CN106427663B - Method for controlling traction of electric vehicle and device - Google Patents
Method for controlling traction of electric vehicle and device Download PDFInfo
- Publication number
- CN106427663B CN106427663B CN201610601913.8A CN201610601913A CN106427663B CN 106427663 B CN106427663 B CN 106427663B CN 201610601913 A CN201610601913 A CN 201610601913A CN 106427663 B CN106427663 B CN 106427663B
- Authority
- CN
- China
- Prior art keywords
- slip rate
- motor torque
- driving wheel
- ratio
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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 application proposes that a kind of method for controlling traction of electric vehicle and device, the method for controlling traction of electric vehicle include: the angle value for receiving gas pedal rotary angle transmitter and sending；Receive the slip rate that ABS control unit is sent；Polling power controlling is carried out according to the angle value and the slip rate.This method can be realized the polling power controlling scheme suitable for electric car.
Description
Technical field
This application involves electric vehicle engineering field more particularly to a kind of method for controlling traction of electric vehicle and device.
Background technique
The tractive force of electric car is provided by driving motor, motor is fast with torque response, direct torque precision is high,
Actual torque etc. can be calculated by current feedback.Traction control system as electric car basic control system it
One, its key task is on Slippery road, and locking when wheel being effectively prevent excessively to trackslip or brake when driving is protected simultaneously
The validity of output torque is demonstrate,proved, that is, obtains good acceleration and braking ability.
It, cannot be direct in electric car since the reference target of orthodox car traction control method is different from electric car
Using, it is therefore necessary to a kind of method for controlling traction of electric vehicle is developed, to realize that the tractive force of electric car optimizes, is mentioned
The safety of height driving.
Summary of the invention
The application is intended to solve at least some of the technical problems in related technologies.
For this purpose, the purpose of the application is to propose a kind of method for controlling traction of electric vehicle, this method can be real
Now it is suitable for the polling power controlling scheme of electric car.
Further object is to propose a kind of electric car polling power controlling device.
In order to achieve the above objectives, the method for controlling traction of electric vehicle that the application first aspect embodiment proposes, comprising:
Receive the angle value that gas pedal rotary angle transmitter is sent；Receive the slip rate that ABS control unit is sent；According to the angle value
Polling power controlling is carried out with the slip rate.
The method for controlling traction of electric vehicle that the application first aspect embodiment proposes, by according to gas pedal corner
The slip rate that the angle value and ABS control unit that sensor is sent are sent carries out polling power controlling, may be implemented to be suitable for electronic
The polling power controlling scheme of automobile.
In order to achieve the above objectives, the electric car polling power controlling device that the application second aspect embodiment proposes, comprising:
First receiving module, for receiving the angle value of gas pedal rotary angle transmitter transmission；Second receiving module, for receiving ABS
The slip rate that control unit is sent；Control module, for carrying out polling power controlling according to the angle value and the slip rate.
The electric car polling power controlling device that the application second aspect embodiment proposes, by according to gas pedal corner
The slip rate that the angle value and ABS control unit that sensor is sent are sent carries out polling power controlling, may be implemented to be adapted to electronic
The polling power controlling scheme of automobile.
The additional aspect of the application and advantage will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or recognized by the practice of the application.
Detailed description of the invention
The application is above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow diagram for the method for controlling traction of electric vehicle that the application one embodiment proposes；
Fig. 2 is the schematic diagram of some components of electric car involved 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 flow chart for promptly accelerating Mode subroutine in the embodiment of the present application；
Fig. 6 is the flow chart for slowly accelerating Mode subroutine in the embodiment of the present application；
Fig. 7 is the structural schematic diagram for the electric car polling power controlling device that the application one embodiment proposes；
Fig. 8 is the structural schematic diagram for the electric car polling power controlling device that another embodiment of the application proposes.
Specific embodiment
Embodiments herein is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar module or module with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the application, and should not be understood as the limitation to the application.On the contrary, this
The embodiment of application includes all changes fallen within the scope of the spiritual and intension of attached claims, modification and is equal
Object.
Fig. 1 is the flow diagram for the method for controlling traction of electric vehicle that the application one embodiment proposes.
Referring to Fig. 1, the method for the present embodiment includes:
S11: the angle value that gas pedal rotary angle transmitter is sent is received；
S12: the slip rate that ABS control unit is sent is received；
S13: polling power controlling is carried out according to the angle value and the slip rate.
