CN106427663A - Electric automobile traction control method and device - Google Patents
Electric automobile traction control method and device Download PDFInfo
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- CN106427663A CN106427663A CN201610601913.8A CN201610601913A CN106427663A CN 106427663 A CN106427663 A CN 106427663A CN 201610601913 A CN201610601913 A CN 201610601913A CN 106427663 A CN106427663 A CN 106427663A
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- slip rate
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- motor torque
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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
- B60L15/2009—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 braking
-
- 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
- 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 provides an electric automobile traction control method and device. The electric automobile traction control method includes the steps that an angle value sent by an accelerator pedal angle sensor is received; the slip rate sent by an ABS control unit is received; and traction is controlled according to the angle value and the slip rate. By the adoption of the method, a traction control scheme suitable for an electric automobile can be achieved.
Description
Technical field
The application relates to electric vehicle engineering field, particularly relates to a kind of method for controlling traction of electric vehicle and device.
Background technology
The tractive force of electric automobile by driving motor to provide, motor has that torque response is fast, direct torque precision high,
Actual torque etc. can be calculated by current feedback.TCS as electric automobile basic control system it
One, its mission critical is on Slippery road, and locking when excessively trackslipping or brake when effectively preventing wheel from driving is protected simultaneously
The validity of card output torque, namely obtains good acceleration and braking ability.
Owing to the reference target of orthodox car traction control method is different from electric automobile, it is impossible to direct at electric automobile
Using, it is therefore necessary to a kind of method for controlling traction of electric vehicle of exploitation, the tractive force to realize electric automobile optimizes, and carries
The security of high driving.
Content of the invention
One of technical problem that the application is intended to solve in correlation technique at least to a certain extent.
To this end, the application purpose is to propose a kind of method for controlling traction of electric vehicle, the method can be real
It is now applicable to the polling power controlling scheme of electric automobile.
Further object is to propose a kind of electric automobile polling power controlling device.
For reaching above-mentioned purpose, the method for controlling traction of electric vehicle of the application first aspect embodiment proposition, including：
Receive the angle value that gas pedal rotary angle transmitter sends；Receive the slip rate that ABS control unit sends；According to described angle value
Carry out polling power controlling with described slip rate.
The method for controlling traction of electric vehicle that the application first aspect embodiment proposes, by according to gas pedal corner
Angle value and the slip rate of ABS control unit transmission that sensor sends carry out polling power controlling, it is possible to achieve be applicable to electronic
The polling power controlling scheme of automobile.
For reaching above-mentioned purpose, the electric automobile polling power controlling device of the application second aspect embodiment proposition, including：
First receiver module, for receiving the angle value that gas pedal rotary angle transmitter sends；Second receiver module, is used for receiving ABS
The slip rate that control unit sends；Control module, for carrying out polling power controlling according to described angle value and described slip rate.
The electric automobile polling power controlling device that the application second aspect embodiment proposes, by according to gas pedal corner
Angle value and the slip rate of ABS control unit transmission that sensor sends carry out polling power controlling, it is possible to achieve be adapted to electronic
The polling power controlling scheme of automobile.
Aspect and advantage that the application adds will part be given in the following description, and part will become from the following description
Obtain substantially, or recognized by the practice of the application.
Brief description
The application above-mentioned and/or that add aspect and advantage will become from the following description of the accompanying drawings of embodiments
Obvious and easy to understand, wherein：
Fig. 1 is the schematic flow sheet of the method for controlling traction of electric vehicle that one embodiment of the application proposes；
Fig. 2 is the schematic diagram of some parts of the electric automobile relating in the embodiment of the present application；
Fig. 3 is the flow chart of System self-test main program in the embodiment of the present application；
Fig. 4 is the flow chart of model selection subprogram in the embodiment of the present application；
Fig. 5 is the urgent flow chart accelerating Mode subroutine in the embodiment of the present application；
Fig. 6 is the slow flow chart accelerating Mode subroutine in the embodiment of the present application；
Fig. 7 is the structural representation of the electric automobile polling power controlling device that one embodiment of the application proposes；
Fig. 8 is the structural representation of the electric automobile polling power controlling device that another embodiment of the application proposes.
