CN106926752A - A kind of control method and device of Anti-slide - Google Patents
A kind of control method and device of Anti-slide Download PDFInfo
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- CN106926752A CN106926752A CN201710210461.5A CN201710210461A CN106926752A CN 106926752 A CN106926752 A CN 106926752A CN 201710210461 A CN201710210461 A CN 201710210461A CN 106926752 A CN106926752 A CN 106926752A
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- speed
- car speed
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- torsion
- moment
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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
- B60L15/2072—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 drive off
- B60L15/2081—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 drive off for drive off on a slope
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a kind of control method and device of Anti-slide, the control method includes：Obtain automobile gear level status information, braking state information and throttle information；When the automobile gear level state is in drive shift or reverse drive gear, and the brake and the throttle are in when not stepping on state, and vehicle enters idling mode；Obtain car speed；According to the car speed and idling target vehicle speed, closed-loop control is carried out to the car speed, so that the car speed is identical with the idling target vehicle speed.The control device is used to perform the control method, and the control method is to realize slipping by slope control to the anti-of vehicle, ensures that vehicle will not enter by mistake through Anti-slide pattern because of misjudgment again.
Description
Technical field
The present invention relates to new energy pure electric vehicle controller technical field, more specifically, more particularly to it is a kind of
The control method and device of Anti-slide.
Background technology
With continuing to develop for science and technology, new energy pure electric automobile is widely used in daily life,
In view of the reason for considering integral vehicle cost, vehicle seldom installs Slope Transducer in itself, therefore vehicle is in uphill starting, because of nothing
Method accurately judges the gradient, causes the vehicle in front stepped on the throttle after releasing of brake to be susceptible to situation about slipping by slope.
For the problem of vehicle anti-slide, prior art carries out preventing slipping by slope control by introducing uphill starting pattern to vehicle,
Concrete principle is as follows：By the judgement to motor speed and steering, and set whether corresponding threshold decision vehicle enters slope
Road starting mode, when under idling mode, switches to uphill starting pattern, and then realization slips by slope control to the anti-of vehicle.
But, such as vehicle can be made when gear shift is carried out in the case of relatively low speed by judging motor speed and turning to
Vehicle enters uphill starting pattern, causes Full Vehicle System to calculate excessive moment of torsion control vehicle and is run, and makes vehicle drive
Poor effect.
The content of the invention
To solve the above problems, the invention provides a kind of control method and device of Anti-slide, the control method
Realize slipping by slope control to the anti-of vehicle, ensure that vehicle will not enter by mistake through Anti-slide pattern because of misjudgment again, and
The characteristics of making vehicle possess high ride in the process of moving.
To achieve the above object, the present invention provides following technical scheme：
A kind of control method of Anti-slide, the control method includes：
Obtain automobile gear level status information, braking state information and throttle information；
When the automobile gear level state is in drive shift or reverse drive gear, and the brake and the throttle are in and do not step on shape
During state, vehicle enters idling mode；
Obtain car speed；
According to the car speed and idling target vehicle speed, closed-loop control is carried out to the car speed, so that the car
Speed is identical with the idling target vehicle speed.
Preferably, in above-mentioned control method, the acquisition car speed, including：
The car speed is obtained by vehicle body sensor.
Preferably, it is described according to the car speed and idling target vehicle speed in above-mentioned control method, to the vehicle
Speed carries out closed-loop control, so that the car speed is identical with the idling target vehicle speed, including：
Set the idling target vehicle speed, and according to formula (1), closed-loop control carried out to the car speed, by than
Example integration control principle exports corresponding moment of torsion；
T=Kp(V0-V)+Ki∫(V0-V)dt+Tbasic (1)
Wherein, T is moment of torsion, the K of outputpWith KiFor adjustment factor, V are the car speed, V0It is the idling target carriage
Speed and TbasicBased on moment of torsion；
According to the moment of torsion control vehicle, so that the car speed is identical with the idling target vehicle speed.
