, the actual torque and the current demand torque arithmetic difference in torque；
Generation module, for being integrated the difference in torque to generate integrated value according to preset duration；
Monitoring module, for judging whether the absolute value of the integrated value is greater than the first preset threshold, if the integrated value
Absolute value is greater than the first preset threshold, then carries out alarm and carry out preset security control to the motor, wherein is described default
Security control include controlling the motor to close or control the motor limit Power operation.
8. the torque safety monitor controller of electric car as claimed in claim 7, which is characterized in that the preset peace
Full control includes controlling the motor to close or control the motor limit Power operation, and the monitoring module is specifically used for,
If the absolute value of the integrated value is greater than first preset threshold less than the second preset threshold, the motor is controlled
Limit Power operation；
If the absolute value of the integrated value is greater than second preset threshold, controls the motor and close.
9. the torque safety monitor controller of electric car as claimed in claim 7 or 8, which is characterized in that wherein, pass through
Adder integrates the difference in torque according to preset duration, described device further include:
Authentication module, for carrying out validation verification to the adder；
Wherein, the monitoring module is also used to control the motor when the adder fails and close.
10. the torque safety monitor controller of electric car as claimed in claim 9, which is characterized in that the verifying mould
Block is specifically used for:
Scheduled addend and scheduled summand are inputted to the adder, and obtains the output valve of the adder；
Output valve such as the adder is identical as scheduled value, then judges that the adder is effective, and the scheduled value is institute
State the sum of scheduled addend and scheduled summand；
If the output valve and the scheduled value be not identical, then the adder failure is judged.
11. the torque safety monitor controller of electric car as claimed in claim 7 or 8, which is characterized in that wherein, institute
State the first formula are as follows: difference in torque=actual torque-current demand torque, second formula are as follows: difference in torque=current demand is turned round
Square-actual torque.
12. the torque safety monitor controller of electric car as claimed in claim 7 or 8, which is characterized in that wherein,
When the current gear state is D grades of drivings, then judge that the current demand torque is positive demand torque；
When the current gear state is D grades of feedbacks or R grades of drivings, then judge the current demand torque for negative demand torsion
Square.
13. a kind of electric car, which is characterized in that the torque peace including such as described in any item electric cars of claim 7-12
Full monitor controller.
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| CN201510158828.4A CN106143162B (en) | 2015-04-03 | 2015-04-03 | Electric car and its torque safety monitoring and control method and device |
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| CN110341492A (en) * | 2018-04-08 | 2019-10-18 | 上海汽车集团股份有限公司 | A kind of method and apparatus of dynamical system torque monitoring |
| CN108845254B (en) * | 2018-04-24 | 2021-10-15 | 上海法雷奥汽车电器系统有限公司 | IBSG (intermediate bulk switchgear) starting integrated motor system rack and testing method and device |
| CN109286345B (en) * | 2018-08-22 | 2020-06-12 | 广州小鹏汽车科技有限公司 | Electric automobile, and diagnosis method and device for rotary transformation initial position |
| CN109591600A (en) * | 2018-11-30 | 2019-04-09 | 北京长城华冠汽车科技股份有限公司 | Improve the method and device of electric automobile during traveling safety |
| CN109515213B (en) * | 2018-12-14 | 2020-10-27 | 深圳市英威腾电动汽车驱动技术有限公司 | Speed limit control method and system for new energy vehicle |
| CN110203078B (en) * | 2019-06-04 | 2021-03-23 | 厦门金龙汽车新能源科技有限公司 | Control method and device for reducing abnormal sound of electric vehicle transmission system and electric vehicle |
| CN110217234B (en) * | 2019-06-26 | 2021-08-31 | 奇瑞汽车股份有限公司 | Control method and device for power output of engine |
| CN110606073B (en) * | 2019-09-24 | 2021-02-09 | 中国第一汽车股份有限公司 | Light hybrid power system driver torque demand calculation method, storage medium and vehicle |
| CN113306406B (en) * | 2020-02-26 | 2022-10-28 | 北京新能源汽车股份有限公司 | Motor torque control device and method and automobile |
| CN111559255A (en) * | 2020-05-29 | 2020-08-21 | 上海威迈斯新能源有限公司 | Electric automobile integrated monitoring system and method |
| CN113954657B (en) * | 2021-10-29 | 2023-09-08 | 北汽福田汽车股份有限公司 | Electric automobile, mode switching method and device thereof, and storage medium |
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