CN106945570A - Slope auxiliary control method and device - Google Patents
Slope auxiliary control method and device Download PDFInfo
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- CN106945570A CN106945570A CN201710227133.6A CN201710227133A CN106945570A CN 106945570 A CN106945570 A CN 106945570A CN 201710227133 A CN201710227133 A CN 201710227133A CN 106945570 A CN106945570 A CN 106945570A
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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
- 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
- B60L15/2009—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 braking
- B60L15/2018—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 braking for braking 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
- B60L2240/10—Vehicle control parameters
- B60L2240/32—Driving direction
-
- 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
-
- 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
- B60L2240/48—Drive Train control parameters related to transmissions
- B60L2240/486—Operating parameters
-
- 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 kind of slope auxiliary control method and device, it is related to control technology for electric motor car field, applied to electric motor car, this method includes：Gather the rotation information and the transmits information of electric motor car of the motor of electric motor car；Judge whether electric motor car is in car rolling state according to rotation information and transmits information；If it is, controlled motor output auxiliary torsion.The present invention is only by the rotation information of motor and the transmits information of electric motor car with regard to that can judge whether to be in car rolling state, system of stopping is stayed independent of slope sensor and electronics, such scheme is integrated into the controller software of vehicle, slope ancillary control function is can be achieved with；Positional information without the need for brake and gas pedal can be carried out whether being in the judgement of car rolling state, and the information category of collection is few, determinating mode it is simple, it is necessary to reaction time is short, controller workload is small；Therefore system low cost and auxiliaring effect is good.
Description
Technical field
The present invention relates to control technology for electric motor car field, more particularly, to a kind of slope auxiliary control method and device.
Background technology
Slope accessory system is a kind of control system developed to simplify hill start.Traditional slope accessory system according to
Rely and stay system of stopping in slope sensor and electronics, when system judgement driver touches on the brake and is located on slope, start electronics and stay
Stop system, in driver's releasing of brake pedal, can continue to keep brake force stop vehicle in the short time, allow driver to have foot
The enough time is accelerated, it is to avoid vehicle glides.
However, traditional slope accessory system need to be detected and controlled in the system of stopping through slope sensor and electronics, it is raw
Produce assembly cost high, be not suitable for arranging in pairs or groups in low rule vehicle.Traditional slope accessory system needs vehicle on the slope and driver simultaneously
Touch on the brake after stopping, just starting slope miscellaneous function；If not touching on the brake, slope miscellaneous function can not be started, therefore on slope
Upper relieving accelerator pedal and when not touching on the brake, may result in vehicle slip-down and causes danger.
The problem of for above-mentioned slope accessory system high cost traditional in the prior art and poor auxiliaring effect, not yet carry at present
Go out effective solution.
The content of the invention
In view of this, it is an object of the invention to provide a kind of slope auxiliary control method and device, to reduce cost, carry
High auxiliaring effect.
In a first aspect, the embodiments of the invention provide a kind of slope auxiliary control method, applied to electric motor car, including：Adopt
Collect the rotation information and the transmits information of electric motor car of the motor of electric motor car；Judged according to rotation information and transmits information
Whether electric motor car is in car rolling state；If it is, controlled motor output auxiliary torsion.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, root
Judge whether electric motor car includes in car rolling state according to rotation information and transmits information：According to the rotation direction and electricity of motor
The gear information of motor-car judges whether electric motor car is in car rolling state.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide second of first aspect
Possible embodiment, wherein, judge whether electric motor car is according to the gear information of the rotation direction of motor and electric motor car and slip
Car state includes：Judge gear information be D grades, rotation direction be to reverse whether simultaneously satisfaction；If it is, determining that electric motor car is in
Car rolling state；Judge gear information be R grades, rotation direction be clockwise whether meet simultaneously；Slipped if it is, determining that electric motor car is in
Car state.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the third of first aspect, wherein, control
Motor output auxiliary torsion processed includes：Auxiliary torsion is calculated according to rotating speed of target and current rotating speed；Controlled motor output auxiliary is turned round
Power.
