CN106740267A - Control method and system for output torque - Google Patents
Control method and system for output torque Download PDFInfo
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- CN106740267A CN106740267A CN201710056268.0A CN201710056268A CN106740267A CN 106740267 A CN106740267 A CN 106740267A CN 201710056268 A CN201710056268 A CN 201710056268A CN 106740267 A CN106740267 A CN 106740267A
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- 230000008859 change Effects 0.000 claims abstract description 40
- 230000001133 acceleration Effects 0.000 claims description 27
- 230000033228 biological regulation Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 230000001143 conditioned effect Effects 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims 2
- 238000011161 development Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 230000009286 beneficial effect 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
- 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
- B60L2240/421—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
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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 control method and a system of output torque, wherein the control method of the output torque comprises the following steps: the method comprises the steps of obtaining a first motor rotating speed in a first preset time period and a second motor rotating speed in a second preset time period when a vehicle runs at present, wherein the second preset time period is later than the first preset time period; obtaining the change rate of the current motor rotating speed according to the first motor rotating speed and the second motor rotating speed; when the current motor rotating speed change rate is larger than a preset motor rotating speed change rate, determining the current running limited torque; and obtaining the current target output torque according to the required torque and the limiting torque when the vehicle runs currently, and controlling the torque output of the vehicle according to the target output torque. The embodiment of the invention utilizes the characteristic of quick response of the motor torque to judge whether the vehicle skids or not according to the change rate of the motor rotating speed, and simultaneously controls the output torque of the whole vehicle according to the change rates of different motor rotating speeds, thereby improving the stability and the safety of vehicle running.
Description
Technical field
The present invention relates to automotive field, the control method and system of more particularly to a kind of output torque.
Background technology
Also known as TCS, its function is vehicle is obtained optimal traction under steam to Anti-slip regulation system
Power, prevents driving wheel of vehicle skidding, it is ensured that the stabilization and safety of vehicle traveling.The Anti-slip regulation system schema of orthodox car
It is typically integrated in body electronics systems stabilisation ESP (Electronic Stability Program) or anti-blocking brake system
In ABS (antilock brake system), engine power is reduced by reducing throttle opening or by brake control
Wheel-slip processed reaches the control to vehicle traction.Realize that such scheme needs special a set of mechanical structure (wheel turn
Fast sensor, steering wheel angle sensor, yaw-rate sensor, lateral acceleration sensor, brake etc.), it is so big
Increased development cost greatly；Simultaneously as matching the system needs substantial amounts of match test and reliability demonstration, so that vehicle
Construction cycle greatly prolong.
The content of the invention
The embodiment of the present invention technical problem to be solved is to provide the control method and system of a kind of output torque, to reality
Do not increase mechanical structure in present electric vehicle, output torque is controlled to improve the stability and safety of vehicle traveling
Property.
In order to solve the above technical problems, the embodiment of the invention provides a kind of control method of output torque, car is applied to
, the control method includes：
First motor speed of the first preset time period when obtaining vehicle current driving and the of the second preset time period
Two motor speeds, wherein, the second preset time period is later than the first preset time period；
According to first motor speed and second motor speed, current motor relative speed variation is obtained；
When the current motor relative speed variation is more than default motor speed rate of change, determine that the limitation of current driving is turned round
Square；
Demand torque and the limitation moment of torsion during according to vehicle current driving, obtain current target output torque, and
The torque output of vehicle is controlled according to the target output torque.
Further, the control method also includes：
When the current motor relative speed variation is more than default motor speed rate of change, believe to control instrument output control
Number, light the control instrument.
Further, it is described when the current motor relative speed variation is more than default motor speed rate of change, it is determined that working as
Before the step of limitation moment of torsion of preceding traveling, the control method also includes：
Obtain first speed and the second speed of the second preset time period of the first preset time period of vehicle current driving；
According to first speed and second speed, current vehicle acceleration is obtained；
According to the current vehicle acceleration and default vehicle acceleration motor relative speed variation relation table, obtain described pre-
If motor speed rate of change.
Further, the step of determining the limitation moment of torsion of current driving, including：
According to the current motor relative speed variation, it is determined that drop turns round percentage；
Percentage is turned round according to the drop, the limitation moment of torsion is obtained.
