CN106553563B - A kind of control method and device of electric vehicle - Google Patents
A kind of control method and device of electric vehicle Download PDFInfo
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- CN106553563B CN106553563B CN201611108918.3A CN201611108918A CN106553563B CN 106553563 B CN106553563 B CN 106553563B CN 201611108918 A CN201611108918 A CN 201611108918A CN 106553563 B CN106553563 B CN 106553563B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000001133 acceleration Effects 0.000 claims abstract description 114
- 238000012935 Averaging Methods 0.000 claims description 16
- 238000010586 diagram Methods 0.000 description 12
- 230000005611 electricity Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/12—Bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—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
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
-
- 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
- B60L2240/429—Current
-
- 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 present invention provides a kind of control methods of electric vehicle, comprising: obtains the current acceleration of electric vehicle；Proportion adjustment and integral adjustment are carried out to the deviation of current acceleration and preset acceleration reference value, torque current is obtained, is based on torque current, controls the speed of electric vehicle.The present invention also provides a kind of control devices of electric vehicle.The problem of present invention can make the actual acceleration of electric vehicle tend towards stability, and speed changes greatly when accelerating the relatively slow, later period to accelerate comparatively fast to overcome early period when electric bicycle is started to walk, and emptying landing by potted road surface or deceleration strip.
Description
Technical field
The present invention relates to vehicle technology field more particularly to a kind of control method and device of electric vehicle.
Background technique
Currently, electric bicycle usually uses reference quantity of the input value as torque current of speed regulating handle, and detect
The feedback quantity of torque current passes through the reference quantity and feedback quantity progress PI (proportional integral to torque current
Controller, proportion adjustment and integral adjustment) it adjusts, torque voltage is obtained, and electric bicycle is controlled by torque voltage
Speed.
There are two deficiencies for above-mentioned method for control speed: first, early period accelerates the relatively slow, later period to add when electric bicycle is started to walk
It is fast very fast；Second, speed changes greatly when electric bicycle empties landing by potted road surface or deceleration strip.
Summary of the invention
Early period accelerates the relatively slow, later period to accelerate very fast when to overcome electric bicycle starting in the prior art, and empties and fall
On the one hand the problem of speed changes greatly when ground, the embodiment of the present invention provide a kind of control method of electric vehicle, comprising:
Obtain the current acceleration of the electric vehicle；
Proportion adjustment and integral adjustment are carried out to the deviation of the current acceleration and preset acceleration reference value, obtained
Torque current；
Based on the torque current, the speed of the electric vehicle is controlled.
Wherein, the step of current acceleration for obtaining the electric vehicle, comprising:
Obtain the current angular velocity of the rotor of the electric vehicle；
Difference based on the current angular velocity and last time angular speed obtains the current acceleration, the last time angle speed
Degree is the angular speed of the rotor obtained before current angular velocity.
Wherein, the difference based on the current angular velocity and last time angular speed, obtains the step of the current acceleration
Suddenly, comprising:
Current difference based on the current angular velocity and the last time angular speed, obtains current instantaneous acceleration；
The current instantaneous acceleration for repeating to obtain to the first preset times is averaging, and obtains the current acceleration.
Wherein, comprising:
Obtain the current angular of the rotor；
Difference based on the current angular and last time angle, obtains the current angular velocity, the last time angle be
The angle of the rotor obtained before current angular.
Wherein, the difference based on the current angular and last time angle, the step of obtaining the current angular velocity, packet
It includes:
Current difference based on the current angular and the last time angle, obtains current instantaneous angular velocity；
The current instantaneous angular velocity for repeating to obtain to the second preset times is averaging, and obtains the current angular velocity.
Correspondingly, the embodiment of the invention also provides a kind of control devices of electric vehicle, comprising:
Acceleration obtains module, for obtaining the current acceleration of the electric vehicle；
Torque current obtains module, compares for the deviation to the current acceleration and preset acceleration reference value
Example adjusts and integral adjustment, obtains torque current；
Rate control module controls the speed of the electric vehicle for being based on the torque current.
