CN106627250B - A kind of electrombile control method and device - Google Patents
A kind of electrombile control method and device Download PDFInfo
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- CN106627250B CN106627250B CN201611214026.1A CN201611214026A CN106627250B CN 106627250 B CN106627250 B CN 106627250B CN 201611214026 A CN201611214026 A CN 201611214026A CN 106627250 B CN106627250 B CN 106627250B
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000005070 sampling Methods 0.000 claims description 40
- 230000010354 integration Effects 0.000 claims description 26
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005192 partition Methods 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
- 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
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention belongs to electric automobiles, provide a kind of electrombile control method and device, the method obtain target electric vehicle present speed and preset target velocity；When meet it is preset it is anti-slip by slope trigger condition when, obtain preventing slipping by slope torque by pid control algorithm according to the present speed and the target velocity；Prevent that slipping by slope torque is adjusted to described according to preset clipping rule；Anti- after controlling the motor output adjustment of the target electric vehicle slips by slope torque, so that the target electric vehicle reaches the target velocity.Through the embodiment of the present invention, the car speed is made rapidly and accurately to reach the preset target velocity, without increasing the cost of additional Slope Transducer or increasing a large amount of gradient identification operation.
Description
Technical field
The invention belongs to vehicle technology field more particularly to a kind of electrombile control methods and device.
Background technique
In vehicle technology field, how to effectively prevent vehicle anti-slide is that a comparison is crucial, technical problem of general character.Vehicle
Slip by slope caused by referring to due to road conditions etc. the opposite vehicle movement of intention of advancing with driver, for example, when vehicle along
During inclined ramp travels upwards, it is possible that vehicle is to the case where downslide.Vehicle anti-slide is extremely dangerous, easily causes
Traffic accident.
In the prior art, there are mainly three types of the anti-control methods slipped by slope of electric vehicle: first method be by identifying the gradient,
Idle speed control is carried out to motor, prevents from slipping by slope.Second method is by the state observer real-time estimation gradient, according to dynamics
Formula is calculated in torque needed for slope, while preventing vehicle anti-slide by calculating feedback closed loop control output compensation torque automatically.The
Three kinds of methods are by carrying out the control of torque self-balancing to motor, motor rotor position being made to maintain detection after the identification gradient
Initial position is parked in vehicle on slope.
Above-mentioned electric vehicle is anti-to slip by slope control method, is all the gradient to be identified first, therefore, it is necessary to increase the additional gradient
The cost of sensor increases a large amount of gradient identification operation.
Summary of the invention
In consideration of it, the embodiment of the present invention provides a kind of electrombile control method and device, to solve to need in the prior art
The problem of increasing the cost of additional Slope Transducer or increasing a large amount of gradient identification operation.
A kind of electrombile control method provided in an embodiment of the present invention may include:
The present speed of acquisition target electric vehicle and preset target velocity；
When meet it is preset it is anti-slip by slope trigger condition when, PID control is passed through according to the present speed and the target velocity
Algorithm processed obtains preventing slipping by slope torque；
Prevent that slipping by slope torque is adjusted to described according to preset clipping rule；
Anti- after controlling the motor output adjustment of the target electric vehicle slips by slope torque, so that the target electric vehicle reaches
The target velocity.
Further, it is described according to preset clipping rule to it is described it is anti-slip by slope torque and be adjusted can specifically include:
According to preset design factor, described anti-slip by slope under torque and the present speed calculating torque upper limit and torque
Limit；
Prevent that slipping by slope torque carries out clipping to described according to the torque upper limit and lower torque.
Further, according to the torque upper limit and lower torque to it is described it is anti-slip by slope before torque carries out clipping, also
May include:
Obtain the gear state of the target electric vehicle；
If the lower torque is to the direction of motion of the driving direction of the target electric vehicle and gear state instruction
It is inconsistent, then the lower torque is adjusted to zero；
If the torque upper limit is to the direction of motion of the driving direction of the target electric vehicle and gear state instruction
It is inconsistent, then the torque upper limit is adjusted to zero.
Further, control after motor output adjustment it is anti-slip by slope torque before, can also include:
Integration torque is obtained according to the current vehicle condition of the target electric vehicle；
If effective driving force of the integration torque is greater than the anti-effective driving force for slipping by slope torque adjusted, will
The integration torque be determined as it is adjusted it is anti-slip by slope torque, effective driving force is what torque was indicated in the gear state
The driving force generated in the direction of motion.
