CN106696762A - Motor torque control method and system for BEV (battery electrical vehicle), and battery electrical vehicle - Google Patents
Motor torque control method and system for BEV (battery electrical vehicle), and battery electrical vehicle Download PDFInfo
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- CN106696762A CN106696762A CN201510781137.XA CN201510781137A CN106696762A CN 106696762 A CN106696762 A CN 106696762A CN 201510781137 A CN201510781137 A CN 201510781137A CN 106696762 A CN106696762 A CN 106696762A
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- Prior art keywords
- vehicle
- motor
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- value
- torque
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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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2045—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 optimising the use of energy
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a motor torque control method and system for a BEV (battery electrical vehicle), and the battery electrical vehicle. The motor torque control method comprises the following steps that the value of slope of a traveling pavement where the vehicle is located is detected; the torque, in the slope direction, generated by the slope of the travelling pavement of the vehicle is obtained according to the value of slope and the mass of the vehicle; the output torque of a drive motor is obtained according to a signal of an accelerator pedal; and the final output torque of the drive motor is obtained according to the output torque and the torque of the drive motor. According to the method, the final output torque of the drive motor can be adjusted according to the value of slope of the traveling pavement of the vehicle, and accordingly the driveability of the vehicle is improved; and meanwhile, optimization of energy can be achieved.
Description
Technical field
The present invention relates to field of automobile, Motor torque control method, the system of more particularly to a kind of pure electric automobile
And pure electric automobile.
Background technology
Fig. 1 show pure electric vehicle power electric control system block diagram, can as seen from the figure, when controlled motor,
It is that will accelerate the incoming entire car controller of information, entire car controller that driver intention is converted into the moment of torsion to motor by accelerator pedal
Request Concurrency gives electric machine controller, and electric machine controller is defeated come the moment of torsion of controlled motor by controlling the power output of inverter again
Go out, the output torque of motor is travelled by the transmission system drives vehicle of vehicle, and then meets the demand that driver drives vehicle.
Torque control model is one of key technology in pure electric automobile control field, is evolving progress.Pure electronic
In automobile control, torque control model as full-vehicle control most important control, cornering ability to vehicle and energy-optimised
There is significant impact.By perfect torque control model, it is possible to achieve vehicle good cornering ability and energy optimization.
At present, for torque control model, correlation technique discloses a kind of electric vehicle and its control method.Its plan explanation
For：Electric vehicle possesses：Motor, it is used to produce vehicle drive force corresponding with the accelerator operation amount of driver；With
Notification unit, it is used for when wheel is connected to traveling obstruction, is driven with compared with when the wheel is not connected to traveling obstruction
The person of sailing is easier to perceive the mode of accelerator operation amount, reports the information related to the accelerator operation of driver.The technology is deposited
In following shortcoming：Input signal for entire car controller is not directed to the information on slope road；And for entire car controller inside
Algorithm, have ignored influence of the slope road to vehicle.
The content of the invention
It is contemplated that at least solving one of technical problem in above-mentioned correlation technique to a certain extent.
Therefore, the Motor torque control method it is an object of the present invention to propose a kind of pure electric automobile, the method can
Value of slope according to vehicle running surface adjusts the final output moment of torsion of motor, and then lifts the cornering ability of vehicle,
Meanwhile, realize the optimization of energy.
It is another object of the present invention to provide a kind of Motor torque control system of pure electric automobile.
A further object of the present invention is to provide a kind of pure electric automobile.
To achieve these goals, the embodiment of first aspect present invention proposes a kind of Motor torque control of pure electric automobile
Method, comprises the following steps：The value of slope of the track residing for detection vehicle；Obtained according to the value of slope and complete vehicle quality
To the torque along the gradient direction that the vehicle is produced by the gradient on the enforcement road surface；Obtained according to accelerator pedal signal
The output torque of motor；And the output torque and the torque according to the motor obtain the motor
Final output moment of torsion.
The Motor torque control method of pure electric automobile according to embodiments of the present invention, in vehicle travel process, detects vehicle
Value of slope, and according to the value of slope and complete vehicle quality of vehicle be calculated vehicle due to the gradient produce along the attached of gradient direction
Reinforcing square, and the motor that the additional moment is obtained with vehicle by accelerator pedal signal output torque be added after obtain motor
Final output moment of torsion.That is, the method can adjust the final defeated of motor according to the value of slope of vehicle running surface
Go out moment of torsion, and then lift the cornering ability of vehicle, meanwhile, realize the optimization of energy.
