CN106183890B - The control system and its pre- method for starting that pure electric automobile is started to walk in advance - Google Patents
The control system and its pre- method for starting that pure electric automobile is started to walk in advance Download PDFInfo
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- CN106183890B CN106183890B CN201610648100.4A CN201610648100A CN106183890B CN 106183890 B CN106183890 B CN 106183890B CN 201610648100 A CN201610648100 A CN 201610648100A CN 106183890 B CN106183890 B CN 106183890B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention proposes a kind of control system that pure electric automobile is started to walk in advance and its pre- method for starting.Wherein the method includes the steps one, acquisition car status informations；Step 2: deciding whether to take pre- starting strategy according to car status information.The present invention one small demarcates torque by providing in vehicle start front motor, the gear of vehicle drive system is set to be entirely located in meshing state, enter various starting modes further according to driver intention, the impact for reducing vehicle drive system causes to shake, mechanical wear can also be reduced simultaneously, reduce starting noise.Without changing existing vehicle structure or increasing the hardware devices such as sensor, it is easy to accomplish.Car slipping phenomenon when realizing quick, the stable starting of vehicle by this control system and method, while can also avoid vehicle start.
Description
Technical field
The present invention relates to pure electric automobile field more particularly to a kind of control system that pure electric automobile is started to walk in advance and its in advance
Method for starting.
Background technique
Publication No. CN 104071031, entitled " a kind of suppressing method of pure electric automobile starting shake " it is special
Benefit application it is expected the step-length of torque by suitably increasing motor response vehicle, while increasing speed feedback link to vehicle
It is expected that torque is modified.Speed feedback link is made of 5 parts: motor speed detection, low-pass filter, motor speed are micro-
Divide, inertial element, output violent change.By speed feedback link, it is estimated that the torque that desired torque is modified,
Improve dynamic response process when transmission system carries out power transmitting, achievees the effect that inhibit starting shake, and take into account vehicle
Accelerating ability.The patent is mainly improved by the performance to motor, is reached and is inhibited vehicle shake, just for specific electricity
Machine does not have versatility to the pure electric vehicle for configuring different motors.
Summary of the invention
Different from conventional truck, the rigidity between pure electric automobile motor and drive system generally using spline form connects
It connects.There are biggish gaps between gear, and when vehicle start, vehicle could be started after needing gear at a fully engaged, causes to start to walk
It is relatively slow；And due to the difference of gear position, be likely to result in beat tooth phenomenon, cause the abrasion of transmission system mechanical part and
Noise will increase.In order to avoid this phenomenon, the invention proposes a kind of control method that pure electric automobile is started to walk in advance,
The purpose of the present invention is what is be achieved through the following technical solutions.
The invention proposes a kind of control systems that pure electric automobile is started to walk in advance, wherein the pure electric automobile is with N
R tri- gears of D pure electric automobile, the system comprises:
High pressure power on signal acquisition module is used to acquire vehicle high pressure power on signal；
Parking brake signal acquisition module is used to acquire parking brake signal；
Speed signal acquisition module is used to acquire speed signal；
Brake pedal signal acquisition module is used to acquire the signal of brake pedal；
Throttle signal acquisition module is used to acquire throttle signal；
Gear signal acquisition module is used to acquire gear signal；
Signal processing module, the signal centralized processing for being used to acquire；
Condition judgment module is used to whether need pre- starting according to input-signal judging；
Pre- starting module sends small torque of starting to walk in advance to electric machine controller for the order according to condition judgment module and believes
Number；
Wherein, the high pressure power on signal acquisition signal, parking brake signal acquisition module, speed signal acquisition module, braking
The corresponding signal of acquisition is input to signal by pedal signal acquisition module, throttle signal acquisition module, gear signal acquisition module
Processing module；
By treated, signal passes to condition judgment module to the signal processing module；
The condition judgment module sends the corresponding command according to signal, to pre- starting module；
The corresponding command is passed to electric machine controller by the pre- starting module.
Wherein the system also includes motor speed signal acquisition module, it is used to acquire motor speed signal, and will adopt
The signal of collection passes to signal processing module.
It is pre- the invention also provides a kind of pure electric automobile of control system to be started to walk in advance based on above-mentioned pure electric automobile
Method for starting comprising:
Step 1: acquisition car status information；
Step 2: deciding whether to take pre- starting strategy according to car status information.
Wherein, the car status information includes: high pressure power-up state, parking brake state, brake pedal status, throttle
And gear state.
Wherein, when detecting that high pressure powers on completion, parking brake is put down, speed 0, brake does not trigger, throttle does not trigger and shelves
When position is non-neutral gear, pre- starting strategy is taken.