Detailed description of the invention
Embodiments herein is described below in detail, and the example of described embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar module or has the module of same or like function.Below with reference to attached
The embodiment that figure describes is exemplary, is only used for explaining the application, and it is not intended that restriction to the application.On the contrary, originally
All changes in the range of spirit that the embodiment of application includes falling into attached claims and intension, modification and equivalent
Thing.
Fig. 1 is the schematic flow sheet of the method for controlling traction of electric vehicle that one embodiment of the application proposes.
Seeing Fig. 1, the method for the present embodiment includes：
S11：Receive the angle value that gas pedal rotary angle transmitter sends；
S12：Receive the slip rate that ABS control unit sends；
S13：Carry out polling power controlling according to described angle value and described slip rate.
As in figure 2 it is shown, be the schematic diagram of electric automobile associated components.Each part description is as follows：
1 is brake pedal, and 2 is brake pedal rotary angle transmitter, and 3 is electric control vacuum booster band brake master cylinder
(electronic vacuum booster, EVB), 4 is vacuum sensor, and 5 is anti-lock braking system (antilock
Brake system, ABS) control unit, 6 be vacuum tube, 7 be electric vacuum pump, the 8th, the 12nd, the 13rd, 16 be wheel and brake, the 9th,
11st, the 14th, 15 be wheel speed sensors；10 for driving motor, and 17 is entire car controller (Vehicle Control Unit, VCU), and 18
For rear drive shaft, the 19th, 20 is drive axle, and 22 is electronic parking (Electrical Parking Brake, EPB) controller,
21st, 23 is electronic parking clamp, and 24 is efp.The angle of brake pedal sensor 2 being fixed on brake pedal 1,
Connect VCU 17 by electric wire；Brake pedal 1 and electric control vacuum booster band brake master cylinder EVB 3 are bolted to connection
Together；The vacuum sensor 4 being integrated on electric control vacuum booster band brake master cylinder EVB 3 connects VCU 17 by rigid line；
Electric control vacuum booster band brake master cylinder EVB 3 is connected with electric vacuum pump 7 by vacuum tube 6；Electric vacuum pump 7 passes through electric wire
Couple together with entire car controller VCU 17；Electric control vacuum booster band brake master cylinder EVB 3 is controlled with ABS by brake hard tube
Unit 5 is connected, and the 13rd, the 12nd, the 8th, ABS control unit 5 16 be connected by brake hard tube and four wheels and brake, and wheel speed passes
Sensor 9 11 and the 14th, 15 by electric wire connect be connected with ABS control unit 5；Entire car controller VCU 17 passes through electric wire and ABS
Control unit 5 is connected, for the transmission of the signal of telecommunication；Entire car controller VCU 17 is connected with driving motor 10 by electric wire,
For transmitting automatically controlled signal；Motor 10 is driven to be connected by drive axle 19 20, drive wheel and brake 8 and 12, car respectively
Wheel and brake 13 are connected by rear drive shaft 18 with 16；Electronic parking controller 22 by electric wire respectively with electronic parking card
The 21st, pincers 23 are connected, and are connected with entire car controller VCU 17 by electric wire simultaneously；Electric control vacuum booster band brake master cylinder
EVB 3 is connected with ABS control unit 5 by electric wire.
On the basis of above-mentioned parts, gas pedal rotary angle transmitter (not shown) can be integrated in efp 24
On, therefore, VCU can receive the angle value that gas pedal rotary angle transmitter sends, and receives what ABS control unit sent
Slip rate.In addition, TCS (Traction Control System, TCS) function can also be realized in VCU, with
Carry out polling power controlling according to angle value and slip rate.
Wherein, angle value may indicate that the acceleration demand of driver, is such as promptly to accelerate or accelerate slowly, in difference
Corresponding mode treatment can be used under acceleration demand.Slip rate may indicate that pavement state, as ice and snow road, dry pavement,
Split road surface or docking road surface etc., also can use different control modes under different pavement states.
Concrete, described angle value includes：Second angle value in the first moment and the second moment after the first moment
First angle value.