As shown in Fig. 2, being the schematic diagram of electric car associated components.Each part description is as follows:
1 is brake pedal, and 2 be brake pedal rotary angle transmitter, and 3 be electric control vacuum booster band brake master cylinder
(electronic vacuum booster, EVB), 4 be vacuum sensor, and 5 be anti-lock braking system (antilock
Brake system, ABS) control unit, 6 be vacuum tube, and 7 be electric vacuum pump, and 8,12,13,16 be wheel and brake, 9,
11,14,15 be wheel speed sensors；10 be driving motor, and 17 be entire car controller (Vehicle Control Unit, VCU), 18
It is drive axle for rear drive shaft, 19,20,22 be electronic parking (Electrical Parking Brake, EPB) controller,
21,23 be electronic parking clamp, and 24 be efp.The angle of brake pedal sensor 2 being fixed on brake pedal 1,
VCU 17 is connected 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 connect by vacuum tube 6 with electric vacuum pump 7；Electric vacuum pump 7 passes through electric wire
It is connected with entire car controller VCU 17；Electric control vacuum booster band brake master cylinder EVB 3 is controlled by brake hard tube and ABS
Unit 5 is connected, and ABS control unit 5 is connected by brake hard tube with four wheels and brake 8,12,13,16, and wheel speed passes
It sensor 9 11 and 14,15 is connected by electric wire and is connected with ABS control unit 5；Entire car controller VCU 17 passes through electric wire and ABS
Control unit 5 is connected, the transmitting for electric signal；Entire car controller VCU 17 is connected by electric wire with driving motor 10,
For transmitting automatically controlled signal；Driving motor 10 passes through the connection of drive axle 19 20, driving wheel and brake 8 and 12, vehicle respectively
Wheel and brake 13 and 16 are connected by rear drive shaft 18；Electronic parking controller 22 by electric wire respectively with electronic parking card
Pincers 21,23 are connected, while being connected by electric wire with entire car controller VCU 17；Electric control vacuum booster band brake master cylinder
EVB 3 is connected by electric wire with ABS control unit 5.
On the basis of above-mentioned component, gas pedal rotary angle transmitter (not shown) be can integrate in efp 24
On, therefore, VCU can receive the angle value of gas pedal rotary angle transmitter transmission, and receive what ABS control unit was sent
Slip rate.In addition, traction control system (Traction Control System, TCS) function can also be realized in VCU, with
Polling power controlling is carried out according to angle value and slip rate.
Wherein, angle value may indicate that the acceleration demand of driver, for example be urgent acceleration or slow acceleration, 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., can also use different control modes under different pavement states.
Specifically, the angle value includes: the second angle value at the first moment and the second moment after the first moment
First angle value.
Correspondingly, the step of carrying out polling power controlling according to angle value and slip rate may include:
After model selection starts, calculate first angle value and second angle value angle difference, calculate the second moment and
The time difference at the first moment, and calculate the ratio of the angle difference and the time difference；
When the ratio is greater than the first preset value, determines and accelerate mode using urgent, and used according to the slip rate
Subprogram corresponding with urgent acceleration mode carries out polling power controlling；
When the ratio is less than or equal to the first preset value, determines and accelerate mode using slow, and according to the sliding
Rate uses subprogram corresponding with slow acceleration mode to carry out polling power controlling.
Further, the slip rate includes: the first slip rate and the second slip rate, and first slip rate is driving wheel
Current time slip rate, second slip rate is the slip rate at another moment different from current time of driving wheel.
It is described to use subprogram corresponding with urgent acceleration mode to carry out polling power controlling according to the slip rate, comprising:
When TCS is opened, judge the ratio of the second slip rate and the first slip rate whether less than the second preset value；If
It is then to control Motor torque 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 is not opened, judge whether the ratio of the second slip rate and the first slip rate is greater than 1, if it is, control
Motor torque reduces.
It is described to use subprogram corresponding with slow acceleration mode to carry out polling power controlling according to the slip rate, comprising:
When TCS is opened, judge whether the ratio of the second slip rate and the first slip rate is less than third preset value；If
It is then to control Motor torque 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 is not opened, judge whether the ratio of the second slip rate and the first slip rate is greater than 1, if it is, control
Motor torque reduces.