With reference to the third possible embodiment of first aspect, the embodiments of the invention provide the 4th of first aspect kind
Possible embodiment, wherein, calculating auxiliary torsion according to rotating speed of target and current rotating speed includes：Calculate rotating speed of target and current
The rotating speed difference of rotating speed；Corresponding torsion when the rotating speed for calculating motor is rotating speed difference.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 5th of first aspect kind, also including：
Timer is opened when controlled motor output auxiliary torsion, stops output auxiliary torsion when timer reaches threshold value.
With reference to the third or the 5th kind of possible embodiment of first aspect, the embodiments of the invention provide first aspect
The 6th kind of possible embodiment, also include：When the torsion request of the driver received is more than auxiliary torsion, stop defeated
Go out to aid in torsion.
With reference to the third or the 5th kind of possible embodiment of first aspect, the embodiments of the invention provide first aspect
The 7th kind of possible embodiment, also include：When the driver received switches the request of gear, stop output auxiliary and turn round
Power.
Second aspect, the embodiment of the present invention also provides a kind of slope sub-controlling unit, applied to electric motor car, including：Adopt
Collect module, for the rotation information and the transmits information of electric motor car of the motor for gathering electric motor car；Judge module, for basis
Rotation information and transmits information judge whether electric motor car is in car rolling state；Control module, for if it is, controlled motor
Output auxiliary torsion.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the first of second aspect, wherein, sentence
Disconnected module is additionally operable to：Judge whether electric motor car is in car rolling state according to the gear information of the rotation direction of motor and electric motor car.
The embodiment of the present invention brings following beneficial effect：
Slope auxiliary control method and device that the present embodiment is provided, only pass through the rotation information and the row of electric motor car of motor
Directional information is sailed with regard to that can judge whether to be in car rolling state, system of stopping is stayed independent of slope sensor and electronics, by above-mentioned side
Case is integrated into the controller software of vehicle, can be achieved with slope ancillary control function；Without the need for brake and gas pedal
Positional information can be carried out whether being in the judgement of car rolling state, the information category of collection is few, determinating mode it is simple, it is necessary to
Reaction time is short, controller workload is small；Therefore system low cost and auxiliaring effect is good.
Other features and advantages of the present invention will be illustrated in the following description, also, partly be become from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and obtained in accompanying drawing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing to be used needed for embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those skilled in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of schematic flow sheet of 1st embodiment of slope auxiliary control method of the invention；
Fig. 2 is a kind of schematic flow sheet of 2nd embodiment of slope auxiliary control method of the invention；
Fig. 3 is a kind of schematic flow sheet of 3rd embodiment of slope auxiliary control method of the invention；
Fig. 4 is a kind of schematic flow sheet of 4th embodiment of slope auxiliary control method of the invention；
Fig. 5 is a kind of the 1st embodiment step S13 of slope auxiliary control method of the invention schematic diagram；
Fig. 6 is a kind of structural representation of slope sub-controlling unit of the invention；
Fig. 7 is a kind of another structural representation of slope sub-controlling unit of the invention；
Fig. 8 is a kind of another structural representation of slope sub-controlling unit of the invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is a part of embodiment of the invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those skilled in the art institute under the premise of creative work is not made
The every other embodiment obtained, belongs to the scope of protection of the invention.
The problem of in currently available technology there is high cost and poor auxiliaring effect in traditional slope accessory system, based on this,
A kind of slope auxiliary control method and device that inventive embodiments are provided, can reduce cost, improve auxiliaring effect.
Embodiment 1
Fig. 1 is a kind of schematic flow sheet of the 1st embodiment of slope auxiliary control method of the invention.This method is applied to
Electric motor car, the electric motor car at least includes motor and controller.Method flow shown in the embodiment comprises the following steps：
Step S11, gathers the rotation information and the transmits information of electric motor car of the motor of electric motor car.
Controller is according to the motor rotation information of predetermined period timing acquiring electric motor car and the transmits information of electric motor car.