Wherein, the acceleration acquisition module includes:
Current angular velocity acquiring unit, the current angular velocity of the rotor for obtaining the electric vehicle；
Current acceleration acquiring unit obtains described for the difference based on the current angular velocity and last time angular speed
Current acceleration, the last time angular speed are the angular speed of the rotor obtained before current angular velocity.
Wherein, the current acceleration acquiring unit is specifically used for being based on the current angular velocity and the last time angular speed
Current difference, obtain current instantaneous acceleration, and the first preset times are repeated with the obtained current instantaneous acceleration
It is averaging, obtains the current acceleration.
Wherein, the current angular velocity acquiring unit includes:
Current angular obtains subelement, for obtaining the current angular of the rotor；
Current angular velocity obtains subelement, for the difference based on the current angular and last time angle, obtains described work as
Preceding angular speed, the last time angle are the angles of the rotor obtained before current angular.
Wherein, the current angular velocity show that subelement is specifically used for based on the current angular and the last time angle
Current difference obtains current instantaneous angular velocity, and the current instantaneous angular velocity for repeating to obtain to the second preset times is asked
It is average, obtain the current angular velocity.
The embodiment of the present invention is by preset acceleration reference value, and the current acceleration value conduct for the electric vehicle that will acquire
Feedback quantity carries out PI to the deviation of acceleration reference value and current acceleration value and adjusts to obtain torque current, and based on torque electricity
The speed of flow control electric vehicle, in this way, the actual acceleration that electric vehicle vector control system can be made to export is constantly close to pre-
If acceleration reference value, so that the actual acceleration of electric vehicle be made to tend towards stability, when finally overcoming electric bicycle starting
Speed changes greatly when accelerating early period accelerate very fast in relatively slow, later period, and emptying landing by potted road surface or deceleration strip
Problem.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the flow diagram of the first embodiment of the control method of electric vehicle of the invention；
Fig. 2 is the flow diagram of the second embodiment of the control method of electric vehicle of the invention；
Fig. 3 is the flow diagram of the 3rd embodiment of the control method of electric vehicle of the invention；
Fig. 4 is the structural schematic diagram of the embodiment of the control device of electric vehicle of the invention；
Fig. 5 is the structural schematic diagram for the embodiment that acceleration of the invention obtains module；
Fig. 6 is the structural schematic diagram of the embodiment of current angular velocity acquiring unit of the invention.
Specific embodiment
In order to which the technical problems, technical solutions and beneficial effects solved by the present invention is more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
In electric vehicle vector control system, since motor number of pole-pairs is different, the revolving speed that is obtained by Hall sensor without
Method is computed correctly out the true mechanical speed of motor.It is different by applying in the case where not needing accurately to control motor speed
Torque current, PI adjusts output torque voltage, by SVPWM (Space Vector Pulse Width Modulation, it is empty
Between Vector Pulse Width Modulation) algorithm control PWM (Pulse Width Modulation, pulse width modulation) duty ratio is adjustable
Motor speed.Torque current reference quantity is controlled in practical applications, achievees the purpose that control motor speed.The embodiment of the present invention is logical
Cross the actual acceleration for obtaining motor, carry out PI adjusting with given reference acceleration, output valve as torque current reference,
Control the acceleration and revolving speed of motor.
Fig. 1 is please referred to, is the flow diagram of the first embodiment of the control method of electric vehicle of the present invention.As shown,
This method specifically includes the following steps:
Step S11 obtains the current acceleration of electric vehicle.Electric vehicle is specifically as follows electric bicycle.Electric vehicle is worked as
Preacceleration can obtain in the following manner: obtain the current of rotor in real time by the position sensor set in electric vehicle
Angle；Based on the current angular of the rotor obtained in real time, the angle change value of rotor is obtained, the current angular velocity of rotor is obtained；
Based on the angular speed of the rotor obtained in real time, the changing value of the angular speed of rotor is obtained, obtains the current acceleration of electric vehicle.This
Outside, the current acceleration of electric vehicle can also obtain in the following manner: obtain the speed of electric vehicle in real time by GPS module,
Then the changing value for obtaining electric vehicle speed, obtains current acceleration.