Further, after activation system self-test, if system is normal, alternatively, if system is abnormal and brake pedal
Rotary angle transmitter has input signal, alternatively, 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 process being related to specifically includes: System self-test process (is properly termed as System self-test main program), model selection
Polling power controlling process under 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 process (being properly termed as slowly accelerating 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 shown in figure 3, the process includes:
S301: after power-up, activation system self-test.
For example, after the power-up, can automatically start to carry out System self-test.
Wherein, the system that System self-test process is related to can specifically include: the system of VCU and the system of ABS control unit.
S302: judging whether system is normal, if executing S303, otherwise executes S304 and S308.
Wherein, the system that the system in the step can specifically refer to VCU.
S303: start model selection subprogram.
S304: judging whether gas pedal rotary angle transmitter has input signal, if so, executing S305, otherwise executes S306.
S305: judging whether gas pedal opens, if executing S303, otherwise executes S307.
S306: judging whether gas pedal starts, if executing S307, otherwise, executes S312.
S307: it is determined as accelerator pedal switch failure.S316 can be executed later.
S308: judging whether brake pedal rotary angle transmitter has input information, if executing S303, otherwise executes S309.
S309: judging whether brake switch is opened, if executing S310, otherwise executes S311.
S310: it is determined as brake pedal rotary angle transmitter failure.
S311: judging whether driving switch signal is normal, if executing S312, otherwise executes S315.
Whether normal S312: judging system, if so, repeating S302 and its subsequent step, otherwise executes S313.
Wherein, the system that the system in the step can specifically refer to ABS control unit.
S313: it is abnormal to be determined as braking system.S314 is executed later.
S314: it is determined as sensor fault or switching signal failure.S316 is executed later.
S315: it is determined as driving switch sensor fault.S316 is executed later.
S316: display failure lights trouble light, alarms, speed limit.Terminate later.
In the present embodiment, in System self-test process as shown above, model selection can be entered in some cases
Program.Determining urgent acceleration mode will be used in model selection subprogram or will slowly accelerate mode.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, the process includes:
S401: judging whether gas pedal has signal, if so, executing S408 and S409, otherwise executes S403.
S402: judging whether brake pedal has signal, if so, executing S409, otherwise executes S404.
As shown in figure 4, after model selection starts S401 and S402 can be executed, then carry out since S401 and S402
Follow-up process.
S403: judging whether gas pedal opens, if so, executing S407, otherwise restarts model selection process.
S404: judging whether brake pedal switch is opened, if executing S406, otherwise executes S405.
S405: it is normal to be determined as system, terminates.
S406: being determined as the system failure, terminates.
S407: being determined as the system failure, terminates.
S408: control gas pedal rotary angle transmitter carries out angle value detection.
Gas pedal rotary angle transmitter carry out angle value detection when, can choose a moment T (fixed setting or
It is randomly selected), the angle value at T moment is detected, which is properly termed as second angle value, is indicated with p2.Later, in T
Another moment after quarter, (T+ Δ t), detected the angle value at the moment, which is properly termed as first angle value, with p1 table
Show.Δ t can be the fixed value or randomly selected of setting.
S413 can be executed after obtaining above-mentioned p1 and p2.
S409: driving switch is judged whether at neutral gear (Ne), if S410 is executed, otherwise according to driving switch in different shelves
Position executes corresponding process.
Specifically, if driving switch executes S410 at reverse gear (R), if driving switch at forward gear (D),
Execute S414.
S410: judging whether brake pedal switch is opened, if executing S411, otherwise executes S412.
S411: brake indicator lamp is lighted.
S412: brake indicator lamp goes out.
S413: judging first angle value and second angle value, if so, executing S414, otherwise executes S417.
S414: the difference of first angle value and second angle value is calculated, and calculates detection first angle value and second jiao
The difference of time when angle value, and the difference of angle value and the ratio of time difference are calculated, judge whether the ratio is greater than first
Otherwise preset value executes S416 if so, executing S415.
S415: being determined as urgent acceleration mode, can accelerate Mode subroutine processing using urgent later.
S416: being determined as slow acceleration mode, can accelerate Mode subroutine processing using slow later.
In the present embodiment, is determined and used by the angle value that above-mentioned processing can be detected according to gas pedal rotary angle transmitter
Acceleration mode, to accelerate mode starting using suitable.
Urgent acceleration mode and slow acceleration mode are illustrated respectively below.