Preferably, it is described according to the car speed and idling target vehicle speed in above-mentioned control method, to the vehicle
Speed carries out closed-loop control, so that the car speed is identical with the idling target vehicle speed, also includes：
Setting speed compensating for variations coefficient, and according to formula (2), closed-loop control is carried out to the car speed, by than
Example integration control principle exports corresponding moment of torsion；
T=KVKp(V0-V)+Ki∫(V0-V)dt+Tbasic (2)
Wherein, T is moment of torsion, the K of outputpWith KiFor adjustment factor, V are the car speed, V0It is the idling target carriage
Speed, TbasicBased on moment of torsion and KVIt is the speed compensating for variations coefficient；
According to the moment of torsion control vehicle, so that the car speed is identical with the idling target vehicle speed.
Present invention also offers a kind of control device of Anti-slide, the control device includes：
First acquisition module, for obtaining automobile gear level status information, braking state information and throttle information；
First control module, for being in drive shift or reverse drive gear, and the brake and institute when the automobile gear level state
Throttle is stated in when not stepping on state, vehicle enters idling mode；
Second acquisition module, for obtaining car speed；
Second control module, for according to the car speed and idling target vehicle speed, being closed to the car speed
Ring is controlled, so that the car speed is identical with the idling target vehicle speed.
Preferably, in above-mentioned control device, second acquisition module specifically for：
The car speed is obtained by vehicle body sensor.
Preferably, in above-mentioned control device, second control module specifically for：
Set the idling target vehicle speed, and according to formula (1), closed-loop control carried out to the car speed, by than
Example integration control principle exports corresponding moment of torsion；
T=Kp(V0-V)+Ki∫(V0-V)dt+Tbasic (1)
Wherein, T is moment of torsion, the K of outputpWith KiFor adjustment factor, V are the car speed, V0It is the idling target carriage
Speed and TbasicBased on moment of torsion；
According to the moment of torsion control vehicle, so that the car speed is identical with the idling target vehicle speed.
Preferably, in above-mentioned control device, second control module is additionally operable to：
Setting speed compensating for variations coefficient, and according to formula (2), closed-loop control is carried out to the car speed, by than
Example integration control principle exports corresponding moment of torsion；
T=KVKp(V0-V)+Ki∫(V0-V)dt+Tbasic (2)
Wherein, T is moment of torsion, the K of outputpWith KiFor adjustment factor, V are the car speed, V0It is the idling target carriage
Speed, TbasicBased on moment of torsion and KVIt is the speed compensating for variations coefficient；
According to the moment of torsion control vehicle, so that the car speed is identical with the idling target vehicle speed.
A kind of control method of the Anti-slide provided by foregoing description, the present invention, the control method bag
Include：Obtain automobile gear level status information, braking state information and throttle information；Advance when the automobile gear level state is in
Shelves or reverse drive gear, and the brake and the throttle, in when not stepping on state, vehicle enters idling mode；Obtain vehicle speed
Degree；According to the car speed and idling target vehicle speed, closed-loop control is carried out to the car speed, so that the car speed
It is identical with the idling target vehicle speed.
It can be seen from background technology, when vehicle is when gear shift is carried out in the case of relatively low speed, by judging motor speed
Vehicle can be made to enter uphill starting pattern with turning to, caused Full Vehicle System to calculate excessive moment of torsion control vehicle and run,
Make vehicle drive poor effect.
And in the present invention, by under vehicle idling pattern, being controlled by car speed, realize to vehicle
It is anti-to slip by slope control, for the prior art that compares, do not judge whether vehicle slips by slope, more do not introduce car ramp and rise
Step mode, therefore solve in the prior art, prevent slipping by slope pattern because misjudgment enters vehicle, cause to drive poor effect
Problem.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of schematic flow sheet of the control method of Anti-slide provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of the control device of Anti-slide provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
With reference to Fig. 1, Fig. 1 is a kind of schematic flow sheet of the control method of Anti-slide provided in an embodiment of the present invention.
The control method includes：
S101：Obtain automobile gear level status information, braking state information and throttle information；
Specifically, in embodiments of the present invention, including but not limited to obtaining automobile gear level state by vehicle body sensor
Information, braking state information and throttle information.