Step S12 carries out PI adjusting to the deviation of current acceleration and preset acceleration reference value, obtains torque electricity
Stream.PI adjusting is to carry out ratio and integral operation according to the deviation of specified rate and feedback quantity, by ratio and result of differentiating
It carries out linear combination and controlled output later, so that the output of system reaches practical defeated towards the ever-reduced direction change of deviation
Constantly close purpose is exported with ideal out.It in this step, then is to add the actual acceleration of electric vehicle close to preset
Speed reference.The reference value of acceleration can be configured according to the demand of client, such as: client needs to start to walk to accelerate fastly,
Acceleration reference value may be set to 12000；Starting acceleration is relatively slow, and acceleration reference value may be set to 7000.
Step S13 is based on torque current, controls the speed of electric vehicle.Specifically, step S12 can be obtained to torque electricity
The specified rate adjusted as PI is flowed, and acquires the electric current of motor by sampling module, obtains the feedback quantity of torque current.By right
The specified rate of torque current and the deviation of feedback quantity carry out PI adjusting, and output torque voltage controls PWM duty by SVPWM algorithm
Than to adjust motor speed, to achieve the purpose that the speed for controlling electric vehicle.
The embodiment of the present invention is by preset acceleration reference value, and the current acceleration value conduct for the electric vehicle that will acquire
Feedback quantity carries out PI to the deviation of the two and adjusts to obtain torque current, and the speed based on torque current control electric vehicle, this
Sample can make the actual acceleration of electric vehicle vector control system output constantly close to preset acceleration reference value, thus
The actual acceleration of electric vehicle is set to tend towards stability, early period accelerates the relatively slow, later period to accelerate when finally overcoming electric bicycle starting
The problem of speed changes greatly when comparatively fast, and by potted road surface or deceleration strip emptying landing.
Referring to figure 2., be electric vehicle of the present invention control method second embodiment flow diagram.As shown,
This method specifically includes the following steps:
Step S21 obtains the current angular of the rotor of electric vehicle.
Step S22, the difference based on current angular and last time angle, obtains current angular velocity.Wherein, last time angle be
The angle of the rotor obtained before current angular.Specifically, last time angle can be before obtaining current angular, recently
The angle of the rotor once obtained.It, can be to the second preset times in step S22 in order to keep the value of angular speed more smooth
The current angular velocity that repetition obtains is averaging, and using the average value as the value of current angular velocity in step S23.Second default time
Number can be 256 times.
Step S23, the difference based on current angular velocity and last time angular speed, obtains current acceleration.Wherein, last time angle speed
Degree is the angular speed of the rotor obtained before current angular velocity.Specifically, last time angle, which can be, works as anterior angle in acquisition
Before speed, the angular speed of the last rotor obtained.It, can in step S23 in order to keep the value of acceleration more smooth
It is averaging with repeating obtained current acceleration to the first preset times, and using the average value as working as preacceleration in step S24
The value of degree.First preset times can be 256 times.
Step S24 carries out PI adjusting to the deviation of current acceleration and preset acceleration reference value, obtains torque electricity
Stream.Assuming that the deviation of current acceleration and preset acceleration reference value is Err, then the output of PI are as follows: Kp*Err+ ∫ Ki*
Err, wherein Kp, Ki are respectively proportionality coefficient, integral coefficient, reference value of the output of PI as torque current.
Step S25 is based on torque current, controls the speed of electric vehicle.Side based on torque current control electric vehicle speed
Method is hereinbefore discussed in detail, and and therefore not to repeat here.
The embodiment of the present invention passes through the angle of real-time detection rotor, and the variation based on angle obtains the angle speed of rotor
Degree, and the variation based on rotor velocity, obtain the acceleration of motor, can make the current acceleration of the motor obtained in this way
Value it is more accurate, so as to the speed of more precise control electric vehicle.
