CN106809207B - A kind of electric vehicle load-carrying and gradient self-adaptation control method and its vehicle - Google Patents
A kind of electric vehicle load-carrying and gradient self-adaptation control method and its vehicle Download PDFInfo
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- CN106809207B CN106809207B CN201710044275.9A CN201710044275A CN106809207B CN 106809207 B CN106809207 B CN 106809207B CN 201710044275 A CN201710044275 A CN 201710044275A CN 106809207 B CN106809207 B CN 106809207B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
Abstract
The present invention discloses the vehicle of a kind of electric vehicle load-carrying and gradient self-adaptation control method and adopting said method, including measures dynamic torque, calculate ideal nominal wheel speed, measure practical wheel speed, compensation torque calculating, load-carrying and the gradient and adapt to.For method of the present invention by the compensation torque of calculating automotive power required input, adjusting the dynamic torque that vehicle exports makes vehicle even running to realize that the load-carrying of vehicle and the gradient are adaptive.The present invention keeps electric vehicle more intelligent, improves the dynamic property and comfort of vehicle, and reduces cost, has broad application prospects in vehicle traction/brake control art.
Description
Technical field
The present invention relates to a kind of intelligent control methods of electric vehicle, and in particular to a kind of electric vehicle load-carrying and the gradient from
The vehicle of adaptive control method and adopting said method belongs to vehicle traction/brake control art.
Background technique
In the driving process of vehicle especially electric vehicle, complete vehicle quality and road gradient are to influence longitudinal direction of car power
The important parameter of control is learned, therefore vehicle load and the adaptive control technology of the gradient also become vehicle traction/control for brake and lead
One research direction in domain.
The prior art has biggish defect to vehicle load and the adaptive control of the gradient: 1, acceleration transducer and
The application of more multisensor not only influences the stability of system, also greatly increases cost.2, it needs to estimate complete vehicle quality and road surface
The gradient is higher to hardware requirement.
Document " the Control Strategy for Hybrid Electric Vehicle research based on GPS ", proposes to carry out the road grade of electric car
The method of estimation, this method carry out road gradient estimation dependent on GPS, and the very little velocity error of GPS will lead to biggish slope
Spend evaluated error；This method is also needed using more sensor, and the atmospheric pressure especially influenced vulnerable to extraneous factor passes
The reliability of sensor, this method is poor, and is not suitable for generally all being not equipped with the cart of GPS.
Document " complete vehicle quality and road gradient of electro-motive vehicle are estimated ", proposes the vehicle matter based on least square method
Amount and gradient estimation method, this method is estimated based on vehicle motor output torque.The gradient and vehicle mass are tools
There is the amount of different characteristics, the gradient is very fast with time change, it is a fast variable, and vehicle mass is usually once being tested
It being held essentially constant in the process, it is a slow variable, thus, the variable of above-mentioned two asynchronism is based on same
Longitudinal vehicle dynamic model carries out while estimating, reliability is poor.
Document " vehicle mass and road grade based on Extended Kalman filter are estimated ", using Kalman filter to vehicle
Quality and the gradient of road carry out real-time online estimation, and realize the On-line Estimation to the gradient and vehicle mass, but
This method does not provide its specific applicability.
Summary of the invention
To overcome the shortcomings of existing technologies, the purpose of first aspect present invention is to provide a kind of electric vehicle load-carrying and the gradient
Self-adaptation control method makes vehicle in the state of load-carrying and slope change, changes vehicle input torque, to realize that vehicle is steady
Fixed operation.Specifically comprise the following steps:
(1), dynamic torque is measured:
Dynamic torque T*Including the first dynamic torque TrAnd/or the second dynamic torque Tp。
The first dynamic torque TrFor vehicular electric machine torque, provided by one or more motors, it is defeated by upper controller
Out, the upper controller is one of accelerator pedal, brake pedal, active safety control system or a variety of；Described first
Dynamic torque TrIt detects to obtain by torque sensor, or current of electric and the other parameters calculating measured by electric machine controller is asked
?.