Accordingly, carry out the step of polling power controlling according to angle value and slip rate can include：
After model selection starts, calculate the first angle value and the angle difference of the second angle value, calculate the second moment with
The time difference in the first moment, and calculate the ratio of described angle difference and described time difference；
When described ratio is more than the first preset value, determines and use urgent pattern of accelerating, and according to the employing of described slip rate
Corresponding subprogram carries out polling power controlling with urgent acceleration pattern；
When described ratio is less than or equal to the first preset value, determines and use slow acceleration pattern, and according to described sliding
Rate uses and carries out polling power controlling with the corresponding subprogram of slow acceleration pattern.
Further, described slip rate includes：First slip rate and the second slip rate, described first slip rate is driving wheel
The slip rate of current time, described second slip rate is the slip rate in another moment different from current time of driving wheel.
Described employing according to described slip rate carries out polling power controlling with the corresponding subprogram of urgent acceleration pattern, including：
When TCS opens, it is judged that whether the ratio of the second slip rate and the first slip rate is less than the second preset value；If
It is then to control Motor torque and increase；If it is not, control Motor torque is 0, and when Oil Switch is closed, control motor is turned round
Square increases；
When TCS does not opens, it is judged that whether the ratio of the second slip rate and the first slip rate is more than 1, if it is, control
Motor torque reduces.
Described employing according to described slip rate carries out polling power controlling with the corresponding subprogram of slow acceleration pattern, including：
When TCS opens, it is judged that whether the ratio of the second slip rate and the first slip rate is less than the 3rd preset value；If
It is then to control Motor torque and increase；If it is not, control Motor torque is 0, and when Oil Switch is closed, control motor is turned round
Square increases；
When TCS does not opens, it is judged that whether the ratio of the second slip rate and the first slip rate is more than 1, if it is, control
Motor torque reduces.
Further, after activation system self-inspection, if system is normal, or, if system is abnormal and brake pedal
Rotary angle transmitter has input signal, or, if system is abnormal and gas pedal rotary angle transmitter has input signal and throttle
Opening of steps, it is determined that model selection starts.
The above-mentioned flow process relating to specifically includes：System self-test flow process (is properly termed as System self-test main program), model selection
Polling power controlling flow process under flow process (being properly termed as model selection subprogram), urgent accelerating module (is properly termed as promptly accelerating
Mode subroutine) and slow accelerating module under polling power controlling flow process (being properly termed as accelerating slowly Mode subroutine), specifically
It is described as follows.
Fig. 3 is the flow chart of System self-test main program in the embodiment of the present application.As it is shown on figure 3, this flow process includes：
S301：After power-up, activation system self-inspection.
For example, after the power-up, System self-test can be proceeded by automatically.
Wherein, the system that System self-test flow process relates to can specifically include：The system of VCU and the system of ABS control unit.
S302：Judging that whether system is normal, if being carried out S303, otherwise performing S304 and S308.
Wherein, the system in this step can specifically refer to the system of VCU.
S303：Start model selection subprogram.
S304：Judge whether gas pedal rotary angle transmitter has input signal, if so, perform S305, otherwise perform S306.
S305：Judging whether gas pedal opens, if being carried out S303, otherwise performing S307.
S306：Judging whether gas pedal starts, if being carried out S307, otherwise, performing S312.
S307：It is defined as accelerator pedal switch fault.S316 can be performed afterwards.
S308：Judging whether brake pedal rotary angle transmitter has input information, if being carried out S303, otherwise performing S309.
S309：Judging whether brake switch is opened, if being carried out S310, otherwise performing S311.
S310：It is defined as brake pedal rotary angle transmitter fault.
S311：Judging that whether driving switch signal is normal, if being carried out S312, otherwise performing S315.
S312：Judge that whether system is normal, if so, repeat S302 and subsequent step thereof, otherwise perform S313.
Wherein, the system in this step can specifically refer to the system of ABS control unit.
S313：It is defined as brakes abnormal.Perform S314 afterwards.
S314：It is defined as sensor fault or switching signal fault.Perform S316 afterwards.
S315：It is defined as driving switch sensor fault.Perform S316 afterwards.
S316：Display fault, lights trouble light, reports to the police, speed limit.Terminate afterwards.
In the present embodiment, in System self-test flow process as implied above, son can be selected with Dietary behavior in some cases
Program.Determination used urgent acceleration pattern in model selection subprogram or accelerate pattern slowly.Embodiment institute specific as follows
Show.