Referring to figure 3., be electric vehicle of the present invention control method 3rd embodiment flow diagram.As shown,
This method specifically includes the following steps:
Step S31 periodically acquires the current angular of the rotor of electric vehicle.The current angular of rotor can lead to
Cross position sensor acquisition.
Step S32 calculated the difference of the angle of current angular and the acquisition of a upper period, and obtained current instantaneous angular velocity.
Step S33 repeats the current instantaneous angular velocity obtained to the second preset times and is averaging, obtains current angular velocity.
Specifically, step S33 can adjust the distance before current time, nearest second preset times repeat the current instantaneous angular velocity obtained
It is averaging.
Step S34, the difference based on current angular velocity and last time angular speed, obtains current instantaneous acceleration.Wherein, last time
Angular speed is before current angular velocity, the angular speed of the last rotor obtained.
Step S35 repeats the current instantaneous acceleration obtained to the first preset times and is averaging, obtains current acceleration.
Specifically, step S35 can adjust the distance before current time, nearest first preset times repeat the current instantaneous acceleration obtained
It is averaging.
Step S36 carries out PI adjusting to the deviation of current acceleration and preset acceleration reference value, obtains torque electricity
Stream.The acquisition methods of torque current have hereinbefore made to be discussed in detail that and therefore not to repeat here.
Step S37 is based on torque current, controls the speed of electric vehicle.Side based on torque current control electric vehicle speed
Method is hereinbefore discussed in detail, and and therefore not to repeat here.
The embodiment of the present invention passes through the angle of real-time detection rotor, and the variation based on angle obtains the change of rotor angle
Change value, and the changing value of multiple angle is averaging to obtain the angular speed of rotor, ask flat by the changing value to rotor velocity
, the acceleration of motor is obtained, can make the value of the current acceleration of the motor obtained more smooth in this way, to make PI tune
The reference value for saving the torque current of output is more smooth, so as to so that motor operation is more stable, reach effect of more preferably riding.
The control method of electric vehicle of the invention is discussed in detail above, below by the device relative to the above method
It is further elaborated.
Referring to figure 4., be electric vehicle of the invention control device embodiment structural schematic diagram.The control of electric vehicle
Device includes that acceleration obtains module 110, torque current obtains module 120 and rate control module 130.
Acceleration obtains module 110, for obtaining the current acceleration of electric vehicle.The current acceleration of electric vehicle can lead to
It crosses following manner acquisition: obtaining the current angular of rotor in real time by the position sensor set in electric vehicle；Based on real-time
The current angular of the rotor of acquisition obtains the angle change value of rotor, obtains the current angular velocity of rotor；Based on what is obtained in real time
The angular speed of rotor obtains the changing value of the angular speed of rotor, obtains the current acceleration of electric vehicle.In addition, electric vehicle is worked as
Preacceleration can also obtain in the following manner: obtaining the speed of electric vehicle in real time by GPS module, then obtain electric vehicle
The changing value of speed, obtains current acceleration.
Torque current obtains module 120, compares for the deviation to current acceleration and preset acceleration reference value
Example adjusts and integral adjustment, obtains torque current.PI adjusting is to carry out ratio and product according to the deviation of specified rate and feedback quantity
Partite transport calculate, by ratio and differentiate result carry out linear combination controlled output later so that the output of system towards deviation not
Disconnected reduced direction change achievees the purpose that reality output and ideal output are constantly close.It in this step, then is to make electric vehicle
Actual acceleration close to preset acceleration reference value.The reference value of acceleration can be set according to the demand of client
It sets, such as: client needs to start to walk to accelerate fastly, and acceleration reference value may be set to 12000；Starting accelerates relatively slow, acceleration
Reference value may be set to 7000.