Further, during the current driving according to vehicle demand torque and the limitation moment of torsion, obtain current mesh
Before the step of mark output torque, the control method also includes：
Pedal signal and gear signal during acquisition vehicle current driving, wherein, the pedal signal includes accelerator pedal
Signal and brake pedal signal；
According to the pedal signal and gear signal, demand torque when obtaining current driving is calculated.
Further, it is described before the step of controlling the torque output of vehicle according to the target output torque is performed
Control method also includes：
Obtain the enable control signal of Anti-slip regulation；
When the enable control signal meets pre-conditioned, the torsion that vehicle is controlled according to the current output torque is performed
The step of square is exported.
Further, the step of torque output of vehicle being controlled according to the target output torque, including：
According to the target output torque, the torque output current to vehicle carries out gradient limitation, until the moment of torsion of output
Equal to the target output torque.
Further, according to the target output torque, the step of the torque output current to vehicle carries out gradient and limits
In, also include：
The torque output current to vehicle carries out rolling filtering process.
The embodiment of the present invention additionally provides a kind of control system of output torque, and the control system includes：
First acquisition module, the first motor speed and for obtaining the first preset time period during vehicle current driving
Second motor speed of two preset time periods, wherein, the second preset time period is later than the first preset time period；
Second acquisition module, for according to first motor speed and second motor speed, obtaining current motor
Relative speed variation；
Determining module, for when the current motor relative speed variation is more than default motor speed rate of change, it is determined that working as
The limitation moment of torsion of preceding traveling；
Control module, demand torque and the limitation moment of torsion during for according to vehicle current driving obtain current mesh
Mark output torque, and the torque output of vehicle is controlled according to the target output torque.
Further, the control module is additionally operable to：
When the current motor relative speed variation is more than default motor speed rate of change, believe to control instrument output control
Number, light the control instrument.
Further, the control system also includes：
3rd acquisition module, the first speed and second for obtaining the first preset time period of vehicle current driving is default
Second speed of time period；
4th acquisition module, for according to first speed and second speed, obtaining current vehicle acceleration；
5th acquisition module, for according to the current vehicle acceleration and default vehicle acceleration motor relative speed variation
Relation table, obtains the default motor speed rate of change.
Further, during determining module determines the limitation moment of torsion of current driving, the determining module is used for：
According to the current motor relative speed variation, it is determined that drop turns round percentage；
Percentage is turned round according to the drop, the limitation moment of torsion is obtained.
Further, the control system also includes：
6th acquisition module, for obtaining pedal signal and gear signal during vehicle current driving, wherein, the pedal
Signal includes accelerator pedal signal and brake pedal signal；
7th acquisition module, for according to the pedal signal and gear signal, calculating demand when obtaining current driving
Moment of torsion.
Further, control module is also used before the torque output according to target output torque control vehicle is performed
In：
Obtain the enable control signal of Anti-slip regulation；
When the enable control signal meets pre-conditioned, the torsion that vehicle is controlled according to the current output torque is performed
Square is exported.
Further, in torque output of the control module according to target output torque control vehicle, the control mould
Block is used for：
According to the target output torque, the torque output current to vehicle carries out gradient limitation, until the moment of torsion of output
Equal to the target output torque.
Further, according to the target output torque, the torque output current to vehicle carries out gradient limit to control module
In system, the control module is additionally operable to：
The torque output current to vehicle carries out rolling filtering process.
Compared with prior art, the control method and system of a kind of output torque provided in an embodiment of the present invention, at least have
There is following beneficial effect：The characteristics of embodiment of the present invention responds fast using Motor torque, car is judged according to motor speed rate of change
Whether skid, while being controlled to vehicle output torque according to different motor speed rates of change, improve vehicle traveling
Stability and security.And the control device of the output torque of the embodiment of the present invention need not additionally increase mechanical structure, reduce
In the exploitation week of vehicle, reduce development cost.