Wherein, the pre- starting strategy is to answer torque according to gear signal output phase.
It is wherein, described that torque is answered according to gear signal output phase specifically:
When current gear signal is D grades, motor exports a given positive-torque；When current gear signal is R grades, motor is defeated
A given negative torque out.
The present invention provide a kind of pure electric automobile low noise, stabilization pre- method for starting for only N R tri- shelves of D
The pure electric automobile of position, wherein refers to neutral gear for N grades, R grades refer to reverse drive gear, and D grades refer to drive shift.The present invention passes through electric before vehicle start
Machine provide it is one small demarcate torque, so that the gear of vehicle drive system is entirely located in meshing state, anticipate further according to driver
Figure enters various starting modes, and the impact for reducing vehicle drive system causes to shake, while can also reduce mechanical wear, reduces
Start noise.Without changing existing vehicle structure or increasing the hardware devices such as sensor, it is easy to accomplish.
Quick, the stable starting of vehicle is realized by this control method, while can also avoid slipping when vehicle start
Vehicle phenomenon.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Attached drawing 1 shows the pure electric automobile drive system structure figure of embodiment according to the present invention；
The control system schematic diagram that the pure electric automobile that attached drawing 2 shows embodiment according to the present invention is started to walk in advance.
Attached drawing 3 shows the flow chart of the pre- method for starting of the pure electric automobile of embodiment according to the present invention.
Specific embodiment
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although showing this public affairs in attached drawing
The illustrative embodiments opened, it being understood, however, that may be realized in various forms the disclosure without the reality that should be illustrated here
The mode of applying is limited.It is to be able to thoroughly understand the disclosure on the contrary, providing these embodiments, and can be by this public affairs
The range opened is fully disclosed to those skilled in the art.
Embodiment one,
It is as shown in Figure 1 the structural block diagram of pure electric automobile transmission system.Wherein drive motor shaft passes through with input gear
Spline connection, the universal axis connection of the transmission of output flange and universal joint.If working as vehicle start there are biggish gap between gear
When, vehicle could be started after needing gear at a fully engaged, cause starting slower；And it, may due to the difference of gear position
It causes to beat tooth phenomenon, causes the abrasion of transmission system mechanical part and noise will increase.
Main reducing gear is the main component for reducing revolving speed in car transmissions, increasing torque.The vapour longitudinal to engine
For vehicle, main reducing gear also utilizes Bevel Gear Transmission to change power direction.For example, engine turns when automobile normal running
Speed is usually 2000 to 3000r/min or so, if so high revolving speed only is reduced by gearbox, gearbox
The transmission ratio of internal gear then needs very greatly, and the transmission ratio of gear is bigger, and the radius ratio of two gears is also bigger, in other words, also
The size for being gearbox can be bigger.In addition, revolving speed declines, and torque necessarily increases, after also just increasing gearbox and gearbox
The transmission load of primary transmission mechanism.So a main deceleration is arranged before the power differential mechanism that right driving wheel shunts to the left
Device can be such that the torque of the transmitting such as the transmission parts such as gearbox, transfer gear, universal driving device before main reducing gear reduces,
The size of gearbox, quality can be made to reduce, manipulated laborsaving.
Main reducing gear in electric car can be according to the supporting form of deceleration form, gear-type and driving and driven gear
Classification.It is broadly divided into according to deceleration form: single-stage speed reducing, double reduction, dual-ratio reduction, single-stage perforation, twin-stage perforation, main deceleration
With hub reduction etc.；Be broadly divided into according to gear-type: spiral bevel gear formula, hyperboloid tooth are wheeled, cylindrical straight gear is wheeled, helical teeth
Cylinder Gear is wheeled, planetary gear type and worm gear type；It is divided into according to the supporting form of driving and driven gear: cantilevered, horseback riding type
Deng.