Further, according to preset clipping rule to it is described it is anti-slip by slope before torque is adjusted, can also include:
Prevent that slipping by slope torque carries out moving average filter to described；
It is described that the anti-torque progress moving average filter that slips by slope can specifically include:
Prevent that slip by slope torque is sampled with the scheduled sampling period, obtains sampling queue, the sampling queue is to described
The queue of first in first out；
The head of the queue sample of the sampling queue is abandoned, and tail of the queue is added in the sample newly obtained, is updated
Sampling queue afterwards；
The average value of the sampling queue is determined as described anti-to slip by slope torque.
A kind of controller of electric vehicle provided in an embodiment of the present invention may include:
Speed acquiring module, for obtain target electric vehicle present speed and preset target velocity；
Pid control module, for when meet it is preset it is anti-slip by slope trigger condition when, according to the present speed and the mesh
Mark speed obtains preventing slipping by slope torque by pid control algorithm；
Clipping module, for preventing that slipping by slope torque is adjusted to described according to preset clipping rule；
Torque output module, anti-after the motor output adjustment for controlling the target electric vehicle slip by slope torque, so that
The target electric vehicle reaches the target velocity.
Further, the clipping module can specifically include:
Computing unit, for according to preset design factor, described anti-slip by slope torque and the present speed calculating torque
The upper limit and lower torque；
Clipping unit, for preventing that slipping by slope torque carries out clipping to described according to the torque upper limit and lower torque.
Further, the clipping module can also include:
Gear acquiring unit, for obtaining the gear state of the target electric vehicle；
Lower limit adjustment unit, if for the lower torque to the driving direction and the gear shape of the target electric vehicle
The direction of motion of state instruction is inconsistent, then the lower torque is adjusted to zero；
Upper limit adjustment unit, if for the torque upper limit to the driving direction and the gear shape of the target electric vehicle
The direction of motion of state instruction is inconsistent, then the torque upper limit is adjusted to zero.
Further, the clipping module can also include:
Integration torque unit, for obtaining integration torque according to the current vehicle condition of the target electric vehicle；
Torque adjustment unit, if effective driving force for the integration torque is greater than and described adjusted anti-slips by slope torque
Effective driving force, then by the integration torque be determined as it is adjusted it is anti-slip by slope torque, effective driving force is that torque exists
The driving force generated in the direction of motion of the gear state instruction.
Further, the controller of electric vehicle can also include: filter module, for it is described it is anti-slip by slope torque into
Row moving average filter；
The filter module can specifically include:
Sampling unit, for preventing that slip by slope torque is sampled with the scheduled sampling period, obtains sampling queue, institute to described
State the queue that sampling queue is first in first out；
Updating unit is added for abandoning the head of the queue sample of the sampling queue, and by the sample newly obtained
Tail of the queue obtains updated sampling queue；
Computing unit described anti-slips by slope torque for the average value of the sampling queue to be determined as.
Existing beneficial effect is the embodiment of the present invention compared with prior art: the embodiment of the present invention obtains target electric vehicle
Present speed and preset target velocity；When meet it is preset it is anti-slip by slope trigger condition when, according to the present speed and institute
It states target velocity and obtains preventing slipping by slope torque by pid control algorithm；According to preset clipping rule to it is described it is anti-slip by slope torque into
Row adjustment；Anti- after controlling the motor output adjustment of the target electric vehicle slips by slope torque, so that the target electric vehicle reaches
The target velocity.Through the embodiment of the present invention, it has obtained preventing slipping by slope torque with pid control algorithm, and has prevented slipping by slope to described
Torque carries out clipping, and control motor output is accurately prevented slipping by slope torque, and the car speed is made rapidly and accurately to reach described pre-
If target velocity, without increasing the cost of additional Slope Transducer or increasing the identification operation of a large amount of gradient.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of schematic flow diagram for electrombile control method that the embodiment of the present invention one provides；
Fig. 2 is a kind of schematic block diagram of controller of electric vehicle provided by Embodiment 2 of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one:
It is a kind of schematic block diagram for electrombile control method that the embodiment of the present invention one provides referring to Fig. 1, this method can be with
The following steps are included:
Step S101, the present speed of acquisition target electric vehicle and preset target velocity.