Specifically, controller by rigid line and CAN network and miscellaneous part controller on vehicle (such as electric machine controller), sensor, hold
Row device is connected.Wherein the rotation information of motor at least includes the rotation direction and velocity of rotation of motor；Transmits information is electricity
The gear of motor-car, when the gear of electric motor car is D grades (Drive, also referred to as drive shift, drive), determines the traveling side of electric motor car
To advance, when the gear of electric motor car is R grades (Reverse, reverse gear), determine the travel direction of electric motor car to retreat.Except this
Outside, gear at least also includes P grades (Parking, parking position switch or shelves of parking) and N Neutral, neutral gear).
In order to ensure the promptness of slope assistant starting, above-mentioned predetermined period needs as far as possible short, preferably 5-30ms.Consider
The startup aided in slope is to occur in vehicle close to static state, therefore preferably small in the rotating speed of speed or motor
When given threshold, the above-mentioned periodicity acquisition operations of reactivation, so as to reduce the workload of controller.
Step S12, judges whether electric motor car is in car rolling state according to rotation information and transmits information.If holding
Row step S13, if not, performing step S11.
Controller carries out car rolling state judgement according to above-mentioned rotation information and transmits information, when occurring car slipping, holds
The operation of row step S13 output auxiliary torsion, if car slipping does not occur, continues executing with step S11 gathered data operation.
Specifically, it can judge whether electric motor car is in car slipping according to the rotation direction of motor and the gear information of electric motor car
State.Wherein rotation direction includes clockwise and reversed.
Step S13, controlled motor output auxiliary torsion.
When controller judges currently to have occurred car slipping, controlled motor is made correct torque response and turned round so as to export auxiliary
Power, the auxiliary torsion balances each other with the load under the state of electric motor car slope, vehicle is no longer slipped by slope, then keep the torsion so that
Vehicle is static in situ.
The above method that the present embodiment is provided, only by the rotation information of motor and the transmits information of electric motor car with regard to energy
Judge whether to be in car rolling state, stay system of stopping independent of slope sensor and electronics, such scheme is integrated into vehicle
In controller software, slope ancillary control function can be achieved with；Positional information without the need for brake and gas pedal can
To be made whether the judgement in car rolling state, the information category of collection is few, determinating mode it is simple, it is necessary to reaction time it is short,
Controller workload is small；Therefore system low cost and auxiliaring effect is good.
Embodiment 2
Fig. 2 is a kind of schematic flow sheet of the 2nd embodiment of slope auxiliary control method of the invention, the tune of the present embodiment
Prosecutor method is entered so that the rotation direction and the gear information of electric motor car according to motor judge whether electric motor car is in car rolling state as an example
Row explanation, the method flow shown in the embodiment comprises the following steps：
Step S21, gathers the rotation direction and the gear information of electric motor car of the motor of electric motor car.
Whether step S22, it is D grades to judge above-mentioned gear information.If it is, step S23 is performed, if not, performing step
S24。
On the slope, car slipping may occur at D grades or R grades for vehicle, therefore two kinds of gears are judged respectively.Can
With understanding, step S22 and step S24 order can be exchanged, i.e., first carry out D grades of condition adjudgements and carry out R grades of states again and sentence
It is disconnected or first carry out R grade condition adjudgements to carry out D grades of condition adjudgements again achievable.
Whether step S23, it is reverse to judge rotation direction.If it is, step S26 is performed, if not, terminating.
, can towing astern electricity when wheel passive rotation because the motor of electric motor car is generally by accelerator direct drive of wheel
Machine is rotated, therefore the normal rotation direction of motor is clockwise when vehicle is D grades, if under D grades of states motor rotation side
To reverse, then it can be determined that wheel reverses drive motor to reverse, so that it is determined that now there occurs car slipping.
Whether step S24, it is R grades to judge above-mentioned gear information.If it is, step S25 is performed, if not, terminating.
Whether step S25, it is clockwise to judge rotation direction.If it is, step S26 is performed, if not, terminating.
Step S26, controlled motor output auxiliary torsion.
The above method that the present embodiment is provided, is that can decide whether only by the rotation direction and current gear of motor
In car rolling state, low cost, reaction are fast, auxiliaring effect is good.