Brief description of the drawings
Fig. 1 is the flow chart of the control method of the output torque of first embodiment of the invention；
Fig. 2 is the flow chart of the control method of the output torque of second embodiment of the invention；
Fig. 3 is the flow chart of the control method of the output torque of third embodiment of the invention；
Fig. 4 is the flow chart of the control method of the output torque of fourth embodiment of the invention；
Fig. 5 is the flow chart of the control method of the output torque of fifth embodiment of the invention；
Fig. 6 is the flow chart of the control method of the output torque of sixth embodiment of the invention；
Fig. 7 is the flow chart of the control method of the output torque of seventh embodiment of the invention；
Fig. 8 is the flow chart of the control method of the output torque of eighth embodiment of the invention；
Fig. 9 is the structural representation of the control system of the output torque of ninth embodiment of the invention.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.In the following description, there is provided such as specific configuration is only with the specific detail of component
In order to help comprehensive understanding embodiments of the invention.Therefore, it will be apparent to those skilled in the art that can be to reality described herein
Example is applied to make various changes and modifications without deviating from scope and spirit of the present invention.In addition, for clarity and brevity, it is right to eliminate
The description of known function and construction.
It should be understood that " one embodiment " or " embodiment " that specification is mentioned in the whole text means relevant with embodiment
Special characteristic, structure or characteristic are included at least one embodiment of the present invention.Therefore, occur everywhere in entire disclosure
" in one embodiment " or " in one embodiment " not necessarily refers to identical embodiment.Additionally, these specific feature, knots
Structure or characteristic can be combined in one or more embodiments in any suitable manner.
First embodiment
Referring to Fig. 1, a kind of control method of output torque is the embodiment of the invention provides, be applied to vehicle, the control
Method includes：
Step 101, the first motor speed of the first preset time period when obtaining vehicle current driving and second it is default when
Between section the second motor speed, wherein, the second preset time period is later than the first preset time period；
Step 102, according to first motor speed and second motor speed, obtains current motor rotation speed change
Rate；
Step 103, when the current motor relative speed variation is more than default motor speed rate of change, determines current driving
Limitation moment of torsion；
Step 104, demand torque and the limitation moment of torsion during according to vehicle current driving obtain current target output
Moment of torsion, and the torque output of vehicle is controlled according to the target output torque.
New energy pure electric automobile is mainly used in the control method of the output torque of the embodiment of the present invention, it is not necessary to volume
Outer increase mechanical structure, simply researches and develops in entire car controller VCU (Vehicle control unit) torque control strategy
New function, meanwhile, development process can be parallel with the exploitation of VCU control strategies, will not increase construction cycle and the cost of vehicle.This hair
The characteristics of bright embodiment responds fast using Motor torque, VCU is by using micro-control unit MCU (Microcontroller
Unit the motor speed for) reporting calculates the current motor relative speed variation of vehicle, is judged by current motor relative speed variation
Whether driving wheel skids, while being controlled to vehicle driving torque according to different motor speed rates of change, improves vehicle row
The stability and security sailed.
It should be noted that the control of moment of torsion is typically controlled by entire car controller VCU, the embodiment of the present invention (and
Embodiments below) also with this for example, still control method of the invention is not limited to be applied to entire car controller
VCU.And general vehicle obtains motor speed by micro-control unit MCU, while the motor speed degree of accuracy for obtaining is high, therefore this
Inventive embodiments obtain motor speed by micro-control unit MCU, but, the present invention by which kind of mode to not obtaining motor
Rotating speed is limited.
Second embodiment
Referring to Fig. 2, a kind of control method of output torque is present embodiments provided, the control method includes：
Step 201, the first motor speed of the first preset time period when obtaining vehicle current driving and second it is default when
Between section the second motor speed, wherein, the second preset time period is later than the first preset time period；
Step 202, according to first motor speed and second motor speed, obtains current motor rotation speed change
Rate；
Step 203, when the current motor relative speed variation is more than default motor speed rate of change, determines current driving
Limitation moment of torsion；
Step 204, demand torque and the limitation moment of torsion during according to vehicle current driving obtain current target output
Moment of torsion, and the torque output of vehicle is controlled according to the target output torque.
Step 205, to control instrument output control signal, lights the control instrument.
Compared to first embodiment, turn embodiment adds when the current motor relative speed variation is more than default motor
During fast rate of change, to control instrument output control signal, light the control instrument.
In the present embodiment, when vehicle slip is detected, (i.e. current motor relative speed variation is more than default motor speed
During rate of change), VCU can light the alarm lamp of control instrument, remind driver.
In addition, in the control system of the embodiment of the present invention, being provided with the controlling party for being turned on and off the embodiment of the present invention
The switch of method, in order to improve Consumer's Experience, user that is good for driving efficiency or pursuing dynamic property can be taken by closing switch
The function (Anti-slip regulation function) of the control method of the embodiment of the present invention that disappears, now the warning light of control instrument can be lighted, and be reminded
Driver's function is turned off.Wherein, alarm lamp and warning light have obvious difference, and in one embodiment, two kinds of points of lamp
It is bright to be shown by symbol different in instrument.