Fig. 5 is the flow chart for promptly accelerating Mode subroutine in the embodiment of the present application.As shown in figure 5, the process includes:
S501: after urgent acceleration mode starts, the current slip rate of driving wheel is obtained, which can use 1 table of λ
Show.
Slip rate can be sent to VCU by ABS control unit.
S502: judging whether TCS starts, if executing S503, otherwise executes S508.
S503: obtaining the slip rate at another moment different from λ 1, which is indicated with λ 2.
S504: judge that the ratio of λ 2 and λ 1 whether less than the second preset value, if executing S505, otherwise executes S506.
S505: control Motor torque increases.
S506: control Motor torque is 0.S507 is executed later.
S507: judging whether Oil Switch closes, if executing S505, otherwise executes S511.
S508: obtaining the slip rate at another moment different from λ 1, which is indicated with λ ti.
S509: judging whether λ ti and the ratio of λ 1 are greater than 1, if executing S510, otherwise executes S511.
S510: control Motor torque reduces.
S511: display failure lights trouble light, alarms, speed limit.Terminate later.
In the present embodiment, according to the slip rate that ABS control unit is sent, the starting stream under urgent acceleration mode may be implemented
Journey.
Fig. 6 is the flow chart for slowly accelerating Mode subroutine in the embodiment of the present application.As shown in fig. 6, the process includes:
S601: after slow acceleration mode starts, the current slip rate of driving wheel is obtained, which can use 1 table of λ
Show.
Slip rate can be sent to VCU by ABS control unit.
S602: judging whether TCS starts, if executing S603, otherwise executes S608.
S603: obtaining the slip rate at another moment different from λ 1, which is indicated with λ 2.
S604: judging whether λ 2 and the ratio of λ 1 are less than third preset value, if executing S605, otherwise executes S606.
S605: control Motor torque increases.
S606: control Motor torque is 0.S607 is executed later.
S607: judging whether Oil Switch closes, if executing S605, otherwise executes S611.
S608: obtaining the slip rate at another moment different from λ 1, which is indicated with λ ti.
S609: judging whether λ ti and the ratio of λ 1 are greater than 1, if executing S610, otherwise executes S611.
S610: control Motor torque reduces.
S611: display failure lights trouble light, alarms, speed limit.Terminate later.
In the present embodiment, according to the slip rate that ABS control unit is sent, the starting stream under slow acceleration mode may be implemented
Journey.
Further, this method can also include:
Detect the slip rate of driving wheel and the slip rate of driven wheel；
If the ratio of the slip rate of the slip rate and driven wheel of driving wheel is greater than the 4th preset value, motor torsion is reduced
Square, and start TCS.
Further, this method can also include:
After reducing Motor torque, if the ratio of the slip rate of the slip rate and driven wheel of driving wheel is still greater than the 4th
Preset value then controls EVB and is pressurized to brake piping, to brake to driving wheel, reduces the slip rate of driving wheel.
Further, when control EVB is pressurized to brake driving wheel brake piping, can specifically to lead
The slip rate of driving wheel and the slip rate of driven wheel are almost the same.
The first preset value, the second preset value, third preset value and the 4th preset value in above-mentioned process can be according to reality
The setting such as experience.
In above-mentioned process, sent by the angle value and ABS control unit that are sent according to gas pedal rotary angle transmitter
Slip rate carries out polling power controlling, and the polling power controlling scheme suitable for electric car may be implemented.Particularly, in tractive force control
In scheme processed, slip rate is introduced, it can be to avoid the sliding of driving wheel caused by the control for carrying out Motor torque according only to angle value
Rate is excessively high, and then needs to start polling power controlling starting.In addition, slip rate is sent to VCU by ABS control unit, may be constructed
One closed-loop control, so that the load of Motor torque is more reasonable, avoids first all applying, then reduce when tractive force work
Torque implements braking to control the slip rate of driving wheel.Further, braking system is increased by control EVB, in turn
Driving wheel is braked, the slip rate of driving wheel can be reduced, guarantees safety.
Fig. 7 is the structural schematic diagram for the electric car polling power controlling device that the application one embodiment proposes.
As shown in fig. 7, the device 70 includes: the first receiving module 71, the second receiving module 72 and control module 73.
First receiving module 71, for receiving the angle value of gas pedal rotary angle transmitter transmission；
Second receiving module 72, for receiving the slip rate of ABS control unit transmission；
Control module 73, for carrying out polling power controlling according to the angle value and the slip rate.