Fig. 4 is the flow chart of model selection subprogram in the embodiment of the present application.As shown in Figure 4, this flow process includes：
S401：Judge whether gas pedal has signal, if so, perform S408 and S409, otherwise perform S403.
S402：Judge whether brake pedal has signal, if so, perform S409, otherwise perform S404.
As shown in Figure 4, after model selection starts, S401 and S402 can be performed, then proceed by from S401 and S402
Follow-up flow process.
S403：Judge whether gas pedal opens, if so, perform S407, otherwise restart model selection flow process.
S404：Judging whether brake pedal switch is opened, if being carried out S406, otherwise performing S405.
S405：It is defined as system normal, terminate.
S406：It is defined as the system failure, terminate.
S407：It is defined as the system failure, terminate.
S408：Control gas pedal rotary angle transmitter carries out angle value detection.
Gas pedal rotary angle transmitter carry out angle value detection when, can select a moment T (that be fixedly installed or
Randomly choose), the angle value in detection T moment, this angle value is properly termed as the second angle value, represents with p2.Afterwards, when T
Another moment after quarter, (T+ Δ t), detected the angle value in this moment, and this angle value is properly termed as the first angle value, uses p1 table
Show.Fixed value that Δ t can be arranged or randomly choose.
S413 can be performed after obtaining above-mentioned p1 and p2.
S409：Judge driving switch whether at neutral gear (Ne), if being carried out S410, otherwise according to driving switch at different shelves
Position performs corresponding flow process.
Concrete, if driving switch is at reverse gear (R), then perform S410, if driving switch is at forward gear (D), then
Perform S414.
S410：Judging whether brake pedal switch is opened, if being carried out S411, otherwise performing S412.
S411：Brake indicator lamp is lighted.
S412：Brake indicator lamp goes out.
S413：Judge the first angle value and the second angle value, if so, perform S414, otherwise perform S417.
S414：Calculate the first angle value and the difference of the second angle value, and calculating detection the first angle value and second jiao
The difference of time during angle value, and calculate the difference of angle value and the ratio of time difference, it is judged that whether this ratio is more than first
Preset value, if so, performs S415, otherwise performs S416.
S415：It is defined as promptly accelerating pattern, urgent acceleration Mode subroutine process can be used afterwards.
S416：It is defined as accelerating slowly pattern, slow acceleration Mode subroutine process can be used afterwards.
In the present embodiment, can be determined according to the angle value of gas pedal rotary angle transmitter detection by above-mentioned process and use
Acceleration pattern, to use suitable acceleration pattern to start.
Below urgent acceleration pattern and slow acceleration pattern are illustrated respectively.
Fig. 5 is the urgent flow chart accelerating Mode subroutine in the embodiment of the present application.As it is shown in figure 5, this flow process includes：
S501：After urgent acceleration pattern starts, obtaining the current slip rate of driving wheel, this slip rate can use λ 1 table
Show.
Slip rate can be sent to VCU by ABS control unit.
S502：Judging whether TCS starts, if being carried out S503, otherwise performing S508.
S503：Obtaining the slip rate in another moment different from λ 1, this slip rate λ 2 represents.
S504：Judging whether the ratio of λ 2 and λ 1 is less than the second preset value, if being carried out S505, otherwise performing S506.
S505：Control Motor torque increases.
S506：Control Motor torque is 0.Perform S507 afterwards.
S507：Judging whether Oil Switch closes, if being carried out S505, otherwise performing S511.
S508：Obtaining the slip rate in another moment different from λ 1, this slip rate λ ti represents.
S509：Judging whether the ratio of λ ti and λ 1 is more than 1, if being carried out S510, otherwise performing S511.
S510：Control Motor torque reduces.
S511：Display fault, lights trouble light, reports to the police, speed limit.Terminate afterwards.
In the present embodiment, according to the slip rate of ABS control unit transmission, it is possible to achieve the startup stream under urgent acceleration pattern
Journey.
Fig. 6 is the slow flow chart accelerating Mode subroutine in the embodiment of the present application.As shown in Figure 6, this flow process includes：
S601：After slow acceleration pattern starts, obtaining the current slip rate of driving wheel, this slip rate can use λ 1 table
Show.
Slip rate can be sent to VCU by ABS control unit.
S602：Judging whether TCS starts, if being carried out S603, otherwise performing S608.