S102：When the automobile gear level state is in drive shift or reverse drive gear, and the brake and the throttle are in not
When stepping on state, vehicle enters idling mode；
Specifically, when the automobile gear level state is in drive shift or reverse drive gear, i.e., described automobile gear level state is not being stopped
Car stop (P grades) or neutral gear (N grades), and when the brake and the throttle are in and do not step on state, vehicle enters idling mode.
S103：Obtain car speed；
Specifically, in embodiments of the present invention, including but not limited to obtaining car speed by vehicle body sensor.
S104：According to the car speed and idling target vehicle speed, closed-loop control is carried out to the car speed, so that institute
State car speed identical with the idling target vehicle speed.
Specifically, by controlling car speed, making car speed identical with idling target vehicle speed, realize to the anti-slip of vehicle
Slope controls.
By the embodiment of the present invention, by under vehicle idling pattern, being controlled by car speed, realize
Control is slipped by slope to the anti-of vehicle, for the prior art that compares, does not judge whether vehicle slips by slope, more do not introduce car
Uphill starting pattern, thus solve in the prior art, because misjudgment make vehicle enter it is anti-slip by slope pattern, cause to drive and imitate
Really very poor problem.
Based on the above embodiment of the present invention, in an alternative embodiment of the invention, the idling target vehicle speed is set, and according to
Formula (1), closed-loop control is carried out to the car speed, and passing ratio integration control principle exports corresponding moment of torsion；
T=Kp(V0-V)+Ki∫(V0-V)dt+Tbasic (1)
Wherein, T is moment of torsion, the K of outputpWith KiFor adjustment factor, V are the car speed, V0It is the idling target carriage
Speed and TbasicBased on moment of torsion；
According to the moment of torsion control vehicle, so that the car speed is identical with the idling target vehicle speed.
It follows that in embodiments of the present invention, after vehicle enters idling mode, whether not slipped by slope to vehicle
Judged, also do not introduced car ramp starting mode, be controlled by the moment of torsion under idling mode, realized that vehicle is prevented
Slip by slope function.
It should be noted that when the direction of car speed is inconsistent with automobile gear level state direction, in the meter of formula (1)
During calculation, car speed is labeled as negative value.
Based on the above embodiment of the present invention, in an alternative embodiment of the invention, speed compensating for variations coefficient is set, and according to
Formula (2), closed-loop control is carried out to the car speed, and passing ratio integration control principle exports corresponding moment of torsion；
T=KVKp(V0-V)+Ki∫(V0-V)dt+Tbasic (2)
Wherein, T is moment of torsion, the K of outputpWith KiFor adjustment factor, V are the car speed, V0It is the idling target carriage
Speed, TbasicBased on moment of torsion and KVIt is the speed compensating for variations coefficient；
According to the moment of torsion control vehicle, so that the car speed is identical with the idling target vehicle speed.
In embodiments of the present invention, it is contemplated that when vehicle slips by slope situation, the moment of torsion of output typically can be very big,
So in order that both can export larger moment of torsion in the control process of Anti-slide it is also ensured that vehicle traveling it is flat
It is pliable, and then speed compensating for variations coefficient is set, vehicle drive is worked well.
Based on above-mentioned whole embodiments of the invention, in an alternative embodiment of the invention, with reference to Fig. 2, Fig. 2 is implemented for the present invention
A kind of structural representation of the control device of Anti-slide that example is provided.
The control device includes：
First acquisition module 21, for obtaining automobile gear level status information, braking state information and throttle information；
First control module 22, for when the automobile gear level state be in drive shift or reverse drive gear, and it is described brake and
The throttle is in when not stepping on state, and vehicle enters idling mode；
Second acquisition module 23, for obtaining car speed；
Second control module 24, for according to the car speed and idling target vehicle speed, being carried out to the car speed
Closed-loop control, so that the car speed is identical with the idling target vehicle speed.
Optionally, in embodiments of the present invention, second acquisition module 23 specifically for：
The car speed is obtained by vehicle body sensor.