Embodiment 3
Fig. 3 is a kind of schematic flow sheet of the 3rd embodiment of slope auxiliary control method of the invention, it is contemplated that data are adopted
The error of collection caused may be judged by accident, add rotary speed threshold value judgement, and the method flow shown in the embodiment includes following walk
Suddenly：
Step S31, gathers the rotation direction and the gear information of electric motor car of the motor of electric motor car.
Whether step S32, it is D grades to judge above-mentioned gear information.If it is, step S33 is performed, if not, performing step
S35。
Whether step S33, it is reverse to judge rotation direction.If it is, step S34 is performed, if not, terminating.
Step S34, judges whether the rotating speed of motor is more than the rotary speed threshold value of setting.If it is, step S38 is performed, if
It is no, terminate.
When the rotation direction of motor is not inconsistent with gear, the judgement whether rotating speed is more than threshold value, turn herein have also been carried out
Speed is actual value, not including rotation direction.Because the judgement of rotation direction is easily judged by accident, thus be provided with rotary speed threshold value,
When the rotating speed of electrode is more than the threshold value, assert occur car slipping.The representative value of above-mentioned threshold value may be set to 2rpm (rpms
Clock), accuracy and promptness can be taken into account.
Whether step S35, it is R grades to judge above-mentioned gear information.If it is, step S36 is performed, if not, terminating.
Whether step S36, it is clockwise to judge rotation direction.If it is, step S37 is performed, if not, terminating.
Step S37, judges whether the rotating speed of motor is more than the rotary speed threshold value of setting.If it is, step S38 is performed, if
It is no, terminate.
Step S38, controlled motor output auxiliary torsion.
Whether the above method that the present embodiment is provided, exceed threshold value and current by the rotation direction of motor, current rotating speed
Gear be that can decide whether to there occurs car slipping, low cost, reaction are fast, auxiliaring effect is good.
Embodiment 4
Fig. 4 is a kind of schematic flow sheet of the 4th embodiment of slope auxiliary control method of the invention, above-mentioned tiltedly in beginning
Slope is aided in, after output auxiliary torsion (start slope auxiliary mode), also including exiting operation, when meeting following condition a period of time,
Stop output auxiliary torsion：
(1) timer is opened while controlled motor output auxiliary torsion, when timer reaches threshold value.
(2) when the torsion request of the driver received is more than auxiliary torsion.
(3) when the driver received switches the request of gear, i.e., gear changes.
The purpose for wherein starting timer includes two：Protect motor, it is to avoid long-time stall caloric value burns greatly very much electricity
Machine controller and the feature for imitating existing slope miscellaneous function.The value of the timer could be arranged to 1-2s.The torsion of driver
Power request obtained by the position of gas pedal, when driver steps on pedal, it is believed that its have been completed from brake pedal to
The switching of gas pedal.Switching gear shows that driver may need parking or other operations, now also stops output auxiliary and turns round
Power is to perform the instruction of driver.
It is understood that in above-mentioned timer running, once meet condition (2) or (3) exit slope
Auxiliary mode.
As shown in figure 4, the method flow shown in present embodiment comprises the following steps：
Step S41, starts timer.
Step S42, judges whether timer is overtime.If it is, performing step S45；If not, performing step S43.
Step S43, judges whether the torsion request of driver is more than auxiliary torsion.If it is, performing step S45；If
It is no, perform step S44.
Step S44, judges whether gear changes；If it is, performing step S45；If not, terminating.
Step S45, exits slope auxiliary mode.
The above method that the present embodiment is provided, determines whether to move back by timer, torsion request and the judgement of gear change
Go out slope auxiliary mode, controlled motor stops output auxiliary torsion, can automatically exit from auxiliary mode, and motor back to normal is turned round
Power is controlled.
Embodiment 5
Fig. 5 is the step S13 of the slope auxiliary control method in the embodiment of the present invention 1 schematic diagram, is specifically included as follows
Step：
Step S51, auxiliary torsion is calculated according to rotating speed of target and current rotating speed.