The second dynamic torque TpApply the letter of torque to vehicle by the manpower and/or engine of torque sensor detection
Number and obtain.The second dynamic torque TpImplementation can be torque and/or engine pair that driver applies vehicle
Vehicle applies torque；Engine can be a kind of acquisition modes that vehicle applies torque and be obtained by throttle opening or distributive value
?.
Particularly, when the vehicle is pure electric vehicle, the numerical value of second dynamic torque is 0.
(2), ideal nominal wheel speed is calculated:
The dynamic torque T measured by step (1)*Nominal wheel speed w ideally is calculated*。
The nominal wheel speed specific formula for calculation ideally are as follows:
Jn=mr2+Jw
The meaning of each parameter is as follows in formula: T*: dynamic torque, Jn: ideally equivalent nominal rotary inertia, w*:
Ideally nominal wheel speed, m: the load-carrying that ideally wheel is shared, Jw: the rotary inertia of wheel, r: radius of wheel.
(3), practical wheel speed is measured:
It is calculated by motor speed and directly exports practical wheel speed w, practical rotation can also be measured by external sensor
Fast w.
(4), compensation torque calculating:
By comparing nominal wheel speed w*With practical wheel speed w, if | w*-w | < 3km/h, without calculate compensation torque；
If | w*-w | >=3km/h calculates compensation torque Tmc.Calculate the compensation torque TmcAlgorithm be selected from pid control algorithm,
One of FUZZY ALGORITHMS FOR CONTROL, optimal control algorithm, sliding mode control algorithm are a variety of.
Preferably, the compensation torque TmcCalculation formula are as follows: Tmc=K (w*-w)。
Wherein, K indicates gain coefficient.
(5) load-carrying and the gradient adapt to:
The compensation torque T obtained according to step (4)mc, adjust the torque output of motor, thus realize vehicle load-carrying and
The gradient is adaptive.
Further, in step (3), formula provided by step (2) can be directly utilized to calculate practical wheel speed institute
Corresponding simulation dynamic torque T, in step (4), the dynamic torque T that is directly measured by simulation dynamic torque T and step (1)*
Compare and calculates compensation torque Tmc, so that step (2) be omitted.
The purpose of second aspect of the present invention is to provide a kind of using electric vehicle load-carrying and gradient self-adaptation control method
Vehicle.The vehicle includes at least torque request module, non-electrical power input detection module, control motor output module, is controlled
Electric vehicle module processed, vehicle wheel rotational speed detection module, compares gain control module at data processing chip.
The torque request module is used to receive the information of upper controller feedback, generates the first of upper controller output
Dynamic torque Tr；The torque request module is connected with upper controller, at the same with control motor output module Electricity Federation
It connects.The upper controller is one of accelerator pedal, brake pedal, active safety control system or a variety of；Described first
Dynamic torque is vehicular electric machine torque.
The torque sensor of the non-electrical power input detection module and vehicle connects, for being detected by torque sensor
Manpower and/or engine apply the signal of torque to vehicle, at the same with engine control system communication connection, opened by air throttle
Degree or distributive value obtain the torque that engine applies vehicle, export the second dynamic torque Tp；The non-electrical power input detection
Module and data processing chip communication connection, while being connect with described by control electric vehicle module communication.
The control motor output module is used to receive the first dynamic torque information T of torque request module generationrWith than
Compared with the compensation torque information T of gain control module outputmc, and export third dynamic torque Tm.The control motor output module
It is electrically connected with the torque request module, gain control module electrically connects compared with described；It is communicated with the data processing chip
Connection, and connect with by control electric vehicle module communication.