3rd embodiment
Referring to Fig. 3, for first embodiment in, it is described when the current motor relative speed variation is more than default motor speed
During rate of change, the step of determine the limitation moment of torsion of current driving before, the control method also includes：
Step 301, obtains first speed and second preset time period of the first preset time period of vehicle current driving
Second speed；
Step 302, according to first speed and second speed, obtains current vehicle acceleration；
Step 303, according to the current vehicle acceleration and default vehicle acceleration motor relative speed variation relation table, obtains
Obtain the default motor speed rate of change.
In order to ensure the safety of driving, must be according to car for corresponding motor speed rate of change under which kind of vehicle acceleration
Experiment carries out obtaining corresponding data.So, in the present embodiment, based on winter experiment, vehicle is demarcated to vehicle acceleration
Demarcated in detail with default vehicle acceleration motor relative speed variation relation table, obtained under different vehicle acceleration, automobile energy
The safe motor speed rate of change of enough safety traffics, forms vehicle acceleration and default vehicle acceleration motor relative speed variation
Relation table (default vehicle acceleration-motor speed rate of change relation table).For actual vehicle or control system, can be by it
Put, it is necessary to when by inquiring about under vehicle acceleration and the different speeds of default vehicle acceleration motor relative speed variation relation table acquisition
Default motor speed rate of change.
Fourth embodiment
Referring to Fig. 4, for first embodiment in, the step of determine the limitation moment of torsion of current driving, including：
Step 401, according to the current motor relative speed variation, it is determined that drop turns round percentage；
Step 402, percentage is turned round according to the drop, obtains the limitation moment of torsion.
In the present embodiment, when vehicle slides, (i.e. current motor relative speed variation is more than default motor speed and becomes
During rate), output torque will be limited, plus limitation moment of torsion on the basis of output torque, form target output torque.
For limitation moment of torsion, when sliding, the difference that original demands moment of torsion is multiplied by drop torsion percentage with original demands moment of torsion is
Limitation moment of torsion.In embodiments of the present invention, also drop directly can be multiplied by demand torque and turns round percentage, obtain target output torque.
In one embodiment, for actual vehicle or control system, VCU parsings obtain demand torque, and obtain target output torque,
And target output torque is sent to MCU by CAN, MCU carries out vector control algorithm and calculates according to the torque command of VCU
Three-phase alternating current, so that motor works.
5th embodiment
Referring to Fig. 5, for first embodiment in, the demand torque during current driving according to vehicle and the limitation are turned round
Square, the step of obtain current target output torque before, the control method also includes：
Step 501, pedal signal and gear signal during acquisition vehicle current driving, wherein, the pedal signal includes
Accelerator pedal signal and brake pedal signal；
Step 502, according to the pedal signal and gear signal, calculates demand torque when obtaining current driving.
In the present embodiment, there is provided a kind of acquisition methods of demand torque, believed by gathering accelerator pedal signal, gear
Number, the torque demand of the parsing driver such as brake pedal signal.
Sixth embodiment
Referring to Fig. 6, for first embodiment in, perform according to the target output torque control vehicle torque output
The step of before, also include：
Step 601, obtains the enable control signal of Anti-slip regulation；
Step 602, when the enable control signal meets pre-conditioned, performs and is controlled according to the current output torque
The step of torque output of vehicle.
In the present embodiment, considered the various states that vehicle is likely to be at, under partial status without or not
The control method of the output torque of the embodiment of the present invention should be used, so, whether be controlled by an enable signal is needed
Use the control method of the output torque of the embodiment of the present invention, only when the enable control signal meets pre-conditioned,
Perform the step of torque output of vehicle is controlled according to the current output torque.
Wherein, for the pre-conditioned limitation for being based in the case of this being adapted to or must carrying out output torque, for default
The condition embodiment of the present invention provides following optimum condition：Brake pedal switch signal represents that brake pedal is not stepped on；Gear signal
Represent and be located at D grades or R grades；Vehicle operating mode is shelves/R grades of operating mode of D, E (energy saver mode)；Whole vehicle state is good；Complete vehicle fault information
Fault-free is represented, (IGBT excess temperatures, communication is lost, and high pressure is leaked cruelly, moment of torsion for such as brake switch, gear signal, CAN communication, MCU
Verification) fault-free；Speed is in effective range；Moment of torsion>TCS enables threshold value；Brake energy recovery marking signal represents incompetent
Amount is reclaimed；It is not turned off using the switch of the control device of the present embodiment method.