It is as shown in Fig. 2 a kind of control system that pure electric automobile is started to walk in advance proposed by the present invention, wherein the pure electricity
Electrical automobile be with N R tri- gears of D pure electric automobile, the system comprises:
High pressure power on signal acquisition module is used to acquire vehicle high pressure power on signal；
Parking brake signal acquisition module is used to acquire parking brake signal；
Speed signal acquisition module is used to acquire speed signal；
Brake pedal signal acquisition module is used to acquire the signal of brake pedal；
Throttle signal acquisition module is used to acquire throttle signal；
Gear signal acquisition module is used to acquire gear signal；
Signal processing module, the signal centralized processing for being used to acquire；
Condition judgment module is used to whether need pre- starting according to input-signal judging；
Pre- starting module sends small torque of starting to walk in advance to electric machine controller for the order according to condition judgment module and believes
Number, by vehicle start front motor provide it is one small demarcate torque, be entirely located in the gear of vehicle drive system and nibble
Conjunction state enters various starting modes further according to driver intention；
Wherein, the high pressure power on signal acquisition signal, parking brake signal acquisition module, speed signal acquisition module, braking
The corresponding signal of acquisition is input to signal by pedal signal acquisition module, throttle signal acquisition module, gear signal acquisition module
Processing module；
By treated, signal passes to condition judgment module to the signal processing module；
The condition judgment module sends the corresponding command according to signal, to pre- starting module；
The corresponding command is passed to electric machine controller by the pre- starting module.
Wherein, the system also includes motor speed signal acquisition module, it is used to acquire motor speed signal, and will adopt
The signal of collection passes to signal processing module.
It is pre- the invention also provides a kind of pure electric automobile of control system to be started to walk in advance based on above-mentioned pure electric automobile
Method for starting comprising:
Step 1: acquisition car status information；
Step 2: deciding whether to take pre- starting strategy according to car status information.
Wherein, the car status information includes: high pressure power-up state, parking brake state, brake pedal status, throttle
And gear state.
Wherein, when detecting that high pressure powers on completion, parking brake is put down, speed 0, brake does not trigger, throttle does not trigger and shelves
When position is non-neutral gear, pre- starting strategy is taken.
Wherein, the pre- starting strategy is to answer torque according to gear signal output phase.
It is wherein, described that torque is answered according to gear signal output phase specifically:
When current gear signal is D grades, motor exports a given positive-torque；When current gear signal is R grades, motor is defeated
A given negative torque out.
Embodiment two,
It is illustrated in figure 3 and a kind of consistent pre- method for starting of pure electric automobile of the embodiment of the present invention.
The pre- starting refers to that entire car controller is by judging whether driver has starting to be intended to before starting for vehicle, hair
Vehicle start preparation is carried out in corresponding instruction out.
The method of the present invention includes the following steps:
Step 101, acquisition whole vehicle state information, judge whether pure electric automobile will start to walk.
Judge whether the pure electric automobile will start to walk, includes the following steps:
Step a1, judge whether high pressure powers on completion to vehicle.
Step a3, judge whether parking brake puts down.
Step a5, judge whether speed is less than or equal to 0.
Step a7, judge whether brake triggers.
Step a9, judge whether throttle triggers.
Step a11, judge whether gear is neutral gear.
Step 103, if it is, into pre- starting state.
Step 105 reads throttle signal, when throttle triggers, when not triggering brake, into normal starting mode.
The pre- starting state, which refers to, issues a demand torque to motor according to current gear information.That is, current gear is believed
Number be D grade when, motor output one given positive-torque；When current gear signal is R grades, motor exports a given negative torque.
The given torque makes the gear of vehicle drive system be in meshing state.The torque according to the parameter difference of vehicle without
Together, pass through the specific calibration of experiment.
The step 105 specifically: after output phase answers torque, judge whether throttle signal triggers at this time again, if
Do not trigger, then return to step 103 into pre- starting state；If throttle is triggered, then judges whether brake signal touches
Hair enters normal starting mode if do not triggered.
In a certain embodiment, after the completion of detecting that vehicle high pressure powers on by entire car controller, if detecting parking brake
It puts down, speed≤n km/h (n is a sufficiently small value that can be demarcated), the optimal minimum speed for vehicle neutral gear traveling,
Brake signal does not trigger, and driver does not trigger throttle signal.Gear is located at non-neutral state, i.e., judges driver according to information
The state that will be started to walk, vehicle enters pre- starting state at this time.
In a certain embodiment, pre- method for starting issues a demand torque to motor according to current gear information.
In a certain embodiment, entire car controller reads the gear information of vehicle, if it is D grades (drive shifts), vehicle control
Device processed provides the torque that can be demarcated according to the parameter of different vehicle；If it is R grades (reverse gears), entire car controller is provided
One reversed torque.
In a certain embodiment, the torque judgment criteria that entire car controller provides is that gear of vehicle has engaged, can root
It is obtained according to micro-judgment or by experiment.
Pre- starting control method of the invention makes the transmission system gear of vehicle be in meshing state before vehicle start,
Starting speed is accelerated, is reduced since what is be likely to occur beats mechanical wear caused by tooth, while reducing starting noise.
