CN106314197A - Control method of load self-adaptive accelerator system - Google Patents
Control method of load self-adaptive accelerator system Download PDFInfo
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- CN106314197A CN106314197A CN201610759332.7A CN201610759332A CN106314197A CN 106314197 A CN106314197 A CN 106314197A CN 201610759332 A CN201610759332 A CN 201610759332A CN 106314197 A CN106314197 A CN 106314197A
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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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/26—Vehicle weight
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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
- 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
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention relates to a control method of a load self-adaptive accelerator system. The defects in the prior art are overcome. According to the technical scheme, the control method is suitable for an electric vehicle or a hybrid vehicle, and is characterized in that an accelerator opening degree contrast table and/or an accelerator opening degree contrast formula is established for the total weight of a vehicle, and the current total weight of the vehicle is obtained, the current response modification value is obtained by inquiring the accelerator opening degree contrast table and/or the accelerator opening degree contrast formula according to the current total weight of the vehicle, and accelerator response is set according to the actual opening degree of an accelerator and the response modification value. Current offset vectors are decomposed with the vehicle transverse axis as the X axis and the vehicle longitudinal axis as the Y axis, the tire power distribution ratio of each tire is modified according to the decomposition value of the current offset vectors, each tire of the vehicle outputs power in the form of standard electricity according to the power distribution ratio, the power is multiplied by the response modification value to obtain a product, the product as the final vehicle electricity output power is output, and the second step is executed again.
Description
Technical field
The present invention relates to the control method of a kind of throttle system, particularly to the control of a kind of load-carrying self adaptation throttle system
Method.
Background technology
General gas controls the aperture of air throttle and reaches to control the purpose of car speed, but now electric automobile or
Mixed electrical automobile starts commercially to show up prominently as emerging vehicle, and the control method of traditional gas is the most applicable, electricity
Although the gas of electrical automobile or mixed electrical automobile is to be called throttle but the output of his motor to be controlled comes
Reach to control the purpose of output, generally, be to detect accelerator open degree conversion to become output numerical value, then send driving life
Order makes motor export corresponding power.
Chinese patent literature be once disclosed a kind of electric motor car vicarious throttle sensor (its Application No.:
CN201110068981.X, publication date JIUYUE in 2012 19 days).Vicarious throttle sensor includes matrix, slide bar, Magnet, Hall
Element and patch panel.Having rectangle chute on matrix, slide bar can move back and forth in chute, and slide bar surface has rectangular channel, groove
Two ends equipped with Magnet, move with slide bar, there is screwed hole one end of slide bar, be used for be connected with pedal slide block mechanism, suddenly
You are fixed on patch panel by element, and between two blocks of Magnet, the electromotive force that Hall element produces is by the electric wire on patch panel
Draw, be connected on electric vehicle motor controller.But in prior art, there is accelerator open degree and automobile engine output
Unique corresponding, the most once carload change, trample throttle amplitude identical time, automobile engine output is constant, automobile
Final response but there occurs change, although this is the problem the most always existed, but for driver, drives
Sail experience and also suffer from certain impact.
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 control method of a kind of load-carrying self adaptation throttle system.
The technical solution adopted for the present invention to solve the technical problems is: the controlling party of a kind of load-carrying self adaptation throttle system
Method, 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 the power-division ratios of each tire of described automobile is 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
The offset vector of the position of centre of gravity put and preset, if offset vector keeps in the given time, then obtains current offset vector and makees
For value of calculation, decompose current offset vector for X-axis automotive ordinate axis for Y-axis with automobile transverse axis, according to current offset resolution of vectors value
Revise the tire power-division ratios of each wheel, each tire of automobile according to power-division ratios with standard electric output, then
It is multiplied by responsive corrections value to export as final automobile electric output power, then re-executes step 2.
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.The present invention have employed accelerator open degree synopsis or
The mode of comparison formula carrys out corresponding current automobile gross weight, solves when the load-carrying difference of automobile, and throttle response can become
The problem changed；Having reached to arrange the throttle response of vehicle according to live load information, throttle response can be under different load-carryings
Keep constant or similar effect.Corresponding different calculating side can be come according to the different driving model that user is arranged simultaneously
Method, such as, use when fast speed is run accelerator open degree synopsis to calculate, and use slower speed per hour when
The mode of comparison formula carrys out corresponding current automobile gross weight.
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.
As preferably, in described step one, standard body weight values+curb weight value that gravimetric value is driver demarcated by automobile
+ default fuel tank carries fuel weight value.So arrange, be relatively conventional state, can count as general meansigma methods
Calculate.
As preferably, in the tire power-division ratios of all wheels, at least 95% is distribution definite value, the tire merit of all wheels
In rate distribution ratio, most 5% 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.Frictional force is too small when, have bigger when of the sensing of automobile starting speed and acceleration and new tire
Difference, therefore for automobile tire frictional force less when increase power output, improve the stress of automobile tire, can be by
Car steering impression is maintained at a suitable scope.
As preferably, X-axis and Y-axis are fixing axle, calculate and account in current offset vector component X-axis in X-axis in X-axis
Ratio, calculates in current offset vector 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.The present invention is so
Arrange, mainly prevent too much power to distribute, cause excessive or too small power to be distributed, so influence whether that vehicle is overall
Stability, although the most also can so that counterweight to have had compensation, but once carry out turning or braking, can relatively
Big has influence on vehicle safety and maneuverability.The present invention provides certain compensation, it is possible to the change for center of gravity compensates,
The biggest distribution definite value ensure that safety and the maneuverability of automobile entirety.
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, if current weight is positioned at two
Between individual current weight setting value, then calculate current weight pair according to current weight ratio between two current weight setting values
The responsive corrections value answered.
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, described preset time is 1 second, reduce the amplitude of current responsive corrections value equal to the feedback response time with
/ 4th of the ratio of standard response time.
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 control method of a kind of load-carrying self adaptation throttle system, it is adaptable to electric automobile or mixed electrical automobile, for automobile gross weight
Set 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.
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 control method of a load-carrying self adaptation throttle system, it is adaptable to electric automobile or mixed electrical automobile, it is characterised in that:
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 the power-division ratios of each tire of described automobile is 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
The offset vector of the position of centre of gravity put and preset, if offset vector keeps in the given time, then obtains current offset vector and makees
For value of calculation, decompose current offset vector for X-axis automotive ordinate axis for Y-axis with automobile transverse axis, according to current offset resolution of vectors value
Revise the tire power-division ratios of each wheel, each tire of automobile according to power-division ratios with standard electric output, then
It is multiplied by responsive corrections value to export as final automobile electric output power, then re-executes step 2.
The control method of load-carrying self adaptation throttle system the most according to claim 1, 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.
The control method of load-carrying self adaptation throttle system the most according to claim 1, it is characterised in that:
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 control method of load-carrying self adaptation throttle system the most according to claim 1, it is characterised in that: the wheel of all wheels
In tire power-division ratios, at least 95% is distribution definite value, and in the tire power-division ratios of all wheels, most 5% is distribution regulated value,
In default setting, distribute regulated value be allocated according to the allocation proportion of distribution definite value, repair according to current offset resolution of vectors value
Only distribution regulated value is allocated when the tire power-division ratios of the most each wheel is allocated.
The control method of load-carrying self adaptation throttle system the most according to claim 4, it is characterised in that: X-axis and Y-axis are solid
Dead axle, calculates in current offset vector component X-axis accounting in X-axis in X-axis, calculates at current offset vector in Y-axis
Component Y-axis accounting 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.
The control method of load-carrying self adaptation throttle 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, if current weight is positioned at two current weight and sets
Between value, then calculate, according to current weight ratio between two current weight setting values, the responsive corrections that current weight is corresponding
Value.
The control method of load-carrying self adaptation throttle system the most according to claim 1, it is characterised in that: performing described step
In rapid five, the acceleration transducer in automobile obtains current acceleration changing value as accelerating value of feedback, in standard configuration parameter
Acceleration value of feedback, as accelerating standard value, is contrasted by the acceleration change standard value preset with accelerating standard value, if accelerating
Value of feedback then reduces responsive corrections value more than accelerating standard value when next time calculates responsive corrections value；If accelerating value of feedback less than adding
Speed standard value then reduces responsive corrections value when next time calculates responsive corrections value.
The control method of load-carrying self adaptation throttle system the most according to claim 7, it is characterised in that: described acceleration standard
To there being a standard response time in value, if accelerating value of feedback equal to accelerating standard value, and accelerate the feedback response of value of feedback
Time then uses dynamic response correction value less than standard response time when next time calculates responsive corrections value, the most first reduces and calculates
The responsive corrections value gone out returns to the responsive corrections value calculated after a given time.
The control method of load-carrying self adaptation throttle system the most according to claim 8, it is characterised in that: described preset time
It is 1 second, reduces the amplitude of current responsive corrections value equal to feedback response time and 1/4th of the ratio of standard response time.
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