S603：Obtaining the slip rate in another moment different from λ 1, this slip rate λ 2 represents.
S604：Judging whether the ratio of λ 2 and λ 1 is less than the 3rd preset value, if being carried out S605, otherwise performing S606.
S605：Control Motor torque increases.
S606：Control Motor torque is 0.Perform S607 afterwards.
S607：Judging whether Oil Switch closes, if being carried out S605, otherwise performing S611.
S608：Obtaining the slip rate in another moment different from λ 1, this slip rate λ ti represents.
S609：Judging whether the ratio of λ ti and λ 1 is more than 1, if being carried out S610, otherwise performing S611.
S610：Control Motor torque reduces.
S611：Display fault, lights trouble light, reports to the police, speed limit.Terminate afterwards.
In the present embodiment, according to the slip rate of ABS control unit transmission, it is possible to achieve the startup stream under slow acceleration pattern
Journey.
Further, the method can also include：
The slip rate of detection driving wheel and the slip rate of driven pulley；
If the slip rate of driving wheel is more than the 4th preset value with the ratio of the slip rate of driven pulley, then reduces motor and turn round
Square, and start TCS.
Further, the method can also include：
After reducing Motor torque, if the slip rate of driving wheel is still more than the 4th with the ratio of the slip rate of driven pulley
Preset value, then control EVB and carry out supercharging to brake piping, to be braked driving wheel, reduce the slip rate of driving wheel.
Further, when control EVB carries out supercharging to be braked driving wheel to brake piping, concrete so that lead
The slip rate of driving wheel is basically identical with the slip rate of driven pulley.
The first preset value in above-mentioned flow process, the second preset value, the 3rd preset value and the 4th preset value can be according to reality
Experiences etc. are arranged.
In above-mentioned flow process, sent by the angle value that sends according to gas pedal rotary angle transmitter and ABS control unit
Slip rate carries out polling power controlling, it is possible to achieve be applicable to the polling power controlling scheme of electric automobile.Particularly, in tractive force control
In scheme processed, introduce slip rate, can avoid carrying out according only to angle value the sliding of the driving wheel that the control of Motor torque causes
Rate is too high, and then needs to start polling power controlling startup.In addition, slip rate is sent to VCU by ABS control unit, may be constructed
One closed-loop control, when tractive force works so that the loading of Motor torque is more reasonable, it is to avoid first all applies, then reduces
Moment of torsion or enforcement braking control the slip rate of driving wheel.Further, by control EVB, brakes is increased, and then
Driving wheel is braked, the slip rate of driving wheel can be reduced, it is ensured that security.
Fig. 7 is the structural representation of the electric automobile polling power controlling device that one embodiment of the application proposes.
As it is shown in fig. 7, this device 70 includes：First receiver module the 71st, the second receiver module 72 and control module 73.
First receiver module 71, for receiving the angle value that gas pedal rotary angle transmitter sends；
Second receiver module 72, for receiving the slip rate that ABS control unit sends；
Control module 73, for carrying out polling power controlling according to described angle value and described slip rate.
In some embodiments, described angle value includes：Second angle value in the first moment and after the first moment second
First angle value in moment, sees Fig. 8, and described control module includes：
Calculating sub module 731, for after model selection starts, calculates the first angle value and the differential seat angle of the second angle value
Value, calculates the time difference in the second moment and the first moment, and calculates the ratio of described angle difference and described time difference；
First determination submodule 732, for when described ratio is more than the first preset value, determines that employing is urgent and accelerates mould
Formula, and carry out polling power controlling according to the employing of described slip rate with the corresponding subprogram of urgent acceleration pattern；
Second determination submodule 733, for when described ratio is less than or equal to the first preset value, determines that employing adds slowly
Fast mode, and carry out polling power controlling according to the employing of described slip rate with the corresponding subprogram of slow acceleration pattern.
In some embodiments, described slip rate includes：First slip rate and the second slip rate, described first slip rate is main
The slip rate of the current time of driving wheel, described second slip rate is the sliding in another moment different from current time of driving wheel
Rate, described first determination submodule 732 uses the corresponding subprogram with urgent acceleration pattern to draw according to described slip rate
Power controls, including：
When TCS opens, it is judged that whether the ratio of the second slip rate and the first slip rate is less than the second preset value；If
It is then to control Motor torque and increase；If it is not, then control Motor torque is 0, and when Oil Switch is closed, control motor
Moment of torsion increases；
When TCS does not opens, it is judged that whether the ratio of the second slip rate and the first slip rate is more than 1, if it is, control
Motor torque reduces.