Wherein, starting control method passes through the direction of rotation that the gear information that starts to walk judges motor in advance, avoids the band of starting to walk that reverses gear
Mechanical shock is carried out.
Wherein, the torque sent in pre- starting control plan method to motor is according to type of vehicle, vehicle running environment
Difference can be calibrated, on pure electric automobile have versatility.
Wherein, starting control method is not necessarily to be modified vehicle mechanism, motor etc. in advance, and without increasing sensor etc.,
It is easily achieved.
Also, motor, which provides a lesser torque, engages gear, and the electricity of consumption is low.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention answers the protection model with claim
Subject to enclosing.
Claims (6)
1. a kind of control system that pure electric automobile is started to walk in advance, wherein the pure electric automobile is with tri- gears of N R D
Pure electric automobile, the system comprises:
High pressure power on signal acquisition module is used to acquire vehicle high pressure power on signal；
Parking brake signal acquisition module is used to acquire parking brake signal；
Speed signal acquisition module is used to acquire speed signal；
Brake pedal signal acquisition module is used to acquire the signal of brake pedal；
Throttle signal acquisition module is used to acquire throttle signal；
Gear signal acquisition module is used to acquire gear signal；
Motor speed signal acquisition module is used to acquire motor speed signal；
Signal processing module, the signal centralized processing for being used to acquire；
Condition judgment module is used to whether need pre- starting according to input-signal judging, when detecting that high pressure powers on completion, hand
Brake puts down, speed 0, when brake does not trigger, throttle does not trigger and gear is non-neutral gear, is judged as the pre- starting of needs；
Pre- starting module is led to for sending small torque signal of starting to walk in advance to electric machine controller according to the order of condition judgment module
Cross vehicle start front motor provide it is one small demarcate torque, so that the gear of vehicle drive system is entirely located in engagement shape
State enters various starting modes further according to driver intention；
Wherein, the high pressure power on signal acquisition module, parking brake signal acquisition module, speed signal acquisition module, brake pedal
Signal acquisition module, throttle signal acquisition module, gear signal acquisition module and motor speed signal acquisition module are by acquisition
Corresponding signal is input to signal processing module；
By treated, signal passes to condition judgment module to the signal processing module；
The condition judgment module sends the corresponding command according to signal, to pre- starting module；
The corresponding command is passed to electric machine controller by the pre- starting module.
2. a kind of pre- starting side of the pure electric automobile of the control system to be started to walk in advance based on pure electric automobile described in claim 1
Method comprising:
Step 1: acquisition car status information；
Step 2: deciding whether to take pre- starting strategy according to car status information.
3. method as claimed in claim 2, the car status information includes: high pressure power-up state, parking brake state, brake pedal
State, throttle and gear state.
4. method as claimed in claim 3, wherein when detecting that high pressure powers on completion, parking brake is put down, speed 0, braking and do not touch
When hair, throttle do not trigger and gear is non-neutral gear, pre- starting strategy is taken.
5. method as claimed in claim 2, the pre- starting strategy is to answer torque according to gear signal output phase.
6. method as claimed in claim 5, described to answer torque according to gear signal output phase specifically:
When current gear signal is D grades, motor exports a given positive-torque；When current gear signal is R grades, motor output one
A given negative torque.
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| CN201610648100.4A CN106183890B (en) | 2016-08-09 | 2016-08-09 | The control system and its pre- method for starting that pure electric automobile is started to walk in advance |
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| US9026289B2 (en) * | 2010-10-26 | 2015-05-05 | Shanghai Zhongke Shenjiang Electric Vehicle Co., Ltd. | Control method for idling anti-rollback of pure electric vehicle |
| CN202186297U (en) * | 2011-07-08 | 2012-04-11 | 王德恒 | Electrocar starting assist system |
| CN102343875A (en) * | 2011-07-13 | 2012-02-08 | 武汉市菱电汽车电子有限责任公司 | Electric automobile driver based on whole automobile control strategy and control method thereof |
| CN102941816A (en) * | 2012-11-28 | 2013-02-27 | 北京智行鸿远汽车技术有限公司 | Driving motor torque control method for electric vehicle |
| CN103661391A (en) * | 2013-10-11 | 2014-03-26 | 吉林省高新电动汽车有限公司 | Pure electric bus drive control method |
| CN104192023A (en) * | 2014-08-22 | 2014-12-10 | 江苏大学 | Power requirement matching and optimizing method during starting of pure electric car |
| CN105459847A (en) * | 2014-11-17 | 2016-04-06 | 万向电动汽车有限公司 | Hill starting auxiliary system for electric vehicle and control method thereof |
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