Controller carries out the calculating of auxiliary torsion, specifically includes：Calculate the rotating speed difference of rotating speed of target and current rotating speed；Meter
Corresponding torsion when the rotating speed for calculating motor is rotating speed difference.Wherein rotating speed of target is 0, i.e. the target of slope auxiliary is to maintain motor
Rotating speed is 0, now stationary vehicle.It is understood that the rotating speed of target can also be one close to 0 rotary speed threshold value, for example
3prm, it is believed that now vehicle is in the static critical condition with advance.
Except the mode of above-mentioned calculating difference, it can also be realized by calculating the ratio of rotating speed of target and current rotating speed, root
Ratio-auxiliary torsion corresponding table is searched according to the size of ratio, the corresponding auxiliary torsion of ratio is determined.For example rotating speed of target is
3prm, current rotating speed is -3prm, then ratio is -1, and the numerical value of auxiliary torsion is drawn by tabling look-up.
Step S52, controlled motor exports above-mentioned auxiliary torsion.
After controller calculates auxiliary torsion, electric machine controller, controlled motor are sent to by dynamical system CAN network
Make correct torque response, driving vehicle traveling.
The above method that the present embodiment is provided, calculates auxiliary torsion, it is not necessary to judge by rotating speed of target and current rotating speed
Brake or car speed, can export power by controlled motor, make vehicle stabilization on the slope.
Embodiment 6
The embodiment of the present invention 6 provide a kind of slope sub-controlling unit, structural representation shown in Figure 6, including
Acquisition module 610, judge module 620 and control module 630, wherein, the function of each module is as follows：
Acquisition module 610, for the rotation information and the transmits information of electric motor car of the motor for gathering electric motor car；
Judge module 620, for judging whether electric motor car is in car rolling state according to rotation information and transmits information；
Control module 630, for if it is, controlled motor output auxiliary torsion.
Wherein, judge module is additionally operable to：Judge that electric motor car is according to the gear information of the rotation direction of motor and electric motor car
It is no to be in car rolling state.
The structural representation of slope sub-controlling unit shown in Figure 7, wherein judge module 620 include：
First judging unit 701, for judge gear information be D grades, rotation direction be to reverse whether simultaneously satisfaction；If
It is to determine that electric motor car is in car rolling state；
Second judging unit 702, for judge gear information be R grades, rotation direction be clockwise whether meet simultaneously；If
It is to determine that electric motor car is in car rolling state.
Wherein, control module 630 includes：
Computing unit 703, for calculating auxiliary torsion according to rotating speed of target and current rotating speed；
Control unit 704, for controlled motor output auxiliary torsion.
Specifically, computing unit 703 includes：Mathematic interpolation subelement, turn for calculating rotating speed of target and current rotating speed
Speed difference value；Torsion computation subunit, for calculating corresponding torsion when the rotating speed of motor is rotating speed difference.
Further, the structural representation of slope sub-controlling unit shown in Figure 8, also including stopping modular 810, its
For：Timer is opened when starting slope auxiliary mode, stops output auxiliary torsion when timer reaches threshold value；Work as reception
When the torsion request of the driver arrived is more than auxiliary torsion, stop output auxiliary torsion；When the driver received switches gear
Request when, stop output auxiliary torsion.
Slope sub-controlling unit provided in an embodiment of the present invention, the slope auxiliary control method provided with above-described embodiment
With identical technical characteristic, so can also solve identical technical problem, identical technique effect is reached.The embodiment of the present invention
The technique effect of the device provided, its realization principle and generation is identical with preceding method embodiment, to briefly describe, and device is real
Apply example part and do not refer to part, refer to corresponding contents in preceding method embodiment.
In addition, in the description of the embodiment of the present invention, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.To those skilled in the art, above-mentioned term can be understood in the present invention with concrete condition
Concrete meaning.