In some embodiments, the angle value include: the second angle value at the first moment and after the first moment second
The first angle value at moment, referring to Fig. 8, the control module includes:
Computational submodule 731, for calculating the differential seat angle of first angle value and second angle value after model selection starts
Value calculates the time difference at the second moment and the first moment, and calculates the ratio of the angle difference and the time difference；
First determines submodule 732, for determining and accelerating mould using urgent when the ratio is greater than the first preset value
Formula, and use subprogram corresponding with urgent acceleration mode to carry out polling power controlling according to the slip rate；
Second determines submodule 733, is used to determine and add using slow when the ratio is less than or equal to the first preset value
Fast mode, and use subprogram corresponding with slow acceleration mode to carry out polling power controlling according to the slip rate.
In some embodiments, the slip rate includes: the first slip rate and the second slip rate, and first slip rate is main
The slip rate at the current time of driving wheel, second slip rate are the slidings at another moment different from current time of driving wheel
Rate, described first determines that submodule 732 is drawn according to the slip rate using subprogram corresponding with urgent acceleration mode
Power control, comprising:
When TCS is opened, judge the ratio of the second slip rate and the first slip rate whether less than the second preset value；If
It is then to control Motor torque increase；If it is not, then control Motor torque is 0, and when Oil Switch is closed, control motor
Torque increases；
When TCS is not opened, judge whether the ratio of the second slip rate and the first slip rate is greater than 1, if it is, control
Motor torque reduces.
In some embodiments, the slip rate includes: the first slip rate and the second slip rate, and first slip rate is main
The slip rate at the current time of driving wheel, second slip rate are the slidings at another moment different from current time of driving wheel
Rate, described second determines that submodule 733 is used to that subprogram corresponding with slow acceleration mode to be used to carry out according to the slip rate
Polling power controlling, comprising:
When TCS is opened, judge whether the ratio of the second slip rate and the first slip rate is less than third preset value；If
It is then to control Motor torque 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 is not opened, judge whether the ratio of the second slip rate and the first slip rate is greater than 1, if it is, control
Motor torque reduces.
In some embodiments, referring to Fig. 8, the device further include:
Determining module 74, for after activation system self-test, if system is normal, alternatively, if system is abnormal and make
Dynamic pedal rotary angle transmitter has input signal, alternatively, if system is abnormal and gas pedal rotary angle transmitter has input signal
And gas pedal is opened, it is determined that model selection starts.
In some embodiments, referring to Fig. 8, the device further include:
Module 75 is obtained, for obtaining the slip rate of driving wheel and the slip rate of driven wheel；
Module 76 is reduced, is preset if the ratio of the slip rate of the slip rate and driven wheel for driving wheel is greater than the 4th
Value, then reduce Motor torque；
Starting module 77, for starting TCS.
In some embodiments, referring to Fig. 8, the device further include:
Control module 78 is used for after reducing Motor torque, if the slip rate of the slip rate and driven wheel of driving wheel
Ratio is still greater than the 4th preset value, then controls EVB and be pressurized to brake piping, to brake to driving wheel, reduces master
The slip rate of driving wheel.
It is understood that the device of the present embodiment is corresponding with above method embodiment, particular content may refer to method
The associated description of embodiment, is no longer described in detail herein.
In the present embodiment, sent by the angle value and ABS control unit that are sent according to gas pedal rotary angle transmitter
Slip rate carries out polling power controlling, and the polling power controlling scheme suitable for electric car may be implemented.Particularly, in tractive force control
In scheme processed, slip rate is introduced, it can be to avoid the sliding of driving wheel caused by the control for carrying out Motor torque according only to angle value
Rate is excessively high, and then needs to start polling power controlling starting.In addition, slip rate is sent to VCU by ABS control unit, may be constructed
One closed-loop control, so that the load of Motor torque is more reasonable, avoids first all applying, then reduce when tractive force work
Torque implements braking to control the slip rate of driving wheel.Further, braking system is increased by control EVB, in turn
Driving wheel is braked, the slip rate of driving wheel can be reduced, guarantees safety.
It is understood that same or similar part can mutually refer in the various embodiments described above, in some embodiments
Unspecified content may refer to the same or similar content in other embodiments.