In some embodiments, described slip rate includes：First slip rate and the second slip rate, described first slip rate is main
The slip rate of the current time of driving wheel, described second slip rate is the sliding in another moment different from current time of driving wheel
Rate, for using according to described slip rate, corresponding subprogram is carried out described second determination submodule 733 with slow acceleration pattern
Polling power controlling, including：
When TCS opens, it is judged that whether the ratio of the second slip rate and the first slip rate is less than the 3rd preset value；If
It is then to control Motor torque and increase；If it is not, control Motor torque is 0, and when Oil Switch is closed, control motor is turned round
Square increases；
When TCS does not opens, it is judged that whether the ratio of the second slip rate and the first slip rate is more than 1, if it is, control
Motor torque reduces.
In some embodiments, seeing Fig. 8, this device also includes：
Determining module 74, for after activation system self-inspection, if system is normal, or, if system is abnormal and system
Dynamic pedal rotary angle transmitter has input signal, or, if system is abnormal and gas pedal rotary angle transmitter has input signal
And gas pedal unlatching, it is determined that model selection starts.
In some embodiments, seeing Fig. 8, this device also includes：
Acquisition module 75, for obtaining the slip rate of driving wheel and the slip rate of driven pulley；
Reduce module 76, if preset more than the 4th with the ratio of the slip rate of driven pulley for the slip rate of driving wheel
Value, then reduce Motor torque；
Start module 77, be used for starting TCS.
In some embodiments, seeing Fig. 8, this device also includes：
Control module 78, is used for after reducing Motor torque, if the slip rate of driving wheel and the slip rate of driven pulley
Ratio is still more than the 4th preset value, then control EVB and carry out supercharging to brake piping, to be braked driving wheel, reduces main
The slip rate of driving wheel.
It is understood that the device of the present embodiment is corresponding with said method embodiment, particular content may refer to method
The associated description of embodiment, no longer describes in detail at this.
In the present embodiment, sent by the angle value that sends according to gas pedal rotary angle transmitter and ABS control unit
Slip rate carries out polling power controlling, it is possible to achieve be applicable to the polling power controlling scheme of electric automobile.Particularly, in tractive force control
In scheme processed, introduce slip rate, can avoid carrying out according only to angle value the sliding of the driving wheel that the control of Motor torque causes
Rate is too high, and then needs to start polling power controlling startup.In addition, slip rate is sent to VCU by ABS control unit, may be constructed
One closed-loop control, when tractive force works so that the loading of Motor torque is more reasonable, it is to avoid first all applies, then reduces
Moment of torsion or enforcement braking control the slip rate of driving wheel.Further, by control EVB, brakes is increased, and then
Driving wheel is braked, the slip rate of driving wheel can be reduced, it is ensured that security.
It is understood that in the various embodiments described above same or similar part can mutually reference, in certain embodiments
Unspecified content may refer to same or analogous content in other embodiments.
It should be noted that in the description of the present application, term " first ", " second " etc. are only used for describing purpose, and not
It is understood that as instruction or hint relative importance.Additionally, in the description of the present application, unless otherwise stated, the implication of " multiple "
Refer at least two.
Any process described otherwise above or method describe and are construed as in flow chart or at this, and expression includes
The module of the code of the executable instruction of one or more steps for realizing specific logical function or process, fragment or portion
Point, and the scope of the preferred embodiment of the application includes other realization, wherein can not by shown or discuss suitable
Sequence, including according to involved function while basic in the way of or in the opposite order, perform function, this should be by the application
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each several part of the application can be realized by hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, software that multiple steps or method can be performed in memory and by suitable instruction execution system by storage
Or firmware realizes.For example, if realized with hardware, and the same in another embodiment, available well known in the art under
Any one in row technology or their combination realize：There is the logic gates for realizing logic function to data-signal
Discrete logic, there is the special IC of suitable combinational logic gate circuit, programmable gate array (PGA), on-the-spot
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that all or part of step realizing that above-described embodiment method is carried
Suddenly the program that can be by completes to instruct related hardware, and described program can be stored in a kind of computer-readable storage medium
In matter, this program upon execution, including one or a combination set of step of embodiment of the method.