If above-mentioned functions are realized using in the form of SFU software functional unit and are used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are make it that a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform each of the invention embodiment method all or part of step.And
Foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-OnlyMemory), random access memory
Device (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
Finally it should be noted that：Above example, is only the embodiment of the present invention, the skill to illustrate the present invention
Art scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although entering with reference to the foregoing embodiments to the present invention
Go detailed description, it should be understood by those skilled in the art that：Any one skilled in the art takes off in the present invention
In the technical scope of dew, it can still modify to the technical scheme described in previous embodiment or can readily occur in change
Change, or equivalent is carried out to which part technical characteristic；And these modifications, change or replacement, do not make relevant art
Scheme essence depart from embodiment of the present invention technical scheme spirit and scope, should all cover protection scope of the present invention it
It is interior.Therefore, protection scope of the present invention should be defined by scope of the claims.
Claims (10)
1. a kind of slope auxiliary control method, it is characterised in that applied to electric motor car, including：
Gather the rotation information of the motor of the electric motor car and the transmits information of the electric motor car；
Judge whether the electric motor car is in car rolling state according to the rotation information and the transmits information；
If it is, controlling the motor output auxiliary torsion.
2. according to the method described in claim 1, it is characterised in that described to be believed according to the rotation information and the travel direction
Breath judges whether the electric motor car includes in car rolling state：
Judge whether the electric motor car is in car slipping shape according to the gear information of the rotation direction of the motor and the electric motor car
State.
3. method according to claim 2, it is characterised in that the rotation direction according to the motor and described electronic
The gear information of car judges whether the electric motor car includes in car rolling state：
Judge the gear information be D grades, the rotation direction be to reverse whether simultaneously satisfaction；If it is, determining described electronic
Car is in car rolling state；
Judge the gear information be R grades, the rotation direction be clockwise whether meet simultaneously；If it is, determining described electronic
Car is in car rolling state.
4. according to the method described in claim 1, it is characterised in that the control motor output auxiliary torsion includes：
The auxiliary torsion is calculated according to rotating speed of target and current rotating speed；
The motor is controlled to export the auxiliary torsion.
5. method according to claim 4, it is characterised in that described to calculate described auxiliary according to rotating speed of target and current rotating speed
Helping torsion includes：
Calculate the rotating speed difference of the rotating speed of target and the current rotating speed；
Corresponding torsion when the rotating speed for calculating the motor is the rotating speed difference.
6. according to the method described in claim 1, it is characterised in that also include：Opened when controlled motor output auxiliary torsion
Timer, stops output auxiliary torsion when the timer reaches threshold value.
7. the method according to claim 4 or 6, it is characterised in that also include：When the torsion of the driver received is asked
During more than the auxiliary torsion, stop output auxiliary torsion.
8. the method according to claim 4 or 6, it is characterised in that also include：When the driver's switching gear received
During request, stop output auxiliary torsion.
9. a kind of slope sub-controlling unit, it is characterised in that applied to electric motor car, including：
Acquisition module, for the rotation information and the transmits information of the electric motor car of the motor for gathering the electric motor car；
Judge module, for judging whether the electric motor car is in car slipping according to the rotation information and the transmits information
State；
Control module, for if it is, controlling the motor output auxiliary torsion.
10. device according to claim 9, it is characterised in that the judge module is additionally operable to：According to turning for the motor
The gear information of dynamic direction and the electric motor car judges whether the electric motor car is in car rolling state.
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| CN201710227133.6A CN106945570A (en) | 2017-04-06 | 2017-04-06 | Slope auxiliary control method and device |
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| CN201710227133.6A CN106945570A (en) | 2017-04-06 | 2017-04-06 | Slope auxiliary control method and device |
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| CN109080635A (en) * | 2018-07-17 | 2018-12-25 | 江西精骏电控技术有限公司 | A kind of electric car ramp starting control system and method |
| CN110194170A (en) * | 2019-07-01 | 2019-09-03 | 安徽江淮汽车集团股份有限公司 | A kind of ramp parking control method, device and storage medium |
| CN110605971A (en) * | 2019-09-17 | 2019-12-24 | 中国第一汽车股份有限公司 | Ramp parking control method and system for electric automobile and electric automobile |
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Application publication date: 20170714 |