In addition, the Motor torque control method of pure electric automobile according to the above embodiment of the present invention can also have following adding
Technical characteristic：
In some instances, the value of slope of the track residing for the vehicle is detected by horizontal signal sensor.
In some instances, the scope of the value of slope is (- 60% ,+60%).
Second inventive embodiment of the invention additionally provides a kind of Motor torque control system of pure electric automobile, including：Detection
Module, the detection module is used to detect the value of slope of the track residing for vehicle；Acquisition module, the acquisition module is used
According to the value of slope and complete vehicle quality obtain the vehicle by the enforcement road surface the gradient produce along the gradient direction
Torque, and the output torque that motor is obtained according to accelerator pedal signal；Computing module, the control module is used for
Output torque and the torque according to the motor obtain the final output moment of torsion of the motor.
The Motor torque control system of pure electric automobile according to embodiments of the present invention, in vehicle travel process, detects vehicle
Value of slope, and according to the value of slope and complete vehicle quality of vehicle be calculated vehicle due to the gradient produce along the attached of gradient direction
Reinforcing square, and the motor that the additional moment is obtained with vehicle by accelerator pedal signal output torque be added after obtain motor
Final output moment of torsion.That is, the system can adjust the final defeated of motor according to the value of slope of vehicle running surface
Go out moment of torsion, and then lift the cornering ability of vehicle, meanwhile, realize the optimization of energy.
In addition, the Motor torque control system of pure electric automobile according to the above embodiment of the present invention can also have following adding
Technical characteristic：
In some instances, the detection module is horizontal signal sensor.
In some instances, the scope of the value of slope is (- 60% ,+60%).
The embodiment of third aspect present invention additionally provides a kind of pure electric automobile, including described in second aspect present invention embodiment
Pure electric automobile Motor torque control system.Therefore, the pure electric automobile can be according to the value of slope of vehicle running surface
To adjust the final output moment of torsion of motor, and then the cornering ability of vehicle is lifted, meanwhile, realize the optimization of energy.
Additional aspect of the invention and advantage will be set forth in part in the description, and partly will from the following description become bright
It is aobvious, or recognized by practice of the invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will be apparent from description of the accompanying drawings below to embodiment is combined
Be readily appreciated that, wherein：
Fig. 1 is the power electric control system block diagram of current pure electric automobile；
Fig. 2 is the flow chart of the Motor torque control method of pure electric automobile according to an embodiment of the invention；And
Fig. 3 is the structured flowchart of the Motor torque control system of pure electric automobile according to an embodiment of the invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein identical from start to finish
Or similar label represents same or similar element or the element with same or like function.Retouched below with reference to accompanying drawing
The embodiment stated is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
Motor torque control method, system and pure electricity below in conjunction with Description of Drawings pure electric automobile according to embodiments of the present invention
Electrical automobile.
The flow chart of the Motor torque control method of Fig. 2 pure electric automobiles according to an embodiment of the invention.As Fig. 2 shows,
The method is comprised the following steps：
Step S1：The value of slope of the track residing for detection vehicle.
Wherein, in one embodiment of the invention, horizontal signal sensor can be for example installed on pure electric automobile, is led to
The horizontal signal sensor is crossed to detect the value of slope of the track residing for vehicle.Specifically include：Sensed by horizontal signal
The grade information on road surface residing for device collection vehicle, and a voltage signal of 0~5V is converted into, then the voltage is believed
After the treatment such as number being calibrated, diagnosed and being filtered, the value of slope of the track residing for vehicle is finally given.More specifically,
In some instances, the span of value of slope is, for example, (- 60% ,+60%), wherein, negative value represents lower broken, Zheng Zhibiao
Show upward slope, 0 represents that the track residing for vehicle is level road.
Step S2：Vehicle is obtained due to exercising the power along gradient direction that the gradient on road surface is produced according to value of slope and complete vehicle quality
Square.
Step S3：The output torque of motor is obtained according to accelerator pedal signal.
Step S4：Output torque and torque according to motor obtain the final output moment of torsion of motor.Specifically, will
The output torque of motor is added by the torque along gradient direction that the gradient for exercising road surface is produced with vehicle and can be driven
The final output moment of torsion of motor.Because, in vehicle travel process, if there is the gradient in the track residing for vehicle,
Then vehicle can produce power up or down due to the gradient and own wt, therefore, embodiments of the invention are by output one
Additional moment individual equal in magnitude with the power but in opposite direction is offset, so as to improving the cornering ability of vehicle.