It is described to be used to receive dynamic torque T by control electric vehicle module*, the ECU by being controlled electric vehicle, which is controlled, is
System is controlled by control vehicle driving；The dynamic torque T*Third power including the control motor output module output is turned round
Square TmWith the second dynamic torque T of non-electrical power input detection module outputp.It is described by control electric vehicle module respectively with institute
State control motor output module, non-electrical power input detection module communication connection.
Ideal nominal wheel speed w is obtained by calculation in the data processing chip*, mould is exported with the control motor respectively
Block, the non-electricity input detection module communication connection, and the gain control module communication connection compared with.
The vehicle wheel rotational speed detection module is for measuring practical wheel speed w；The vehicle wheel rotational speed detection module passes through outside
Sensor measures practical wheel speed w, or is calculated to obtain practical wheel speed w by motor speed.The vehicle wheel rotational speed detection module
It is connect with by control electric vehicle module, the gain control module communication connection compared with.
The relatively gain control module connects with the data processing chip, vehicle wheel rotational speed detection module communication respectively
Connect, and with the control motor output module communication connection；The relatively gain control module compares w in real time*The difference of-w, and
Compensation torque T is calculatedmc。
The vehicle of a kind of electric vehicle load-carrying and gradient self-adaptation control method and adopting said method of the present invention,
There is good load-carrying and the adaptive effect of the gradient for electric vehicle, and cost is relatively low.
The present invention has the following technical effect that
1, keep electric vehicle more intelligent, improve the dynamic property and comfort of vehicle.
2, do not increase the additional equipment such as sensor, GPS, guarantee the stability of system, and reduce cost.
3, it does not need to estimate vehicle mass and road gradient, saves system hardware resources expense.
Detailed description of the invention
Fig. 1 is the flow chart of embodiment 1 electric vehicle load-carrying and gradient self-adaptation control method.
Fig. 2 is the schematic illustration of electric vehicle load-carrying and gradient self-adaptation control method of the present invention.
Wherein, Fig. 2 a is embodiment 1 using practical wheel speed w as the schematic illustration of comparative quantity；Fig. 2 b be embodiment 1 in,
To take turns rotational accelerationSchematic illustration instead of practical wheel speed w as comparative quantity；Fig. 2 c is embodiment 2 using torque T as ratio
The schematic illustration of trial of strength.
Fig. 3 is the wheel model force analysis of ideally vehicle.
The wheel model force analysis of vehicle when Fig. 4 is vehicle actual motion.
Fig. 5 is the hardware mould using electric vehicle load-carrying and the vehicle of gradient self-adaptation control method that embodiment 3 is related to
Block composition and its connection relationship diagram.
Fig. 6 is the adaptive velocity profile of the vehicle load of embodiment 5.
Fig. 7 is the adaptive moment variations figure of the vehicle load of embodiment 5.
Fig. 8 is the adaptive velocity profile of the vehicle gradient of embodiment 6.
Fig. 9 is the adaptive moment variations figure of the vehicle gradient of embodiment 6.
Figure 10 is vehicle load and the adaptive velocity profile of the gradient under the extreme condition of embodiment 7.
Figure 11 is vehicle load and the adaptive moment variations figure of the gradient under the extreme condition of embodiment 7.
Control method of the present invention is not used in " no control " expression in Fig. 6~11, and " having control " indicates using hair
The bright control method being related to.
Specific embodiment
Below by specific embodiment, further technical solution of the present invention is specifically described.It should be understood that below
Embodiment be intended only as illustrating, and do not limit the scope of the invention, while those skilled in the art is according to the present invention
The obvious change and modification made are also contained within the scope of the invention.
The wheel speed that the present invention refers to is the angular speed of motor.Practical wheel speed w of the present invention and nominal wheel speed
w*It can be respectively with wheel rotational accelerationRotational acceleration is taken turns with nameInstead of.Method of the present invention can be applied in motor
On the vehicle of vehicle or engine motor the hybrid power driving of driving.Vehicle of the present invention include but is not limited to automobile,
Electric bicycle, electric assisted bicycle etc..