Generally, target velocity can be set to zero, i.e. the holding electronic truck position of target is constant；Target velocity can also root
It is configured according to actual conditions, the present embodiment is not especially limited this.
It is readily appreciated that ground, if setting positive number for target velocity, the advance of target electric vehicle is demonstrated the need for, if by mesh
Mark speed is set as negative, then demonstrates the need for the retrogressing of target electric vehicle.
Step S102, when meet it is preset it is anti-slip by slope trigger condition when, according to the present speed and the target velocity
It obtains preventing slipping by slope torque by pid control algorithm.
It is described it is anti-slip by slope the difference that trigger condition may include: the present speed and the target velocity be unsatisfactory for it is preset
Error range condition.
Different systems, precision, the fluctuating range of feedback speed signal are different, the error that one intervention of general setting calculates
PID calculating is no longer carried out when the absolute value of the difference very little of range, i.e., the described present speed and the target velocity.
The error range condition can be [- 40RPM, 40RPM], wherein RPM table shows revolutions per minute.It can also root
It is configured according to actual conditions, the present embodiment is not especially limited this.
Step S103 prevents that slipping by slope torque is adjusted to described according to preset clipping rule.
Preferably, step S103 can specifically include:
Step S1031 according to preset design factor, described anti-slips by slope torque and the present speed calculating torque upper limit
And lower torque.
It is related that the design factor and speed, electric current such as normalize at the system parameters, can be set to 100, can also basis
Actual conditions are configured, and the present embodiment is not especially limited this.
The lower torque can be calculated by following formula: Limit1=A- (k × ABS (speed)), wherein
Limit1 indicates lower torque, A indicate it is described it is anti-slip by slope torque, k indicates the preset design factor, described in speed expression
Present speed, the formula indicate the lower torque be it is described it is anti-slip by slope torque and subtract the preset design factor work as with described
The product of the absolute value of preceding speed.
Similarly, the torque upper limit can be calculated by following formula: Limit2=A+ (k × ABS
(speed)), wherein Limit2 indicates torque upper limit, which indicates that the torque upper limit prevents slipping by slope torque plus institute to be described
State the product of the absolute value of preset design factor and the present speed.
It should be noted that the calculation formula above with respect to torque upper limit and lower torque is merely illustrative, the calculation formula
It can also be configured according to the actual situation, the present embodiment is not especially limited this.
Step S1032 prevents that slipping by slope torque carries out clipping to described according to the torque upper limit and lower torque.
According to the torque upper limit and lower torque can determine the anti-range for slipping by slope torque should be [Limit1,
Limit2], if described prevent slipping by slope torque greater than the torque upper limit Limit2, the torque upper limit is determined as described anti-slip
The lower torque is determined as described anti-slip by slope torque if described prevent slipping by slope torque less than the lower torque Limit1
Slope torque.
In practical application, it is also contemplated that the gear state of the target electric vehicle, prevents from slipping by slope backward in forward,
It prevents from slipping by slope forward when retreating gear, guarantee is not only available suitably to be prevented slipping by slope torque, but also will not influence normal traveling
State, and can accomplish that anti-this part of calculating that slips by slope continues working, what it is for state changes such as gear switches is excessively
Smoothly.
It is therefore preferred that can also include: before step S1032
Step S103a obtains the gear state of the target electric vehicle.
The gear state may include: forward and retrogressing gear.
Step S103b, if the lower torque indicates the driving direction of the target electric vehicle and the gear state
The direction of motion it is inconsistent, then the lower torque is adjusted to zero.
Generally, if the value of torque is positive, the driving carried out in direction of advance to the target electric vehicle is represented, if turning
The value of square is negative, then represents the driving carried out in direction of retreat to the target electric vehicle.So, if before the gear state is
Into gear and the lower torque is less than zero, then the lower torque is adjusted to zero.
Step S103c, if the torque upper limit indicates the driving direction of the target electric vehicle and the gear state
The direction of motion it is inconsistent, then the torque upper limit is adjusted to zero.
With described in step S103b similarly, if the gear state is to retreat gear and the torque upper limit to be greater than zero,
The torque upper limit is adjusted to zero.