To sum up, the Motor torque control method of pure electric automobile according to embodiments of the present invention, in vehicle travel process, inspection
The value of slope of measuring car, and according to the value of slope and complete vehicle quality of vehicle be calculated vehicle due to the gradient produce along gradient side
To additional moment, and the motor that the additional moment is obtained with vehicle by accelerator pedal signal output torque be added after
To the final output moment of torsion of motor.That is, the method can adjust motor according to the value of slope of vehicle running surface
Final output moment of torsion, and then the cornering ability of vehicle is lifted, meanwhile, realize the optimization of energy.
Further embodiment of the present invention additionally provides a kind of Motor torque control system of pure electric automobile.
Fig. 3 is the structured flowchart of the Motor torque control system of pure electric automobile according to an embodiment of the invention.Such as Fig. 3
Shown, the Motor torque control system 100 of the pure electric automobile includes：Detection module 110, acquisition module 120 and calculating
Module 130.
Wherein, 110 pieces of detection module is used to detect the value of slope of the track residing for vehicle.In one of the invention implementation
In example, detection module 110 is, for example, horizontal signal sensor.Row residing for vehicle is detected by the horizontal signal sensor
The value of slope on road surface is sailed, is specifically included：By the grade information on road surface residing for horizontal signal sensor collection vehicle, and by its
A voltage signal of 0~5V is converted to, after the treatment such as then the voltage signal being calibrated, diagnosed and being filtered, finally
Obtain the value of slope of the track residing for vehicle.More specifically, in some instances, the span of value of slope is for example
It is (- 60% ,+60%), wherein, negative value represents lower broken, is gone up a slope on the occasion of representing, the track residing for 0 expression vehicle is
Level road.
Acquisition module 120 be used for according to value of slope and complete vehicle quality obtain vehicle by exercise road surface the gradient produce along gradient side
To torque, and the output torque that motor is obtained according to accelerator pedal signal.
Computing module 130 is used to be obtained according to the output torque and torque of motor the final output moment of torsion of motor.Tool
Body ground, computing module 130 by the output torque and vehicle of motor by the gradient of exercising road surface produce along gradient direction
Torque is added, you can obtain the final output moment of torsion of motor.Because, in vehicle travel process, if vehicle
There is the gradient in residing track, then vehicle can produce power up or down due to the gradient and own wt, therefore,
Embodiments of the invention are offset by exporting an additional moment equal in magnitude with the power but in opposite direction, so as to carry
The cornering ability of vehicle is risen.
To sum up, the Motor torque control system of pure electric automobile according to embodiments of the present invention, in vehicle travel process, inspection
The value of slope of measuring car, and according to the value of slope and complete vehicle quality of vehicle be calculated vehicle due to the gradient produce along gradient side
To additional moment, and the motor that the additional moment is obtained with vehicle by accelerator pedal signal output torque be added after
To the final output moment of torsion of motor.That is, the system can adjust motor according to the value of slope of vehicle running surface
Final output moment of torsion, and then the cornering ability of vehicle is lifted, meanwhile, realize the optimization of energy.
Further embodiment of the present invention additionally provides a kind of pure electric automobile.The pure electric automobile includes above-mentioned implementation of the invention
The Motor torque control system of the pure electric automobile described in example.Therefore, the pure electric automobile can be according to vehicle running surface
Value of slope adjusts the final output moment of torsion of motor, and then lifts the cornering ability of vehicle, meanwhile, realize energy most
Optimization.
In addition, other of pure electric automobile according to embodiments of the present invention constitute and act on the ordinary skill people for this area
All it is known for member, in order to reduce redundancy, does not repeat.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ",
The orientation or position relationship of the instruction such as " clockwise ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " are based on shown in the drawings
Orientation or position relationship, are for only for ease of the description present invention and simplify and describe, rather than indicate or imply signified device or
Element with specific orientation, with specific azimuth configuration and operation, therefore must be not considered as limiting the invention.