7th embodiment
Referring to Fig. 7, for first embodiment in, according to the target output torque control vehicle torque output step
Suddenly, including：
Step 701, according to the target output torque, the torque output current to vehicle carries out gradient limitation, until defeated
The moment of torsion for going out is equal to the target output torque.
Mention in the fourth embodiment and " for actual vehicle or control system, VCU parsing acquisition demand torques, and obtaining
Target output torque is obtained, and target output torque is sent to MCU by CAN, MCU carries out vector according to the torque command of VCU
Control algolithm calculates three-phase alternating current, so that motor works." wherein, in the present embodiment, it is contemplated that by output torque
Directly being reduced to target output torque may threaten traffic safety.So, in the present embodiment, gradient limit is carried out to output torque
System, until the moment of torsion of output is equal to the target output torque.For example, target output torque is the 70% of output torque, then it is right
Output torque first reduces by 90%, then be reduced to its 80%, until being reduced to 70%.Gradient limitation also ensure that to a certain extent
The smooth and driver comfort of moment of torsion, can improve Consumer's Experience.
8th embodiment
Referring to Fig. 8, for the 7th embodiment in, according to the target output torque, the torque output current to vehicle is entered
In the step of row gradient is limited, also include：
Step 801, the torque output current to vehicle carries out rolling filtering process.
I.e. according to the target output torque, the torque output current to vehicle carries out rolling filtering process and gradient limit
System.
In actual vehicle or control system, control is generally to be controlled by electric signal, so spike is there may be, and
Spike may influence the control of the output torque of the embodiment of the present invention.So, in the present embodiment, the moment of torsion current to vehicle is defeated
Going out carries out rolling filtering process, removes spike therein, it is ensured that output torque is steady, it is ensured that traffic safety.
It should be noted that the description in above-described embodiment is, mostly the step in first embodiment is explained,
But these steps may there is also and other embodiment, so, the special characteristic relevant with embodiment, structure or characteristic can be with
Any suitable mode is combined in one or more embodiments.
9th embodiment
Referring to Fig. 9, the embodiment of the present invention additionally provides a kind of control system of output torque, and the control system includes：
First acquisition module 1, for obtain the first preset time period during vehicle current driving the first motor speed and
Second motor speed of the second preset time period, wherein, the second preset time period is later than the first preset time period；
Second acquisition module 2, for according to first motor speed and second motor speed, obtaining current motor
Relative speed variation；
Determining module 3, for when the current motor relative speed variation is more than default motor speed rate of change, it is determined that working as
The limitation moment of torsion of preceding traveling；
Control module 4, demand torque and the limitation moment of torsion during for according to vehicle current driving obtain current mesh
Mark output torque, and the torque output of vehicle is controlled according to the target output torque.
Further, the control module 4 is additionally operable to：
When the current motor relative speed variation is more than default motor speed rate of change, believe to control instrument output control
Number, light the control instrument.
Further, the control system also includes：
3rd acquisition module, the first speed and second for obtaining the first preset time period of vehicle current driving is default
Second speed of time period；
4th acquisition module, for according to first speed and second speed, obtaining current vehicle acceleration；
5th acquisition module, for according to the current vehicle acceleration and default vehicle acceleration motor relative speed variation
Relation table, obtains the default motor speed rate of change.
Further, during determining module 3 determines the limitation moment of torsion of current driving, the determining module 3 is used for：
According to the current motor relative speed variation, it is determined that drop turns round percentage；
Percentage is turned round according to the drop, the limitation moment of torsion is obtained.
Further, the control system also includes：
6th acquisition module, for obtaining pedal signal and gear signal during vehicle current driving, wherein, the pedal
Signal includes accelerator pedal signal and brake pedal signal；
7th acquisition module, for according to the pedal signal and gear signal, calculating demand when obtaining current driving
Moment of torsion.
Further, control module 4 is controlled before the torque output according to target output torque control vehicle is performed
Module 4 is additionally operable to：
Obtain the enable control signal of Anti-slip regulation；
When the enable control signal meets pre-conditioned, the torsion that vehicle is controlled according to the current output torque is performed
The step of square is exported.