Optionally, in embodiments of the present invention, second control module 24 specifically for：
Set the idling target vehicle speed, and according to formula (1), closed-loop control carried out to the car speed, by than
Example integration control principle exports corresponding moment of torsion；
T=Kp(V0-V)+Ki∫(V0-V)dt+Tbasic (1)
Wherein, T is moment of torsion, the K of outputpWith KiFor adjustment factor, V are the car speed, V0It is the idling target carriage
Speed and TbasicBased on moment of torsion；
According to the moment of torsion control vehicle, so that the car speed is identical with the idling target vehicle speed.
Optionally, in embodiments of the present invention, second control module 24 is additionally operable to：
Setting speed compensating for variations coefficient, and according to formula (2), closed-loop control is carried out to the car speed, by than
Example integration control principle exports corresponding moment of torsion；
T=KVKp(V0-V)+Ki∫(V0-V)dt+Tbasic (2)
Wherein, T is moment of torsion, the K of outputpWith KiFor adjustment factor, V are the car speed, V0It is the idling target carriage
Speed, TbasicBased on moment of torsion and KVIt is the speed compensating for variations coefficient；
According to the moment of torsion control vehicle, so that the car speed is identical with the idling target vehicle speed.
It should be noted that the concrete operating principle and content of modules in embodiments of the present invention, refer to correspondence
Embodiment of the method content, will not be repeated here.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or uses the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The scope most wide for causing.
Claims (8)
1. a kind of control method of Anti-slide, it is characterised in that the control method includes：
Obtain automobile gear level status information, braking state information and throttle information；
When the automobile gear level state is in drive shift or reverse drive gear, and the brake and the throttle are in and do not step on state
When, vehicle enters idling mode；
Obtain car speed；
According to the car speed and idling target vehicle speed, closed-loop control is carried out to the car speed, so that the vehicle is fast
Degree is identical with the idling target vehicle speed.
2. control method according to claim 1, it is characterised in that the acquisition car speed, including：
The car speed is obtained by vehicle body sensor.
3. control method according to claim 1, it is characterised in that described according to the car speed and idling target carriage
Speed, closed-loop control is carried out to the car speed, so that the car speed is identical with the idling target vehicle speed, including：
The idling target vehicle speed is set, and according to formula (1), closed-loop control, passing ratio product is carried out to the car speed
Control principle is divided to export corresponding moment of torsion；
T=Kp(V0-V)+Ki∫(V0-V)dt+Tbasic (1)
Wherein, T is moment of torsion, the K of outputpWith KiFor adjustment factor, V are the car speed, V0For the idling target vehicle speed and
TbasicBased on moment of torsion；
According to the moment of torsion control vehicle, so that the car speed is identical with the idling target vehicle speed.
4. the control method according to right wants 3, it is characterised in that described according to the car speed and idling target carriage
Speed, closed-loop control is carried out to the car speed, so that the car speed is identical with the idling target vehicle speed, is also included：
Setting speed compensating for variations coefficient, and according to formula (2), closed-loop control, passing ratio product are carried out to the car speed
Control principle is divided to export corresponding moment of torsion；
T=KVKp(V0-V)+Ki∫(V0-V)dt+Tbasic (2)
Wherein, T is moment of torsion, the K of outputpWith KiFor adjustment factor, V are the car speed, V0For the idling target vehicle speed,
TbasicBased on moment of torsion and KVIt is the speed compensating for variations coefficient；
According to the moment of torsion control vehicle, so that the car speed is identical with the idling target vehicle speed.
5. a kind of control device of Anti-slide, it is characterised in that the control device includes：
First acquisition module, for obtaining automobile gear level status information, braking state information and throttle information；
First control module, for being in drive shift or reverse drive gear, and the brake and the oil when the automobile gear level state
In when not stepping on state, vehicle enters idling mode to door；
Second acquisition module, for obtaining car speed；
Second control module, for according to the car speed and idling target vehicle speed, closed loop control being carried out to the car speed
System, so that the car speed is identical with the idling target vehicle speed.
6. control device according to claim 5, it is characterised in that second acquisition module specifically for：
The car speed is obtained by vehicle body sensor.