Embodiment 1
As shown in Fig. 1 and Fig. 2 a, a kind of electric vehicle load-carrying and gradient self-adaptation control method are as follows: obtain vehicle power and turn round
Square T*, i.e. the total driving force of vehicle, and calculate the nominal wheel speed w of vehicle in the ideal situation*；Obtain the reality in driving process
Border wheel speed w utilizes nominal wheel speed w ideally*Compared with practical wheel speed w, and calculate acquisition vehicle power
The compensating torque T of system required inputmc, the dynamic torque T of adjustment vehicle output*, make vehicle even running.
Specifically include measure dynamic torque, calculate ideal nominal wheel speed, measure practical wheel speed, compensation torque calculating,
Load-carrying and the gradient adapt to:
(1), dynamic torque is measured: dynamic torque T*Including the first dynamic torque TrAnd/or the second dynamic torque Tp。
The first dynamic torque TrFor vehicular electric machine torque, is provided by multiple motors, exported by upper controller, by electricity
Current of electric and the other parameters calculating that machine controller measures acquire, and the upper controller is accelerator pedal and active safety control
System processed.In the present embodiment, the second dynamic torque TpFor the torque that driver and engine apply vehicle, driver couple
The driver that the torque that vehicle applies is detected by torque sensor applies the signal of torque to vehicle and obtains；Engine applies vehicle
The torque added is obtained by throttle opening or distributive value.
(2), ideal nominal wheel speed: the dynamic torque T measured by step (1) is calculated*It is calculated ideally
Nominal wheel speed w*。
As shown in the wheel of vehicle model force analysis of Fig. 3, in the case where ignoring tyre slip, since dynamics of vehicle closes
System, using the dynamic torque T of vehicle*And the univers parameter of vehicle acquires nominal wheel speed w in the ideal case*, Fig. 3
In each parameter meaning it is as follows: T*: dynamic torque, w*: ideally nominal wheel speed, m: ideally wheel is shared
Load-carrying, Jw: the rotary inertia of wheel, r: radius of wheel.
The nominal wheel speed w ideally as a result,*It can be calculated by following equation:
Jn=mr2+Jw
J in formulanIndicate ideally equivalent nominal rotary inertia.
(3), practical wheel speed is measured:
Fig. 4 show wheel model force analysis of the vehicle in the load-carrying and the gradient of actual motion, each parameter in figure
The practical wheel speed w of vehicle in meaning same Fig. 3, Fig. 4, is obtained by angular-rate sensor.
(4), compensation torque calculating:
In vehicle in the case where the non-loaded no gradient, w*Should be close with w value, if the situation constant in driving force
Under, w*Significantly greater than w then may determine that load-carrying and/or the reason gradient change.Therefore, driving force T should be adjusted at this time*With
Make w*It is close with w, that is, increase a compensation torque Tmc, to realize that load-carrying and the gradient are adaptive.
Specifically, by comparing nominal wheel speed w*With practical wheel speed w, if | w*- w | and < 3km/h (i.e. | w*-w| ≈
0), then without calculating compensation torque；If | w*- w | >=3km/h then calculates compensation torque Tmc.The calculating compensates torque Tmc's
Calculation formula are as follows: Tmc=K (w*-w).Wherein, K indicates gain coefficient.
(5) load-carrying and the gradient adapt to:
The compensation torque T obtained according to step (4)mc, adjust the torque output of motor, thus realize vehicle load-carrying and
The gradient is adaptive.
Embodiment 2
As shown in Figure 2 b, a kind of electric vehicle load-carrying and gradient self-adaptation control method, steps are as follows:
(1), dynamic torque is measured: dynamic torque T*Including the first dynamic torque TrAnd/or the second dynamic torque Tp。
The first dynamic torque TrFor vehicular electric machine torque, by accelerator pedal, brake pedal, active safety control system
The upper controller of composition exports.The first dynamic torque TrThe current of electric and other parameters meter measured by electric machine controller
It acquires, the second dynamic torque TpThe signal of torque is applied to vehicle by the driver of torque sensor detection and is started
Machine throttle opening or distributive value, it is common to obtain.