Rate control module 130 controls the speed of electric vehicle for being based on torque current.It specifically, can be by torque electricity
Stream obtains the specified rate that the torque current that module 120 obtains is adjusted as PI, and the electric current of motor is acquired by sampling module, obtains
To the feedback quantity of torque current.PI adjusting, output torque electricity are carried out by the deviation of specified rate and feedback quantity to torque current
Pressure controls PWM duty cycle by SVPWM algorithm, to adjust motor speed, to achieve the purpose that the speed for controlling electric vehicle.
The embodiment of the present invention is by preset acceleration reference value, and the current acceleration value conduct for the electric vehicle that will acquire
Feedback quantity carries out PI to the deviation of the two and adjusts to obtain torque current, and the speed based on torque current control electric vehicle, this
Sample can make the actual acceleration of electric vehicle vector control system output constantly close to preset acceleration reference value, thus
The actual acceleration of electric vehicle is set to tend towards stability, early period accelerates the relatively slow, later period to accelerate when finally overcoming electric bicycle starting
The problem of speed changes greatly when comparatively fast, and by potted road surface or deceleration strip emptying landing.
It referring to figure 5., is the structural schematic diagram for the embodiment that acceleration of the invention obtains module.Acceleration obtains module
Including current angular velocity acquiring unit 111 and current acceleration acquiring unit 112.
Current angular velocity acquiring unit 111, the current angular velocity of the rotor for obtaining electric vehicle.
Current acceleration acquiring unit 112 obtains currently adding for the difference based on current angular velocity and last time angular speed
Speed.Wherein, last time angular speed is the angular speed of the rotor obtained before current angular velocity.Specifically, currently
Acceleration obtainment unit is specifically used for the current difference based on current angular velocity and last time angular speed, obtains current instantaneous acceleration
Degree, and obtained current instantaneous acceleration is repeated to the first preset times and is averaging, obtain current acceleration.
Fig. 6 is please referred to, is the structural schematic diagram of the embodiment of current angular velocity acquiring unit of the invention.Current angular velocity
Acquiring unit 111 includes that current angular acquisition subelement 111a and current angular velocity obtain subelement 111b.
Current angular obtains subelement 111a, for obtaining the current angular of rotor.
Current angular velocity obtains subelement 111b, for the difference based on current angular and last time angle, obtains working as anterior angle
Speed.Wherein last time angle is the angle of the rotor obtained before current angular.Specifically, current angular velocity obtains son
Unit 111b is specifically used for the current difference based on current angular and last time angle, obtains current instantaneous angular velocity, and to the
Two preset times repeat obtained current instantaneous angular velocity and are averaging, and obtain current angular velocity.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..It is the one or more embodiments provided in conjunction with particular content as described above, does not assert of the invention
Specific implementation is only limited to these instructions.It is all approximate with method of the invention, structure etc., identical, or for present inventive concept
Under the premise of make several technology deduction or replace, all should be considered as protection scope of the present invention.
Claims (4)
1. a kind of control method of electric vehicle characterized by comprising
Obtain the current acceleration of the electric vehicle；
Proportion adjustment and integral adjustment are carried out to the deviation of the current acceleration and preset acceleration reference value, obtain torque
Electric current；
Based on the torque current, the speed of the electric vehicle is controlled；
It is described to be based on the torque current, control the speed of the electric vehicle, comprising: obtain torque current and give as what PI was adjusted
It is quantitative, and by the electric current of acquisition motor, the feedback quantity of torque current is obtained, the specified rate and feedback quantity to torque current are passed through
Deviation carry out PI adjusting, output torque voltage, by SVPWM algorithm control PWM duty cycle, adjust motor speed；
The current acceleration for obtaining the electric vehicle, comprising:
Obtain the current angular velocity of the rotor of the electric vehicle；
Difference based on the current angular velocity and last time angular speed, obtains the current acceleration, and the last time angular speed is
The angular speed of the rotor obtained before current angular velocity；
The current angular velocity of the rotor for obtaining the electric vehicle, comprising:
Obtain the current angular of the rotor；
Difference based on the current angular and last time angle obtains the current angular velocity, and the last time angle is current
The angle of the rotor obtained before angle；
The difference based on the current angular and last time angle, obtains the current angular velocity, comprising:
Current difference based on the current angular and the last time angle, obtains current instantaneous angular velocity；
The current instantaneous angular velocity for repeating to obtain to the second preset times is averaging, and obtains the current angular velocity.