7. control device according to claim 5, it is characterised in that second control module specifically for：
The idling target vehicle speed is set, and according to formula (1), closed-loop control, passing ratio product is carried out to the car speed
Control principle is divided to export corresponding moment of torsion；
T=Kp(V0-V)+Ki∫(V0-V)dt+Tbasic (1)
Wherein, T is moment of torsion, the K of outputpWith KiFor adjustment factor, V are the car speed, V0For the idling target vehicle speed and
TbasicBased on moment of torsion；
According to the moment of torsion control vehicle, so that the car speed is identical with the idling target vehicle speed.
8. control device according to claim 7, it is characterised in that second control module is additionally operable to：
Setting speed compensating for variations coefficient, and according to formula (2), closed-loop control, passing ratio product are carried out to the car speed
Control principle is divided to export corresponding moment of torsion；
T=KVKp(V0-V)+Ki∫(V0-V)dt+Tbasic (2)
Wherein, T is moment of torsion, the K of outputpWith KiFor adjustment factor, V are the car speed, V0For the idling target vehicle speed,
TbasicBased on moment of torsion and KVIt is the speed compensating for variations coefficient；
According to the moment of torsion control vehicle, so that the car speed is identical with the idling target vehicle speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710210461.5A CN106926752A (en) | 2017-03-31 | 2017-03-31 | A kind of control method and device of Anti-slide |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710210461.5A CN106926752A (en) | 2017-03-31 | 2017-03-31 | A kind of control method and device of Anti-slide |
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| CN106926752A true CN106926752A (en) | 2017-07-07 |
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| CN201710210461.5A Pending CN106926752A (en) | 2017-03-31 | 2017-03-31 | A kind of control method and device of Anti-slide |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933376A (en) * | 2017-10-23 | 2018-04-20 | 宝沃汽车（中国）有限公司 | It is anti-to slip by slope control method, device and vehicle |
| CN108189841A (en) * | 2018-02-27 | 2018-06-22 | 牟特科技（北京）有限公司 | A kind of Vehicular intelligent stays the method and device on slope |
| CN111483327A (en) * | 2019-07-16 | 2020-08-04 | 长城汽车股份有限公司 | Motor control method, device, equipment and computer readable storage medium |
| CN113119747A (en) * | 2020-01-13 | 2021-07-16 | 北京新能源汽车股份有限公司 | Idle speed control method, device and system and vehicle |
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| JP2004129411A (en) * | 2002-10-03 | 2004-04-22 | Honda Motor Co Ltd | Driving force controller of motor-driven vehicle |
| CN104002679A (en) * | 2013-02-26 | 2014-08-27 | 铃木株式会社 | Vehicle-used controller |
| CN104553883A (en) * | 2014-12-26 | 2015-04-29 | 北京现代汽车有限公司 | Idle control method and idle control device for electric vehicle |
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| JP2004129411A (en) * | 2002-10-03 | 2004-04-22 | Honda Motor Co Ltd | Driving force controller of motor-driven vehicle |
| CN104002679A (en) * | 2013-02-26 | 2014-08-27 | 铃木株式会社 | Vehicle-used controller |
| CN104553883A (en) * | 2014-12-26 | 2015-04-29 | 北京现代汽车有限公司 | Idle control method and idle control device for electric vehicle |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933376A (en) * | 2017-10-23 | 2018-04-20 | 宝沃汽车（中国）有限公司 | It is anti-to slip by slope control method, device and vehicle |
| CN108189841A (en) * | 2018-02-27 | 2018-06-22 | 牟特科技（北京）有限公司 | A kind of Vehicular intelligent stays the method and device on slope |
| CN111483327A (en) * | 2019-07-16 | 2020-08-04 | 长城汽车股份有限公司 | Motor control method, device, equipment and computer readable storage medium |
| CN111483327B (en) * | 2019-07-16 | 2021-11-02 | 长城汽车股份有限公司 | Motor control method, device, equipment and computer readable storage medium |
| CN113119747A (en) * | 2020-01-13 | 2021-07-16 | 北京新能源汽车股份有限公司 | Idle speed control method, device and system and vehicle |
| CN113119747B (en) * | 2020-01-13 | 2022-09-13 | 北京新能源汽车股份有限公司 | Idle speed control method, device and system and vehicle |
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Application publication date: 20170707 |