(2), practical wheel speed is measured:
The practical wheel speed w of vehicle is obtained by angular-rate sensor.
(3), calculating simulation dynamic torque T:
Corresponding simulation dynamic torque T is calculated by practical wheel speed w, formula is
Jn=mr2+Jw
The meaning of each parameter is as follows: T: simulation dynamic torque, w: the practical wheel speed of vehicle, m: ideally wheel is shared
Load-carrying, Jw: the rotary inertia of wheel, JnIndicate ideally equivalent nominal rotary inertia, r: radius of wheel.
(4), compensation torque calculating:
The dynamic torque T measured by the simulation dynamic torque T being calculated in step (3) and step (1)*Subtraction calculations go out
Compensate torque Tmc。
(5) load-carrying and the gradient adapt to:
The compensation torque T obtained according to step (4)mc, adjust the torque output of motor, thus realize vehicle load-carrying and
The gradient is adaptive.
Embodiment 3
As shown in figure 5, a kind of vehicle using electric vehicle load-carrying and gradient self-adaptation control method, as hardware to
It realizes method described in embodiment 1, it is defeated to include at least torque request module, non-electrical power input detection module, control motor
Out module, by control electric vehicle module, data processing chip, vehicle wheel rotational speed detection module, compare gain control module.
The torque request module is used to receive the information of upper controller feedback, generates the first of upper controller output
Dynamic torque Tr；The upper controller is one of accelerator pedal, brake pedal, active safety control system or a variety of；
First dynamic torque is vehicular electric machine torque.The non-electrical power input detection module is used to examine by torque sensor
Survey the signal that manpower and/or engine apply torque to vehicle, at the same with engine control system communication connection, pass through air throttle
Aperture or distributive value obtain the torque that engine applies vehicle, export the second dynamic torque Tp；Described in the present embodiment
Two dynamic torque TpThe sum of the torque that vehicle is applied for driver and engine；When the vehicle is non-power-assisted pure electric vehicle
When, then the numerical value of second dynamic torque is 0.The control motor output module is used to receive torque request module generation
First dynamic torque information TrWith the compensation torque information T for comparing gain control module outputmc, and export third dynamic torque
Tm。
It is described to be used to receive dynamic torque T by control electric vehicle module*, and control by control vehicle driving；It is described dynamic
Power torque T*Third dynamic torque T including the control motor output module outputmWith the input detection module output of non-electrical power
The second dynamic torque Tp。
Ideal nominal wheel speed w is obtained by calculation in the data processing chip*.The vehicle wheel rotational speed detection module is used for
Measure practical wheel speed w；The vehicle wheel rotational speed detection module measures practical wheel speed w by external sensor, or by motor
Practical wheel speed w is calculated in revolving speed.The relatively gain control module compares w in real time*The difference of-w, and compensation is calculated
Torque Tmc。
Embodiment 4
As shown in figure 5, a kind of vehicle using electric vehicle load-carrying and gradient self-adaptation control method, is based on embodiment 2,
The connection relationship of each hardware composition part is as follows: the torque request module is connected with upper controller, at the same with the control
Motor output module processed electrically connects；The upper controller is accelerator pedal, brake pedal, one in active safety control system
Kind is a variety of；First dynamic torque is vehicular electric machine torque.The power of the input of non-electrical the power detection module and vehicle
The connection of square sensor, and data processing chip communication connection, while being connect with described by control electric vehicle module communication.