Further, in torque output of the control module 4 according to target output torque control vehicle, the control mould
Block 4 is used for：
According to the target output torque, the torque output current to vehicle carries out gradient limitation, until the moment of torsion of output
Equal to the target output torque.
Further, according to the target output torque, the torque output current to vehicle carries out gradient limit to control module 4
In system, control module 4 is additionally operable to：
The torque output current to vehicle carries out rolling filtering process.
To sum up, the characteristics of embodiment of the present invention responds fast using Motor torque, vehicle is judged according to motor speed rate of change
Whether skid, while being controlled to vehicle output torque according to different motor speed rates of change, improve the steady of vehicle traveling
Qualitative and security.And the control device of the output torque of the embodiment of the present invention need not additionally increase mechanical structure, reduce
In the exploitation week of vehicle, reduce development cost.
Also, it should be noted that herein, such as first and second or the like relational terms are used merely to one
Entity or operation make a distinction with another entity or operation, and between not necessarily requiring or implying these entities or operate
There is any this actual relation or order.And, term " including ", "comprising" or its any other variant be intended to contain
Lid nonexcludability is included.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (16)
1. a kind of control method of output torque, is applied to vehicle, it is characterised in that the control method includes：
First motor speed of the first preset time period during acquisition vehicle current driving and the second electricity of the second preset time period
Machine rotating speed, wherein, the second preset time period is later than the first preset time period；
According to first motor speed and second motor speed, current motor relative speed variation is obtained；
When the current motor relative speed variation is more than default motor speed rate of change, the limitation moment of torsion of current driving is determined；
Demand torque and the limitation moment of torsion during according to vehicle current driving, the current target output torque of acquisition, and according to
The target output torque controls the torque output of vehicle.
2. the control method of output torque according to claim 1, it is characterised in that the control method also includes：
When the current motor relative speed variation is more than default motor speed rate of change, to control instrument output control signal,
Light the control instrument.
3. the control method of output torque according to claim 1, it is characterised in that described when the current motor rotating speed
When rate of change is more than default motor speed rate of change, the step of determine the limitation moment of torsion of current driving before, the control method
Also include：
Obtain first speed and the second speed of the second preset time period of the first preset time period of vehicle current driving；
According to first speed and second speed, current vehicle acceleration is obtained；
According to the current vehicle acceleration and default vehicle acceleration motor relative speed variation relation table, the default electricity is obtained
Machine relative speed variation.
4. the control method of output torque according to claim 1, it is characterised in that determine the limitation moment of torsion of current driving
The step of, including：
According to the current motor relative speed variation, it is determined that drop turns round percentage；
Percentage is turned round according to the drop, the limitation moment of torsion is obtained.
5. the control method of output torque according to claim 1, it is characterised in that during the current driving according to vehicle
Demand torque and the limitation moment of torsion, the step of obtain current target output torque before, the control method also includes：
Pedal signal and gear signal during acquisition vehicle current driving, wherein, the pedal signal includes accelerator pedal signal
And brake pedal signal；
According to the pedal signal and gear signal, demand torque when obtaining current driving is calculated.
6. the control method of output torque according to claim 1, it is characterised in that exported according to the target performing
Before the step of torque output of moment of torsion control vehicle, the control method also includes：
Obtain the enable control signal of Anti-slip regulation；
When the enable control signal meets pre-conditioned, perform and control the moment of torsion of vehicle defeated according to the current output torque
The step of going out.
7. the control method of output torque according to claim 1, it is characterised in that according to the target output torque control
The step of torque output of vehicle processed, including：
According to the target output torque, the torque output current to vehicle carries out gradient limitation, until the moment of torsion of output is equal to
The target output torque.
8. the control method of output torque according to claim 7, it is characterised in that according to the target output torque,
During the torque output current to vehicle is carried out the step of gradient is limited, also include：
The torque output current to vehicle carries out rolling filtering process.
9. a kind of control system of output torque, it is characterised in that the control system includes：
First acquisition module, the first motor speed and second for obtaining the first preset time period during vehicle current driving is pre-
If second motor speed of time period, wherein, the second preset time period is later than the first preset time period；
Second acquisition module, for according to first motor speed and second motor speed, obtaining current motor rotating speed
Rate of change；
Determining module, for when the current motor relative speed variation is more than default motor speed rate of change, determining current line
The limitation moment of torsion sailed；
Control module, demand torque and the limitation moment of torsion during for according to vehicle current driving obtain current target defeated
Go out moment of torsion, and the torque output of vehicle is controlled according to the target output torque.