Step S104, anti-after controlling the motor output adjustment of the target electric vehicle slip by slope torque, so that the target
Electric vehicle reaches the target velocity.
Preferably, before step S104, can also include:
Step S103d obtains integration torque according to the current vehicle condition of the target electric vehicle.
The integration torque is the correlative factor considered including throttle, the torque target obtained by integrated treatment
Value.
Step S103e, if effective driving force of the integration torque is greater than and described adjusted anti-slips by slope the effective of torque
Driving force, then by the integration torque be determined as it is adjusted it is anti-slip by slope torque, effective driving force is torque in the shelves
The driving force generated in the direction of motion of position state instruction.
For example, if the gear state is that forward and the integration torque are greater than and described adjusted anti-slip by slope torque
The integration torque is then determined as adjusted anti-slipping by slope torque by (positive number).
For another example, if the gear state is to retreat gear and the integration torque and be less than described adjusted anti-to slip by slope torque
The integration torque is then determined as adjusted anti-slipping by slope torque by (negative).
Preferably, before step S103, can also include:
Step a prevents that slipping by slope torque carries out moving average filter to described.
Step a can specifically include:
Step a1 prevents that slip by slope torque is sampled with the scheduled sampling period, obtains sampling queue, the sampling to described
Queue is the queue of first in first out.
The sampling period can be 63 microseconds, can also be configured according to the actual situation, anti-slip to guarantee to obtain
Slope torque is steady, and the present embodiment is not especially limited this.
Step a2 abandons the head of the queue sample of the sampling queue, and tail of the queue is added in the sample newly obtained, obtains
To updated sampling queue.
The sampling queue length can be 200, can also be configured according to the actual situation, anti-slip to guarantee to obtain
Slope torque is steady, and the present embodiment is not especially limited this.
The average value of the sampling queue is determined as described anti-slipping by slope torque by step a3.
By the above moving average filter, the anti-steady output for slipping by slope torque can effectively ensure that.
In conclusion present speed and the preset target velocity of acquisition target electric vehicle of the embodiment of the present invention；Work as satisfaction
It is preset anti-when slipping by slope trigger condition, it is obtained according to the present speed and the target velocity by pid control algorithm anti-slip
Slope torque；Prevent that slipping by slope torque is adjusted to described according to preset clipping rule；The motor for controlling the target electric vehicle is defeated
It is adjusted out to prevent slipping by slope torque, so that the target electric vehicle reaches the target velocity.Through the embodiment of the present invention, it uses
Pid control algorithm has obtained preventing slipping by slope torque, and prevents that slipping by slope torque carries out clipping to described, and control motor output is accurately anti-slip
Slope torque makes the car speed rapidly and accurately reach the preset target velocity, without increasing additional gradient sensing
The cost of device increases a large amount of gradient identification operation.
Embodiment two:
It referring to fig. 2, is a kind of schematic block diagram of controller of electric vehicle provided by Embodiment 2 of the present invention, for the ease of saying
It is bright, part related to the embodiment of the present invention is only shown.
The controller of electric vehicle can be the software unit being built in electric vehicle, hardware cell or soft or hard combination
Unit can also be used as independent pendant and be integrated into the electric vehicle.
The controller of electric vehicle may include:
Speed acquiring module 201, for obtain target electric vehicle present speed and preset target velocity；
Pid control module 202, for when meet it is preset it is anti-slip by slope trigger condition when, according to the present speed and institute
It states target velocity and obtains preventing slipping by slope torque by pid control algorithm；
Clipping module 203, for preventing that slipping by slope torque is adjusted to described according to preset clipping rule；
Torque output module 204, anti-after the motor output adjustment for controlling the target electric vehicle slip by slope torque, with
The target electric vehicle is set to reach the target velocity.
Further, the clipping module 203 specifically includes:
Computing unit 2031, for according to preset design factor, described anti-slip by slope torque and the present speed calculates
Torque upper limit and lower torque；
Clipping unit 2032, for preventing that slipping by slope torque carries out clipping to described according to the torque upper limit and lower torque.
Further, the clipping module 203 further include:
Gear acquiring unit 2033, for obtaining the gear state of the target electric vehicle；
Lower limit adjustment unit 2034, if for the lower torque to the driving direction and the shelves of the target electric vehicle
The direction of motion of position state instruction is inconsistent, then the lower torque is adjusted to zero；
Upper limit adjustment unit 2035, if for the torque upper limit to the driving direction and the shelves of the target electric vehicle
The direction of motion of position state instruction is inconsistent, then the torque upper limit is adjusted to zero.