The control motor output module is electrically connected with the torque request module, the gain control module electricity compared with described
Connection；With the data processing chip communication connection, and it is connect with by control electric vehicle module communication.It is described electronic by control
Vehicle modules are controlled by the ECU control system of controlled electric vehicle by control vehicle driving；It is defeated with the control motor respectively
Module, the non-electrical power input detection module communication connection out.
The data processing chip is communicated with the control motor output module, non-electricity input detection module respectively
Connection, and the gain control module communication connection compared with.The vehicle wheel rotational speed detection module connects with by control electric vehicle module
It connects, the gain control module communication connection compared with.The relatively gain control module respectively with the data processing chip, described
Vehicle wheel rotational speed detection module communication connection, and with the control motor output module communication connection.
Embodiment 5
The emulation experiment that embodiment 5~7 is related to, based on Examples 1 to 4.
Load-carrying is adaptive
Simulating scenes: vehicle is travelled in flat road surface, and load-carrying is respectively 90kg and 120kg.
By in Fig. 6 and Fig. 7 it can be seen that vehicle cannot be rapidly reached estimated speed, Ji Huwen in uncontrolled situation
It is scheduled on lower velocity amplitude, and load-carrying is bigger, the velocity amplitude is smaller；In controlled situation, vehicle can normally improve speed.
In uncontrolled situation, driving moment is stablized after vehicle start in a relatively low level, and in controlled feelings
Under condition, driving moment stabilization increases in a higher level, and with the increase of loading capacity.Therefore, the present invention have compared with
Good load-carrying adaptivity.
Embodiment 6
The gradient is adaptive
Simulating scenes: vehicle does not increase load-carrying, enters ramp, ramp angle (gradient) after 50m is travelled in flat road surface
Respectively 5% and 10%.
By, it can be seen that speed is decreased obviously in uncontrolled situation, and the gradient is bigger in 8 and Fig. 9, speed decline
It is faster；And in controlled situation, car speed is steady.In uncontrolled situation, driving moment is steady after vehicle start
It is scheduled on a relatively low level, and in controlled situation, position short time of the driving moment from relatively low level
It is inside increased to a higher level, which determines that the gradient is bigger by the size of the gradient, and driving moment is bigger.Therefore, this hair
It is bright that there is preferable gradient adaptivity.
Embodiment 7
Load-carrying and the gradient under extreme condition is adaptive
Simulating scenes: load-carrying 120kg, in flat road surface travel 50m after enter ramp, the gradient be respectively 15% and-
15%, that is, it is respectively upward slope and descending.
By in 10 and Figure 11 it can be seen that in uncontrolled situation, speed decline is obvious, and is having control when going up a slope
In the case where, car speed slowly declines, and is finally maintaining a smoothly level；When descending, in uncontrolled situation,
Speed rises rapidly, and in controlled situation, the speed rate of climb is relatively slow.In uncontrolled situation, driving force
Square is basically stable at a numerical value after vehicle start, will not all change in climb and fall；And in controlled situation,
As can be seen that being immediately raised when going up a slope to a higher level, and stablize in this numerical value；Similarly, the vehicle in descending
Drop to a lower level in a short time, and stablizes in this numerical value.The present invention reaches under extreme conditions
Load-carrying is adaptive with the gradient.