Additionally, each functional unit in each embodiment of the application can be integrated in a processing module, it is also possible to
It is that unit is individually physically present, it is also possible to two or more unit are integrated in a module.Above-mentioned integrated mould
Block both can use the form of hardware to realize, it would however also be possible to employ the form of software function module realizes.Described integrated module is such as
When fruit is using the form realization of software function module and as independent production marketing or use, it is also possible to be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show
Specific features, structure, material or the spy that the description of example " or " some examples " etc. means to combine this embodiment or example describes
Point is contained at least one embodiment or the example of the application.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiment or example in combine in an appropriate manner.
Although above it has been shown and described that embodiments herein, it is to be understood that above-described embodiment is example
Property, it is impossible to be interpreted as the restriction to the application, those of ordinary skill in the art within the scope of application can be to above-mentioned
Embodiment is changed, changes, replaces and modification.
Claims (14)
1. a method for controlling traction of electric vehicle, it is characterised in that include：
Receive the angle value that gas pedal rotary angle transmitter sends；
Receive the slip rate that ABS control unit sends；
Carry out polling power controlling according to described angle value and described slip rate.
2. method according to claim 1, it is characterised in that described angle value includes：Second angle value in the first moment
With first angle value in the second moment after the first moment, described carry out tractive force according to described angle value and described slip rate
Control, including：
After model selection starts, calculate the first angle value and the angle difference of the second angle value, calculate the second moment and first
The time difference in moment, and calculate the ratio of described angle difference and described time difference；
Described ratio more than the first preset value when, determine the urgent pattern of accelerating that uses, and according to described slip rate use with tight
The anxious corresponding subprogram of acceleration pattern carries out polling power controlling；
When described ratio is less than or equal to the first preset value, determines and use slow acceleration pattern, and adopt according to described slip rate
Carry out polling power controlling by subprogram corresponding with slow acceleration pattern.
3. method according to claim 2, it is characterised in that described slip rate includes：First slip rate and the second sliding
Rate, described first slip rate is the slip rate of the current time of driving wheel, described second slip rate be driving wheel with when current
Carving the slip rate in another different moment, described according to the employing of described slip rate, corresponding subprogram is carried out with urgent acceleration pattern
Polling power controlling, including：
When TCS opens, it is judged that whether the ratio of the second slip rate and the first slip rate is less than the second preset value；If it is,
Control Motor torque increases；If it is not, then control Motor torque is 0, and when Oil Switch is closed, control Motor torque increases
Greatly；
When TCS does not opens, it is judged that whether the ratio of the second slip rate and the first slip rate is more than 1, if it is, control motor
Moment of torsion reduces.
4. method according to claim 2, it is characterised in that described slip rate includes：First slip rate and the second sliding
Rate, described first slip rate is the slip rate of the current time of driving wheel, described second slip rate be driving wheel with when current
Carving the slip rate in another different moment, described according to the employing of described slip rate, corresponding subprogram is carried out with slow acceleration pattern
Polling power controlling, including：
When TCS opens, it is judged that whether the ratio of the second slip rate and the first slip rate is less than the 3rd preset value；If it is,
Control Motor torque increases；If it is not, control Motor torque is 0, and when Oil Switch is closed, control Motor torque increases
Greatly；
When TCS does not opens, it is judged that whether the ratio of the second slip rate and the first slip rate is more than 1, if it is, control motor
Moment of torsion reduces.
5. method according to claim 2, it is characterised in that also include：
After activation system self-inspection, if system is normal, or, if system is abnormal and brake pedal rotary angle transmitter has defeated
Enter signal, or, if system is abnormal and gas pedal rotary angle transmitter has input signal and gas pedal to open, it is determined that
Model selection starts.
6. the method according to claim 3 or 4, it is characterised in that also include：
Obtain the slip rate of driving wheel and the slip rate of driven pulley；
If the slip rate of driving wheel is more than the 4th preset value with the ratio of the slip rate of driven pulley, then reduce Motor torque, and
Start TCS.