10. the control system of output torque according to claim 9, it is characterised in that the control module is additionally operable to：
When the current motor relative speed variation is more than default motor speed rate of change, to control instrument output control signal,
Light the control instrument.
The control system of 11. output torques according to claim 9, it is characterised in that the control system also includes：
3rd acquisition module, the first speed and the second Preset Time for obtaining the first preset time period of vehicle current driving
Second speed of section；
4th acquisition module, for according to first speed and second speed, obtaining current vehicle acceleration；
5th acquisition module, for according to the current vehicle acceleration and default vehicle acceleration motor relative speed variation relation
Table, obtains the default motor speed rate of change.
The control system of 12. output torques according to claim 9, it is characterised in that determining module determines current driving
Limitation moment of torsion in, the determining module is used for：
According to the current motor relative speed variation, it is determined that drop turns round percentage；
Percentage is turned round according to the drop, the limitation moment of torsion is obtained.
The control system of 13. output torques according to claim 9, it is characterised in that the control system also includes：
6th acquisition module, for obtaining pedal signal and gear signal during vehicle current driving, wherein, the pedal signal
Including accelerator pedal signal and brake pedal signal；
7th acquisition module, for according to the pedal signal and gear signal, calculating demand torque when obtaining current driving.
The control system of 14. output torques according to claim 9, it is characterised in that control module is being performed according to institute
Before stating the torque output of target output torque control vehicle, it is additionally operable to：
Obtain the enable control signal of Anti-slip regulation；
When the enable control signal meets pre-conditioned, perform and control the moment of torsion of vehicle defeated according to the current output torque
Go out.
The control system of 15. output torques according to claim 9, it is characterised in that control module is according to the target
In the torque output of output torque control vehicle, the control module is used for：
According to the target output torque, the torque output current to vehicle carries out gradient limitation, until the moment of torsion of output is equal to
The target output torque.
The control system of 16. output torques according to claim 15, it is characterised in that control module is according to the target
Output torque, the torque output current to vehicle is carried out in gradient limitation, and the control module is additionally operable to：
The torque output current to vehicle carries out rolling filtering process.
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| CN201710056268.0A CN106740267A (en) | 2017-01-25 | 2017-01-25 | Control method and system for output torque |
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| CN201710056268.0A CN106740267A (en) | 2017-01-25 | 2017-01-25 | Control method and system for output torque |
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| CN113386578B (en) * | 2020-03-13 | 2024-01-23 | 北京新能源汽车股份有限公司 | Torque output control method and device, vehicle and equipment |
| CN112477620A (en) * | 2020-11-03 | 2021-03-12 | 宁波央腾汽车电子有限公司 | Automobile anti-skid protection method |
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| CN112389205B (en) * | 2020-11-04 | 2022-09-30 | 华人运通(江苏)技术有限公司 | Vehicle slip power overrun control system and method |
| CN112455241A (en) * | 2020-12-08 | 2021-03-09 | 安徽江淮汽车集团股份有限公司 | Automobile power system control method, device, equipment and storage medium |
| CN114670662B (en) * | 2021-04-21 | 2024-05-24 | 北京新能源汽车股份有限公司 | Torque control method, device and equipment |
| CN114670662A (en) * | 2021-04-21 | 2022-06-28 | 北京新能源汽车股份有限公司 | Torque control method, device and equipment |
| CN113804461B (en) * | 2021-08-23 | 2023-05-16 | 东风汽车集团股份有限公司 | Automobile hub test torsion limiting function shielding control method and control system |
| CN113804461A (en) * | 2021-08-23 | 2021-12-17 | 东风汽车集团股份有限公司 | Automobile hub test torque-limiting function shielding control method and control system |
| US11801760B2 (en) * | 2021-11-18 | 2023-10-31 | Hyundai Motor Company | Method and apparatus for controlling torque vectoring of xEV |
| CN114312324A (en) * | 2022-01-06 | 2022-04-12 | 奇瑞新能源汽车股份有限公司 | Anti-flying method and device for vehicle, vehicle and storage medium |
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