Claims (10)
1. a kind of electric vehicle load-carrying and gradient self-adaptation control method, characterized by the following steps:
(1), dynamic torque is measured:
Dynamic torque T*Including the first dynamic torque TrAnd/or the second dynamic torque Tp；
The first dynamic torque TrIt for vehicular electric machine torque, is exported by upper controller, the upper controller is to accelerate to step on
One of plate, brake pedal, active safety control system are a variety of；The first dynamic torque TrBy one or more motors
It provides；It detects to obtain by torque sensor, or current of electric and the other parameters calculating measured by electric machine controller acquires；
The second dynamic torque TpBy torque sensor detection manpower and/or engine to vehicle apply torque signal and
?；
(2), ideal nominal wheel speed is calculated:
The dynamic torque T measured by step (1)*Nominal wheel speed w ideally is calculated*；
The nominal wheel speed specific formula for calculation ideally are as follows:
Jn=mr2+Jw
The meaning of each parameter is as follows in formula: T*: dynamic torque, Jn: ideally equivalent nominal rotary inertia, w*: it is ideal
Nominal wheel speed, m: the load-carrying that ideally wheel is shared, J under statew: the rotary inertia of wheel, r: radius of wheel；
(3), practical wheel speed is measured:
It is calculated by motor speed and directly exports practical wheel speed w；
(4), compensation torque calculating:
By comparing nominal wheel speed w*With practical wheel speed w, if | w*- w | < 3km/h, then without calculating compensation torque；If |
w*- w | >=3km/h then calculates compensation torque Tmc；Calculate the compensation torque TmcAlgorithm be selected from pid control algorithm, fuzzy
One of control algolithm, optimal control algorithm, sliding mode control algorithm are a variety of；
(5) load-carrying and the gradient adapt to:
The compensation torque T obtained according to step (4)mc, the torque output of motor is adjusted, to realize the load-carrying and the gradient of vehicle
Adaptively.
2. a kind of electric vehicle load-carrying according to claim 1 and gradient self-adaptation control method, it is characterised in that: step
(1) the second dynamic torque TpThe torque and/or engine applied for driver to vehicle applies torque to vehicle；Engine
Apply torque to vehicle to obtain by throttle opening or distributive value.
3. a kind of electric vehicle load-carrying according to claim 1 and gradient self-adaptation control method, it is characterised in that: step
(3) the practical wheel speed w is measured by external sensor.
4. a kind of electric vehicle load-carrying according to claim 1 and gradient self-adaptation control method, it is characterised in that: step
(4) the compensation torque TmcCalculation formula are as follows: Tmc=K (w*-w)；Wherein, K indicates gain coefficient.
5. a kind of electric vehicle load-carrying according to any one of claims 1 to 4 and gradient self-adaptation control method, feature
It is: omits step (2)；In step (3), it is right that practical wheel speed institute directly is calculated using formula provided by step (2)
The simulation dynamic torque T answered；
In step (4), the dynamic torque T that is directly measured by simulation dynamic torque T and step (1)*Compare and calculates compensation torque
Tmc。
6. a kind of electric vehicle load-carrying according to any one of claims 1 to 4 and gradient self-adaptation control method, feature
It is: the practical wheel speed w and nominal wheel speed w*, respectively with wheel rotational accelerationRotational acceleration is taken turns with nameInstead of.
7. a kind of vehicle using electric vehicle load-carrying and gradient self-adaptation control method, it is characterised in that: the vehicle is based on
A kind of described in any item electric vehicle load-carryings of claim 1~6 and gradient self-adaptation control method；Including torque request mould
Block, controls motor output module, by control electric vehicle module, data processing chip, wheel at non-electrical power input detection module
Rotating speed measring module compares gain control module；
The torque request module is connected with upper controller, while electrically connecting with the control motor output module；It is described
Upper controller is one of accelerator pedal, brake pedal, active safety control system or a variety of；First dynamic torque
As vehicular electric machine torque；
The torque sensor of non-electrical power input detection module and vehicle connects, and engine control system communication connection,
With data processing chip communication connection, while being connect with described by control electric vehicle module communication；
The control motor output module is electrically connected with the torque request module, the gain control module Electricity Federation compared with described
It connects；With the data processing chip communication connection, and it is connect with by control electric vehicle module communication；
It is described by control electric vehicle module by be controlled electric vehicle ECU control system, control by control vehicle driving；Point
Detection module communication connection is not inputted with the control motor output module, the non-electrical power；
The data processing chip connects with the control motor output module, non-electrical power input detection module communication respectively
It connects, and the gain control module communication connection compared with；
The vehicle wheel rotational speed detection module is connect with by control electric vehicle module, the gain control module communication connection compared with；
It is described relatively gain control module respectively with the data processing chip, the vehicle wheel rotational speed detection module communication connection,
And with the control motor output module communication connection.