Further, the clipping module 203 further include:
Integration torque unit 2036, for obtaining integration torque according to the current vehicle condition of the target electric vehicle；
Torque adjustment unit 2037, if effective driving force for the integration torque is greater than described adjusted anti-slip by slope
Effective driving force of torque, then by the integration torque be determined as it is adjusted it is anti-slip by slope torque, effective driving force is to turn
The driving force that square generates in the direction of motion that the gear state indicates.
Further, the controller of electric vehicle further include: filter module 205, for it is described it is anti-slip by slope torque into
Row moving average filter；
The filter module 205 specifically includes:
Sampling unit 2051 obtains sampling team for preventing that slip by slope torque is sampled with the scheduled sampling period to described
Column, the sampling queue are the queue of first in first out；
Updating unit 2052, for abandoning the head of the queue sample of the sampling queue, and the sample that will newly obtain
Tail of the queue is added, obtains updated sampling queue；
Computing unit 2053 described anti-slips by slope torque for the average value of the sampling queue to be determined as.
Those of ordinary skill in the art may be aware that mould described in conjunction with the examples disclosed in the embodiments of the present disclosure
Block and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware
With the interchangeability of software, each exemplary composition and step are generally described according to function in the above description.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
In embodiment provided by the present invention, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the module or unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be with
In conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling or direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional module in each embodiment of the present invention can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the technical solution of the embodiment of the present invention
Substantially all or part of the part that contributes to existing technology or the technical solution can be with software product in other words
Form embody, which is stored in a storage medium, including some instructions use so that one
Computer equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute this hair
The all or part of the steps of bright each embodiment the method for embodiment.And storage medium above-mentioned include: USB flash disk, mobile hard disk,
Read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic
The various media that can store program code such as dish or CD.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and model of each embodiment technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (6)
1. a kind of electrombile control method characterized by comprising
The present speed of acquisition target electric vehicle and preset target velocity；
When meet it is preset it is anti-slip by slope trigger condition when, PID control calculation is passed through according to the present speed and the target velocity
Method obtains preventing slipping by slope torque；
Prevent that slipping by slope torque is adjusted to described according to preset clipping rule；
Anti- after controlling the motor output adjustment of the target electric vehicle slips by slope torque, so that the target electric vehicle reaches described
Target velocity；
It is described according to preset clipping rule to it is described it is anti-slip by slope torque and be adjusted specifically include:
According to preset design factor, described anti-slip by slope torque and the present speed calculating torque upper limit and lower torque；
Obtain the gear state of the target electric vehicle；
If the direction of motion that the lower torque indicates the driving direction of the target electric vehicle and the gear state is different
It causes, then the lower torque is adjusted to zero；
If the direction of motion that the torque upper limit indicates the driving direction of the target electric vehicle and the gear state is different
It causes, then the torque upper limit is adjusted to zero；
Prevent that slipping by slope torque carries out clipping to described according to the torque upper limit and lower torque.
2. electrombile control method according to claim 1, which is characterized in that anti-slip after controlling motor output adjustment
Before the torque of slope, further includes:
Integration torque is obtained according to the current vehicle condition of the target electric vehicle；
If effective driving force of the integration torque is greater than the anti-effective driving force for slipping by slope torque adjusted, will be described
Integration torque be determined as it is adjusted it is anti-slip by slope torque, effective driving force is the movement that torque is indicated in the gear state
The driving force generated on direction.
3. electrombile control method according to any one of claim 1 to 2, which is characterized in that according to preset limit
Width rule anti-slips by slope before torque is adjusted to described, further includes: anti-slip by slope torque to described and carries out moving average filter；
It is described that the anti-torque progress moving average filter that slips by slope is specifically included:
Prevent that slip by slope torque is sampled with the scheduled sampling period to described, obtains sampling queue, the sampling queue is advanced
The queue first gone out；
The head of the queue sample of the sampling queue is abandoned, and tail of the queue is added in the sample newly obtained, is obtained updated
Sampling queue；
The average value of the sampling queue is determined as described anti-to slip by slope torque.