2. the control method of electric vehicle as described in claim 1, which is characterized in that described based on the current angular velocity and upper
The difference of secondary angular speed obtains the current acceleration, comprising:
Current difference based on the current angular velocity and the last time angular speed, obtains current instantaneous acceleration；
The current instantaneous acceleration for repeating to obtain to the first preset times is averaging, and obtains the current acceleration.
3. a kind of control device of electric vehicle characterized by comprising
Acceleration obtains module, for obtaining the current acceleration of the electric vehicle；
Torque current obtains module, carries out ratio tune for the deviation to the current acceleration and preset acceleration reference value
Section and integral adjustment, obtain torque current；
Rate control module controls the speed of the electric vehicle for being based on the torque current；
The rate control module is specifically used for: obtaining the specified rate that torque current is adjusted as PI, and passes through acquisition motor
Electric current obtains the feedback quantity of torque current, carries out PI adjusting, output by the deviation of specified rate and feedback quantity to torque current
Torque voltage controls PWM duty cycle by SVPWM algorithm, adjusts motor speed；
The acceleration obtains module
Current angular velocity acquiring unit, the current angular velocity of the rotor for obtaining the electric vehicle；
Current acceleration acquiring unit obtains described current for the difference based on the current angular velocity and last time angular speed
Acceleration, the last time angular speed are the angular speed of the rotor obtained before current angular velocity；
The current angular velocity acquiring unit includes:
Current angular obtains subelement, for obtaining the current angular of the rotor；
Current angular velocity obtains subelement, for the difference based on the current angular and last time angle, obtains described working as anterior angle
Speed, the last time angle are the angles of the rotor obtained before current angular；
The current angular velocity show that subelement is specifically used for the current difference based on the current angular and the last time angle,
Current instantaneous angular velocity is obtained, and the current instantaneous angular velocity for repeating to obtain to the second preset times is averaging, and is obtained
The current angular velocity.
4. the control device of electric vehicle as claimed in claim 3, which is characterized in that the current acceleration acquiring unit is specific
For the current difference based on the current angular velocity and the last time angular speed, current instantaneous acceleration is obtained, and to
The current instantaneous acceleration that one preset times repeat to obtain is averaging, and obtains the current acceleration.
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| CN201611108918.3A CN106553563B (en) | 2016-12-06 | 2016-12-06 | A kind of control method and device of electric vehicle |
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| CN104104288A (en) * | 2014-07-04 | 2014-10-15 | 中国西电电气股份有限公司 | Detection device and processing method of high-speed motor rotor position |
| CN105774595A (en) * | 2016-03-09 | 2016-07-20 | 广汽本田汽车有限公司 | Energy-saving acceleration method and device for electric vehicle |
| CN105811827A (en) * | 2014-12-29 | 2016-07-27 | 上海大郡动力控制技术有限公司 | Suppression method of pure electric vehicle rotation speed fluctuation |
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| KR100598809B1 (en) * | 2004-07-06 | 2006-07-10 | 현대자동차주식회사 | A motor control method of green car |
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| CN104104288A (en) * | 2014-07-04 | 2014-10-15 | 中国西电电气股份有限公司 | Detection device and processing method of high-speed motor rotor position |
| CN105811827A (en) * | 2014-12-29 | 2016-07-27 | 上海大郡动力控制技术有限公司 | Suppression method of pure electric vehicle rotation speed fluctuation |
| CN105774595A (en) * | 2016-03-09 | 2016-07-20 | 广汽本田汽车有限公司 | Energy-saving acceleration method and device for electric vehicle |
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