8. the vehicle according to claim 7 using electric vehicle load-carrying and gradient self-adaptation control method, feature exist
In: the torque request module is used to receive the information of upper controller feedback, generates the first power of upper controller output
Torque Tr；
The non-electrical power input detection module is used to detect manpower and/or engine by torque sensor to apply vehicle and turn round
The signal of square, while the torque that engine applies vehicle is obtained by throttle opening or distributive value, the second power of output is turned round
Square Tp；
The control motor output module is used to receive the first dynamic torque information T of torque request module generationrWith compare gain
The compensation torque information T of control module outputmc, and export third dynamic torque Tm；
It is described to be used to receive dynamic torque T by control electric vehicle module*, by being controlled the ECU control system of electric vehicle, control
System is by control vehicle driving；The dynamic torque T*Third dynamic torque T including the control motor output module outputmWith
Non-electrical power inputs the second dynamic torque T of detection module outputp；
Ideal nominal wheel speed w is obtained by calculation in the data processing chip*；
The vehicle wheel rotational speed detection module is for measuring practical wheel speed w；
The relatively gain control module compares w in real time*The difference of-w, and compensation torque T is calculatedmc。
9. the vehicle according to claim 8 using electric vehicle load-carrying and gradient self-adaptation control method, feature exist
In: the vehicle wheel rotational speed detection module measures practical wheel speed w by external sensor, or is directly obtained by motor speed calculating.
10. the vehicle using electric vehicle load-carrying and gradient self-adaptation control method according to claim 8 or claim 9, special
Sign is: vehicle wheel rotational speed detection module is replaced with wheel acceleration detection module；Correspondingly, the practical wheel speed w and name
Wheel speed w*, respectively with wheel rotational accelerationRotational acceleration is taken turns with nameInstead of.
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| CN108195643B (en) * | 2017-12-06 | 2020-07-28 | 合肥美亚光电技术股份有限公司 | Tire bead expanding method and system |
| US11760199B2 (en) * | 2018-05-17 | 2023-09-19 | Bayerische Motoren Werke Aktiengesellschaft | Traction control system |
| CN110893774B (en) * | 2018-09-12 | 2023-05-05 | 南京理工大学 | Wheel anti-skid control method and system based on energy distribution model |
| CN111554103B (en) * | 2020-05-15 | 2021-10-29 | 河南科技大学 | Vehicle speed control method and device based on fuzzy control and vehicle speed control system |
| KR20210156895A (en) * | 2020-06-18 | 2021-12-28 | 현대자동차주식회사 | Vehicle and method of stability control while driving in a curve for the samw |
| CN112160839A (en) * | 2020-09-07 | 2021-01-01 | 山东科技大学 | Intelligent auxiliary speed limiting device for reducing tail gas emission of mine fuel vehicle |
| CN112477631B (en) * | 2020-12-04 | 2022-09-27 | 广西飞能电机有限公司 | Method and system for controlling acceleration process of electric bicycle |
| CN112660137B (en) * | 2021-01-05 | 2022-09-27 | 奇瑞新能源汽车股份有限公司 | Vehicle gradient identification method and device and vehicle with same |
| CN114233843B (en) * | 2021-12-06 | 2023-07-07 | 盛瑞传动股份有限公司 | Vehicle gear shifting control method, device, equipment and medium |
| CN117124881A (en) * | 2022-05-20 | 2023-11-28 | 比亚迪股份有限公司 | Vehicle torque control method and device, electronic equipment and storage medium |
| CN116513212B (en) * | 2023-06-29 | 2023-09-08 | 深圳欧米智能科技有限公司 | Vehicle overweight detection method and device and vehicle |
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