4. a kind of controller of electric vehicle characterized by comprising
Speed acquiring module, for obtain target electric vehicle present speed and preset target velocity；
Pid control module, for when meet it is preset it is anti-slip by slope trigger condition when, according to the present speed and target speed
Degree obtains preventing slipping by slope torque by pid control algorithm；
Clipping module, for preventing that slipping by slope torque is adjusted to described according to preset clipping rule；
Torque output module, anti-after the motor output adjustment for controlling the target electric vehicle slip by slope torque, so that described
Target electric vehicle reaches the target velocity；
The clipping module specifically includes:
Computing unit, for according to preset design factor, described anti-slip by slope torque and the present speed calculating torque upper limit
And lower torque；
Gear acquiring unit, for obtaining the gear state of the target electric vehicle；
Lower limit adjustment unit, if referring to for driving direction of the lower torque to the target electric vehicle with the gear state
The direction of motion shown is inconsistent, then the lower torque is adjusted to zero；
Upper limit adjustment unit, if referring to for driving direction of the torque upper limit to the target electric vehicle with the gear state
The direction of motion shown is inconsistent, then the torque upper limit is adjusted to zero；
Clipping unit, for preventing that slipping by slope torque carries out clipping to described according to the torque upper limit and lower torque.
5. controller of electric vehicle according to claim 4, which is characterized in that the clipping module further include:
Integration torque unit, for obtaining integration torque according to the current vehicle condition of the target electric vehicle；
Torque adjustment unit, if effective driving force for the integration torque is greater than and described adjusted anti-slips by slope having for torque
Imitate driving force, then by the integration torque be determined as it is adjusted it is anti-slip by slope torque, effective driving force is torque described
The driving force generated in the direction of motion of gear state instruction.
6. the controller of electric vehicle according to any one of claim 4 to 5, which is characterized in that further include: filtering mould
Block, for preventing that slipping by slope torque carries out moving average filter to described；
The filter module specifically includes:
Sampling unit, it is described to adopt for preventing that slip by slope torque is sampled with the scheduled sampling period, obtains sampling queue to described
Sample queue is the queue of first in first out；
Tail of the queue is added for abandoning the head of the queue sample of the sampling queue, and by the sample newly obtained in updating unit,
Obtain updated sampling queue；
Determination unit described anti-slips by slope torque for the average value of the sampling queue to be determined as.
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| CN107298036B (en) * | 2017-06-23 | 2019-08-27 | 北京新能源汽车股份有限公司 | A kind of motor output torque control method and device |
| CN107697067B (en) * | 2017-09-27 | 2019-09-13 | 上海金脉电子科技有限公司 | Electric car ramp auxiliary starting control method |
| CN107825996B (en) * | 2017-10-30 | 2018-11-09 | 四川大能科技有限公司 | It is anti-to slip by slope control method, device and electric vehicle |
| CN109808506A (en) * | 2018-12-27 | 2019-05-28 | 江苏敏安电动汽车有限公司 | Anti- based on Fuzzy Adaptive PID Control slips by slope method, system and electric car |
| CN109747652B (en) * | 2018-12-27 | 2021-02-19 | 东软睿驰汽车技术（沈阳）有限公司 | Vehicle control method, device and system |
| CN111152666B (en) * | 2019-12-31 | 2021-03-30 | 湖南中联重科智能高空作业机械有限公司 | Downhill speed control system, downhill speed control method, and aerial work apparatus |
| CN111645797B (en) * | 2020-06-04 | 2022-03-25 | 广东高标电子科技有限公司 | Two-wheeled electric motor car actuating system |
| CN112356682B (en) * | 2020-09-23 | 2022-03-11 | 南京信息工程大学 | Ramp creep control method of switched reluctance motor of electric automobile |
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| CN101209682B (en) * | 2006-12-26 | 2010-09-29 | 比亚迪股份有限公司 | Electric motor outputting torque moment control system and control method in electric automobile ascending condition |
| CN103786725A (en) * | 2012-10-31 | 2014-05-14 | 浙江青年乘用车集团有限公司 | Method and system for preventing `electric automobile from slope slipping |
| CN104843002B (en) * | 2014-06-23 | 2017-12-08 | 北汽福田汽车股份有限公司 | The control method and electric automobile of electric automobile |
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