It should be noted that term " first ", " second " etc. are used for description purposes only in the description of the present application, without
It can be interpreted as indication or suggestion relative importance.In addition, in the description of the present application, unless otherwise indicated, the meaning of " multiple "
Refer at least two.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the application includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be by the application
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each section of the application can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, can integrate in a processing module in each functional unit in each embodiment of the application
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the application.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although embodiments herein has been shown and described above, it is to be understood that above-described embodiment is example
Property, it should not be understood as the limitation to the application, those skilled in the art within the scope of application can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (12)
1. a kind of method for controlling traction of electric vehicle characterized by comprising
Receive the angle value that gas pedal rotary angle transmitter is sent；
Receive the slip rate that ABS control unit is sent；
Polling power controlling is carried out according to the angle value and the slip rate；
Wherein, the angle value includes: first jiao of the second angle value at the first moment and the second moment after the first moment
Angle value, it is described that polling power controlling is carried out according to the angle value and the slip rate, comprising:
After model selection starts, the angle difference of first angle value and second angle value is calculated, calculates the second moment and first
The time difference at moment, and calculate the ratio of the angle difference and the time difference；
When the ratio of the angle difference and the time difference is greater than the first preset value, determines and accelerates mode using urgent,
And subprogram corresponding with urgent acceleration mode is used to carry out polling power controlling according to the slip rate；
The slip rate includes: the first slip rate and the second slip rate, and first slip rate is the current time of driving wheel
Slip rate, second slip rate is the slip rate at another moment different from current time of driving wheel, described according to
Slip rate uses subprogram corresponding with urgent acceleration mode to carry out polling power controlling, comprising:
When TCS is opened, judge the ratio of the second slip rate and the first slip rate whether less than the second preset value；If it is,
Motor torque is controlled to increase；If it is not, then control Motor torque is 0, and when Oil Switch is closed, control Motor torque increases
Greatly；
When TCS is not opened, judge whether the ratio of the second slip rate and the first slip rate is greater than 1, if it is, control motor
Torque reduces.
2. the method according to claim 1, wherein described led according to the angle value and the slip rate
Gravitation control, further includes:
When the ratio of the angle difference and the time difference is less than or equal to the first preset value, determines and accelerated using slow
Mode, and use subprogram corresponding with slow acceleration mode to carry out polling power controlling according to the slip rate.
3. according to the method described in claim 2, it is characterized in that, the slip rate includes: the first slip rate and the second sliding
Rate, first slip rate are the slip rates at the current time of driving wheel, second slip rate be driving wheel with it is current when
The slip rate at different another moment is carved, it is described to use subprogram corresponding with slow acceleration mode to carry out according to the slip rate
Polling power controlling, comprising:
When TCS is opened, judge whether the ratio of the second slip rate and the first slip rate is less than third preset value；If it is,
Motor torque is controlled to increase；If it is not, control Motor torque is 0, and when Oil Switch is closed, control Motor torque increases
Greatly；
When TCS is not opened, judge whether the ratio of the second slip rate and the first slip rate is greater than 1, if it is, control motor
Torque reduces.
4. the method according to claim 1, wherein further include:
After activation system self-test, if system is normal, alternatively, if system is abnormal and brake pedal rotary angle transmitter have it is defeated
Enter signal, alternatively, if system is abnormal and gas pedal rotary angle transmitter has input signal and gas pedal is opened, it is determined that
Model selection starts.
5. method according to claim 1 or 3, which is characterized in that further include:
Obtain the slip rate of driving wheel and the slip rate of driven wheel；
If the ratio of the slip rate of the slip rate and driven wheel of driving wheel is greater than the 4th preset value, Motor torque is reduced, and
Start TCS.
6. according to the method described in claim 5, it is characterized by further comprising:
After reducing Motor torque, preset if the ratio of the slip rate of the slip rate and driven wheel of driving wheel is still greater than the 4th
Value, then control EVB and be pressurized to brake piping, to brake to driving wheel, reduce the slip rate of driving wheel.