Additionally, term " first ", " second " be only used for describe purpose, and it is not intended that indicate or imply relative importance or
Person implies the quantity of the technical characteristic for indicating indicated.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In the description of the invention, " multiple " is meant that at least two, such as two,
Three etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the art such as term " installation ", " connected ", " connection ", " fixation "
Language should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integrally；Can be machinery
Connection, or electrical connection；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two units
Connection or two interaction relationships of element inside part, unless otherwise clearly restriction.For the ordinary skill of this area
For personnel, above-mentioned term concrete meaning in the present invention can be as the case may be understood.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be
One and second feature directly contact, or the first and second features pass through intermediary mediate contact.And, fisrt feature is
Two features " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or are merely representative of first
Characteristic level is highly higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be fisrt feature
Immediately below second feature or obliquely downward, or fisrt feature level height is merely representative of less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specific example ",
Or the description of " some examples " etc. means to combine specific features, structure, material or feature bag that the embodiment or example are described
It is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term necessarily
It is directed to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
Combined in an appropriate manner in individual or multiple embodiments or example.Additionally, in the case of not conflicting, the skill of this area
Can be combined for the feature of the different embodiments or example described in this specification and different embodiments or example by art personnel
And combination.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment be it is exemplary,
It is not considered as limiting the invention, one of ordinary skill in the art within the scope of the invention can be to above-described embodiment
It is changed, changes, replacing and modification.
Claims (7)
1. the Motor torque control method of a kind of pure electric automobile, it is characterised in that comprise the following steps：
The value of slope of the track residing for detection vehicle；
According to the value of slope and complete vehicle quality obtain the vehicle by the enforcement road surface the gradient produce along the gradient side
To torque；
The output torque of motor is obtained according to accelerator pedal signal；And
Output torque and the torque according to the motor obtain the final output moment of torsion of the motor.
2. the Motor torque control method of pure electric automobile according to claim 1, it is characterised in that believed by level
Number sensor detects the value of slope of the track residing for the vehicle.
3. the Motor torque control method of pure electric automobile according to claim 2, it is characterised in that the value of slope
Scope be (- 60% ,+60%).
4. the Motor torque control system of a kind of pure electric automobile, it is characterised in that including：
Detection module, the detection module is used to detect the value of slope of the track residing for vehicle；
Acquisition module, the acquisition module is used to obtain the vehicle by the enforcement road according to the value of slope and complete vehicle quality
The torque along the gradient direction that the gradient in face is produced, and the output torque that motor is obtained according to accelerator pedal signal；
Computing module, the control module is used to obtain the driving according to the output torque and the torque of the motor
The final output moment of torsion of motor.
5. the Motor torque control system of pure electric automobile according to claim 4, it is characterised in that the detection mould
Block is horizontal signal sensor.
6. the Motor torque control system of pure electric automobile according to claim 5, it is characterised in that the value of slope
Scope be (- 60% ,+60%).
7. a kind of pure electric automobile, it is characterised in that the electricity including the pure electric automobile as described in claim any one of 4-6
Machine torque control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510781137.XA CN106696762A (en) | 2015-11-13 | 2015-11-13 | Motor torque control method and system for BEV (battery electrical vehicle), and battery electrical vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510781137.XA CN106696762A (en) | 2015-11-13 | 2015-11-13 | Motor torque control method and system for BEV (battery electrical vehicle), and battery electrical vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106696762A true CN106696762A (en) | 2017-05-24 |
Family
ID=58931577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510781137.XA Pending CN106696762A (en) | 2015-11-13 | 2015-11-13 | Motor torque control method and system for BEV (battery electrical vehicle), and battery electrical vehicle |
Country Status (1)
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| CN (1) | CN106696762A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583369A (en) * | 2018-05-02 | 2018-09-28 | 珠海格力节能环保制冷技术研究中心有限公司 | Control method and device, the system of motor torque |
| CN109229101A (en) * | 2018-08-09 | 2019-01-18 | 纳恩博（北京）科技有限公司 | Traveling apparatus, the control method of traveling apparatus and storage medium |
| CN110843757A (en) * | 2019-10-16 | 2020-02-28 | 武汉客车制造股份有限公司 | Vehicle control method and device capable of recognizing posture of whole vehicle |
| CN112124223A (en) * | 2020-08-19 | 2020-12-25 | 湖北世纪中远车辆有限公司 | Electric automobile intelligent control method for improving overall economy |
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| CN108583369A (en) * | 2018-05-02 | 2018-09-28 | 珠海格力节能环保制冷技术研究中心有限公司 | Control method and device, the system of motor torque |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20180419 Address after: No. 188, Miyun District, Miyun District, Beijing, Beijing Applicant after: Beijing treasure Car Co., Ltd. Address before: 102206 Changping District City, Shahe, Sha Yang Road, Beijing Applicant before: Beiqi Futian Automobile Co., Ltd. |
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Application publication date: 20170524 |