7. method according to claim 6, it is characterised in that also include：
After reducing Motor torque, if the slip rate of driving wheel and the ratio of the slip rate of driven pulley are still default more than the 4th
Value, then control EVB and carry out supercharging to brake piping, to be braked driving wheel, reduce the slip rate of driving wheel.
8. an electric automobile polling power controlling device, it is characterised in that include：
First receiver module, for receiving the angle value that gas pedal rotary angle transmitter sends；
Second receiver module, for receiving the slip rate that ABS control unit sends；
Control module, for carrying out polling power controlling according to described angle value and described slip rate.
9. device according to claim 8, it is characterised in that described angle value includes：Second angle value in the first moment
With first angle value in the second moment after the first moment, described control module includes：
Calculating sub module, for after model selection starts, calculates the first angle value and the angle difference of the second angle value, calculates
Second moment and the time difference in the first moment, and calculate the ratio of described angle difference and described time difference；
First determination submodule, is used for when described ratio is more than the first preset value, determination employing urgent acceleration pattern, and according to
Described slip rate uses and carries out polling power controlling with the corresponding subprogram of urgent acceleration pattern；
Second determination submodule, for when described ratio is less than or equal to the first preset value, determines that employing is slow and accelerates pattern,
And carry out polling power controlling according to the employing of described slip rate with the corresponding subprogram of slow acceleration pattern.
10. device according to claim 9, it is characterised in that described slip rate includes：First slip rate and the second sliding
Rate, described first slip rate is the slip rate of the current time of driving wheel, described second slip rate be driving wheel with when current
Carving the slip rate in another different moment, described first determination submodule uses according to described slip rate and accelerates pattern pair with urgent
The subprogram answered carries out polling power controlling, including：
When TCS opens, it is judged that whether the ratio of the second slip rate and the first slip rate is less than the second preset value；If it is,
Control Motor torque increases；If it is not, then control Motor torque is 0, and when Oil Switch is closed, control Motor torque increases
Greatly；
When TCS does not opens, it is judged that whether the ratio of the second slip rate and the first slip rate is more than 1, if it is, control motor
Moment of torsion reduces.
11. devices according to claim 9, it is characterised in that described slip rate includes：First slip rate and the second sliding
Rate, described first slip rate is the slip rate of the current time of driving wheel, described second slip rate be driving wheel with when current
Carving the slip rate in another different moment, described second determination submodule accelerates mould for using according to described slip rate with slow
The corresponding subprogram of formula carries out polling power controlling, including：
When TCS opens, it is judged that whether the ratio of the second slip rate and the first slip rate is less than the 3rd preset value；If it is,
Control Motor torque increases；If it is not, control Motor torque is 0, and when Oil Switch is closed, control Motor torque increases
Greatly；
When TCS does not opens, it is judged that whether the ratio of the second slip rate and the first slip rate is more than 1, if it is, control motor
Moment of torsion reduces.
12. devices according to claim 9, it is characterised in that also include：
Determining module, for after activation system self-inspection, if system is normal, or, if system is abnormal and brake pedal
Rotary angle transmitter has input signal, or, if system is abnormal and gas pedal rotary angle transmitter has input signal and throttle
Opening of steps, it is determined that model selection starts.
13. devices according to claim 10 or 11, it is characterised in that also include：
Acquisition module, for obtaining the slip rate of driving wheel and the slip rate of driven pulley；
Reducing module, if being more than the 4th preset value for the slip rate of driving wheel with the ratio of the slip rate of driven pulley, then dropping
Low Motor torque；
Start module, be used for starting TCS.
14. devices according to claim 13, it is characterised in that also include：
Control module, for after reducing Motor torque, if the slip rate of driving wheel depends on the ratio of the slip rate of driven pulley
It is so more than the 4th preset value, then control EVB and supercharging is carried out to brake piping, to be braked driving wheel, reduce driving wheel
Slip rate.
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| CN201610601913.8A CN106427663B (en) | 2016-07-27 | 2016-07-27 | Method for controlling traction of electric vehicle and device |
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| CN201610601913.8A CN106427663B (en) | 2016-07-27 | 2016-07-27 | Method for controlling traction of electric vehicle and device |
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| Publication number | Publication date |
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| CN106427663B (en) | 2019-01-29 |
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