7. a kind of electric car polling power controlling device characterized by comprising
First receiving module, for receiving the angle value of gas pedal rotary angle transmitter transmission；
Second receiving module, for receiving the slip rate of ABS control unit transmission；
Control module, for carrying out polling power controlling according to the angle value and the slip rate；
Wherein, the angle value includes: first jiao of the second angle value at the first moment and the second moment after the first moment
Angle value, the control module include:
Computational submodule is calculated for calculating the angle difference of first angle value and second angle value after model selection starts
The time difference at the second moment and the first moment, and calculate the ratio of the angle difference and the time difference；
First determines submodule, when for the ratio in the angle difference and the time difference greater than the first preset value, really
It is fixed to use urgent acceleration mode, and use subprogram corresponding with urgent acceleration mode to carry out tractive force control according to the slip rate
System；
The slip rate includes: the first slip rate and the second slip rate, and first slip rate is the current time of driving wheel
Slip rate, second slip rate are the slip rates at another moment different from current time of driving wheel, and described first determines
Submodule uses subprogram corresponding with urgent acceleration mode to carry out polling power controlling according to the slip rate, comprising:
When TCS is opened, judge the ratio of the second slip rate and the first slip rate whether less than the second preset value；If it is,
Motor torque is controlled to increase；If it is not, then control Motor torque is 0, and when Oil Switch is closed, control Motor torque increases
Greatly；
When TCS is not opened, judge whether the ratio of the second slip rate and the first slip rate is greater than 1, if it is, control motor
Torque reduces.
8. device according to claim 7, which is characterized in that the control module further include:
Second determines submodule, is less than or equal to the first preset value for the ratio in the angle difference and the time difference
When, it determines and accelerates mode using slow, and led according to the slip rate using subprogram corresponding with slow acceleration mode
Gravitation control.
9. device according to claim 8, which is characterized in that the slip rate includes: the first slip rate and the second sliding
Rate, first slip rate are the slip rates at the current time of driving wheel, second slip rate be driving wheel with it is current when
The slip rate at different another moment is carved, described second, which determines that submodule is used to use according to the slip rate, accelerates mould with slow
The corresponding subprogram of formula carries out polling power controlling, comprising:
When TCS is opened, judge whether the ratio of the second slip rate and the first slip rate is less than third preset value；If it is,
Motor torque is controlled to increase；If it is not, control Motor torque is 0, and when Oil Switch is closed, control Motor torque increases
Greatly；
When TCS is not opened, judge whether the ratio of the second slip rate and the first slip rate is greater than 1, if it is, control motor
Torque reduces.
10. device according to claim 7, which is characterized in that further include:
Determining module, for after activation system self-test, if system is normal, alternatively, if system is abnormal and brake pedal
Rotary angle transmitter has input signal, alternatively, 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.
11. the device according to claim 7 or 9, which is characterized in that further include:
Module is obtained, for obtaining the slip rate of driving wheel and the slip rate of driven wheel；
Module is reduced, if the ratio of the slip rate of the slip rate and driven wheel for driving wheel is greater than the 4th preset value, is dropped
Low Motor torque；
Starting module, for starting TCS.
12. device according to claim 11, which is characterized in that further include:
Control module, for after reducing Motor torque, if the ratio of the slip rate of the slip rate and driven wheel of driving wheel according to
So it is greater than the 4th preset value, then controls EVB and brake piping is pressurized, to brake to driving wheel, reduce driving wheel
Slip rate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610601913.8A CN106427663B (en) | 2016-07-27 | 2016-07-27 | Method for controlling traction of electric vehicle and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610601913.8A CN106427663B (en) | 2016-07-27 | 2016-07-27 | Method for controlling traction of electric vehicle and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106427663A CN106427663A (en) | 2017-02-22 |
| CN106427663B true CN106427663B (en) | 2019-01-29 |
Family
ID=58185116
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610601913.8A Active CN106427663B (en) | 2016-07-27 | 2016-07-27 | Method for controlling traction of electric vehicle and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106427663B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107351688B (en) * | 2017-07-19 | 2023-04-18 | 福州大学 | Driving strategy of university student electric formula car and electric control system thereof |
| CN110667398A (en) * | 2018-12-29 | 2020-01-10 | 长城汽车股份有限公司 | Drive control method and system for electric vehicle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6453228B1 (en) * | 2000-08-30 | 2002-09-17 | Toyota Jidosha Kabushiki Kaisha | Vehicle drive force control system and method |
| CN101088818A (en) * | 2006-06-14 | 2007-12-19 | 比亚迪股份有限公司 | Antiskid control system and method for electromobile |
| CN201347005Y (en) * | 2008-12-19 | 2009-11-18 | 深圳先进技术研究院 | Traction force control system of electric automobile |
| CN201980094U (en) * | 2010-11-23 | 2011-09-21 | 常州市吉士电器有限公司 | Driving control system of electric vehicle based on stacked permanent magnet motors |
| CN102501779A (en) * | 2011-10-31 | 2012-06-20 | 长城汽车股份有限公司 | Method for controlling traction of electric vehicle |
| CN104477164A (en) * | 2014-11-20 | 2015-04-01 | 北京新能源汽车股份有限公司 | Acceleration anti-slip control system and method of pure electric vehicle |
| CN105531144A (en) * | 2013-09-18 | 2016-04-27 | Ntn株式会社 | Electric-vehicle slip control device |
| CN105523029A (en) * | 2015-12-29 | 2016-04-27 | 北京新能源汽车股份有限公司 | Electric automobile and brake control method and system thereof |
-
2016
- 2016-07-27 CN CN201610601913.8A patent/CN106427663B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6453228B1 (en) * | 2000-08-30 | 2002-09-17 | Toyota Jidosha Kabushiki Kaisha | Vehicle drive force control system and method |
| CN101088818A (en) * | 2006-06-14 | 2007-12-19 | 比亚迪股份有限公司 | Antiskid control system and method for electromobile |
| CN201347005Y (en) * | 2008-12-19 | 2009-11-18 | 深圳先进技术研究院 | Traction force control system of electric automobile |
| CN201980094U (en) * | 2010-11-23 | 2011-09-21 | 常州市吉士电器有限公司 | Driving control system of electric vehicle based on stacked permanent magnet motors |
| CN102501779A (en) * | 2011-10-31 | 2012-06-20 | 长城汽车股份有限公司 | Method for controlling traction of electric vehicle |
| CN105531144A (en) * | 2013-09-18 | 2016-04-27 | Ntn株式会社 | Electric-vehicle slip control device |
| CN104477164A (en) * | 2014-11-20 | 2015-04-01 | 北京新能源汽车股份有限公司 | Acceleration anti-slip control system and method of pure electric vehicle |
| CN105523029A (en) * | 2015-12-29 | 2016-04-27 | 北京新能源汽车股份有限公司 | Electric automobile and brake control method and system thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106427663A (en) | 2017-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9738288B2 (en) | Acceleration/deceleration erroneous operation determination device, erroneous operation acceleration suppression control device, and acceleration/deceleration erroneous operation determination method | |
| US7822526B2 (en) | Vehicle headway maintenance assist system and method | |
| US20050040983A1 (en) | Low-speed collision avoidance system | |
| US7809488B2 (en) | Headway maintenance system and method | |
| US10576950B2 (en) | Method and a system for controlling vehicle speed | |
| CN107444373A (en) | Electric brake system with electronic Dynamic control function | |
| CN110662677B (en) | Method for estimating the total braking force, braking device and commercial vehicle or vehicle combination | |
| CN104773150A (en) | Method and system for operating a motor vehicle brake system | |
| CN110329084A (en) | The control method of the anti-slip auxiliary system in electric car slope road | |
| CN106427663B (en) | Method for controlling traction of electric vehicle and device | |
| US9950697B2 (en) | Braking-driving force control system and braking-driving force control method | |
| KR20140091333A (en) | Vehicle control apparatus and vehicle control method | |
| CN110944867B (en) | Control system and control method in four-wheel-drive motor vehicle | |
| US20020167218A1 (en) | Use of steering control to produce deceleration in a vehicle while remaining on a straight ground path | |
| SE459930B (en) | DEVICE FOR AUTOMATIC TRANSMISSION OF DIVERSE VEHICLES IN A MOTOR VEHICLE WITH MULTIPLE-DRIVE | |
| US6349997B1 (en) | Device for displaying the active state of a braking system in motor vehicles | |
| WO2019031106A1 (en) | Brake control device | |
| KR20160087275A (en) | Auto Hold Control Method Of Vehicle | |
| US11279332B2 (en) | Braking force control apparatus for vehicle | |
| WO2021090612A1 (en) | Drive control device | |
| JP2005096553A (en) | Speedometer control system and speedometer control method | |
| KR101641433B1 (en) | Driving wheel control method | |
| CN104302502B (en) | Method and apparatus for controlling a clutch in four-wheel drive vehicles | |
| US10933855B2 (en) | Drift mode for electronic handbrake | |
| JP2002236133A (en) | Device for determining forward travelling of vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |