CN107031637A - Pure electric automobile traction control method - Google Patents
Pure electric automobile traction control method Download PDFInfo
- Publication number
- CN107031637A CN107031637A CN201611049655.3A CN201611049655A CN107031637A CN 107031637 A CN107031637 A CN 107031637A CN 201611049655 A CN201611049655 A CN 201611049655A CN 107031637 A CN107031637 A CN 107031637A
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- controller
- abs
- motor
- vehicle
- electric automobile
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000004044 response Effects 0.000 claims abstract description 4
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 4
- 230000005856 abnormality Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Classifications
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/192—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes electric brakes
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Present invention is disclosed a kind of pure electric automobile traction control method：When the vehicle is running, controller judges the whole vehicle state information of reception and sends status information to ABS；ABS receiving status informations are judged and control brakes, while sending motor driving torque limit value to controller；The motor driving torque limit value that controller is sent according to ABS changes Motor torque request, and motor makes respective response.The present invention changes to determine the tractive force state of left and right sidesing driving wheel using selected control parameter, adjusts the brake force of left and right wheelses and the driving force of motor, realizes that the tractive force of electric automobile is optimized.
Description
Technical field
The present invention relates to electric powered motor field, more particularly to method for controlling traction of electric vehicle.
Background technology
The traction control method of orthodox car is mainly according to whole by judging wheel slip in running car
The tractive force state of car, or realize using self-locking differential mechanism the control of tractive force.Orthodox car polling power controlling side
The reference target of method is different from pure electric automobile, it is impossible to directly used in pure electric automobile.
The content of the invention
The technical problems to be solved by the invention are to realize that one kind can optimize distribution and distribute more rational pure electronic
Traction control method.
To achieve these goals, the technical solution adopted by the present invention is：Pure electric automobile traction control method：
When the vehicle is running, controller judges the whole vehicle state information of reception and sends status information to ABS；
ABS receiving status informations are judged and control brakes, while sending motor driving torque limit to controller
Value；
The motor driving torque limit value that controller is sent according to ABS changes Motor torque request, and motor makes respective response.
The whole vehicle state information includes the entire vehicle gear information, accelerator pedal position information, braking state of the collection
Information, motor status information.
ABS is compared according to entire vehicle gear information, accelerator pedal position information and motor status information with setup parameter, if
In normal range (NR), then vehicle is in normal condition, if not in normal range (NR), being normally in abnormality, ABS states are protected
Hold.
ABS control methods：
1) ABS judges whether left and right front wheel slip rate exceedes setting value, if not exceeded, then increase motor driving moment limit
Value, and the restriction signal via controller is sent to electric machine controller；
If 2) exceeded, judge whether left and right front-wheel skids simultaneously, if so, motor driving moment limit value is then reduced, and
The restriction signal via controller is sent to electric machine controller；
3) if it is not, then judging the whether restricted power in side that do not skid, if so, then reducing side brake force of not skidding, if it is not, then
Increase skidding side brake force；
4) return 1)
Setting value is that 10%, ABS gathers the sliding that wheel speed information calculates left and right wheels by wheel speed sensors in described 1
Rate.
Control system based on the pure electric automobile traction control method includes：
Controller：Communicated with ABS, and output control signals to electric machine controller；
ABS unit；Judge whether vehicle skids, by the change to driving moment and the regulation of left and right wheelses brake force,
Realize the control of vehicle tractive force.
Entire vehicle gear state acquisition unit：Entire vehicle gear signal is delivered to controller；
Accelerator pedal position collecting unit：Acceleration pedal position signal is delivered to controller；
Braking state collecting unit：Braking state signal is delivered to controller；
Motor status collecting unit：Motor status signal is delivered to controller.
The present invention changes to determine the tractive force state of left and right sidesing driving wheel using selected control parameter, adjusts left and right wheelses
Brake force and motor driving force, realize electric automobile tractive force optimize.
Brief description of the drawings
The content to every width accompanying drawing expression in description of the invention is briefly described below：
Fig. 1 is pure electric automobile traction control method flow chart.
Embodiment
The automobile-used traction control method of electric automobile of the present invention considers electric automobile to be occurred not in the process of running
Same road condition, electric system is combined with brakes, is realized to the polling power controlling of vehicle, it is ensured that vehicle by property,
Tractive force after optimization distribution is more reasonable, can adjust the brake force of left and right wheelses and the driving force of motor, realize electronic vapour
The tractive force of car is optimized.
Pure electric automobile traction control method：When the vehicle is running, controller is judged the whole vehicle state information of reception
And status information is sent to ABS；The entire vehicle gear information of whole vehicle state information including the collection, accelerator pedal position information,
Braking state information, motor status information.
ABS receiving status informations are judged and control brakes, while sending motor driving torque limit to controller
Value；The motor driving torque limit value that controller is sent according to ABS changes Motor torque request, and motor makes respective response.
As shown in figure 1, ABS judges whether normally (step only sends CAN signal to vehicle transport condition to each controller
Diagnostic signal judges, it is to avoid ABS misoperations) it is that ABS believes according to entire vehicle gear information, accelerator pedal position information and motor status
Breath is compared with setup parameter, if in normal range (NR), vehicle is in normal condition, if not in normal range (NR), normal place
In abnormality, ABS states are kept.
ABS gathers the slip rate that wheel speed information calculates left and right wheels by wheel speed sensors, judges whether left and right wheelses are beaten
Sliding (slip rate ＞ 10%), according to the slip rate and speed of left and right wheels, determines the driving force state of vehicle, then by driving force
The change of square and the regulation of left and right wheelses brake force, realize the control of vehicle tractive force.
Specifically:
1) whether ABS judges left and right front wheel slip rate more than 10＆, if not exceeded, then increase motor driving moment limit value, and
The restriction signal via controller is sent to electric machine controller；
If 2) exceeded, judge whether left and right front-wheel skids simultaneously, if so, motor driving moment limit value is then reduced, and
The restriction signal via controller is sent to electric machine controller；
3) if it is not, then judging the whether restricted power in side that do not skid, if so, then reducing side brake force of not skidding, if it is not, then
Increase skidding side brake force；
4) return 1)
Control system based on above-mentioned pure electric automobile traction control method includes：
Controller：Communicated with ABS, and output control signals to electric machine controller；
ABS unit；Judge whether vehicle skids, by the change to driving moment and the regulation of left and right wheelses brake force,
Realize the control of vehicle tractive force.
Entire vehicle gear state acquisition unit：Entire vehicle gear signal is delivered to controller；
Accelerator pedal position collecting unit：Acceleration pedal position signal is delivered to controller；
Braking state collecting unit：Braking state signal is delivered to controller；
Motor status collecting unit：Motor status signal is delivered to controller.
When system works and vehicle is run, when vehicle is in low attachment road surface, it is necessary to reduce the drag torque of vehicle, with
Extenuate the skidding of vehicle.When vehicle is for unilateral tyre slip, leading for driving wheel can be realized by controlling single shoe brake torque
Gravitation is controlled.ABS system is in dynamic equilibrium all the time to brake force and the control of the size of driving force limit value, to ensure low attachment road
The maximum performance of face vehicle, while meeting the recovery of vehicle performance when vehicle adheres to road surface from low attachment road surface to height.In reality
In design, it is necessary to and vehicle turning and acceleration when, to the demand of tractive force, parameter needed for designing corresponding condition adjudgement and
For the demarcation of the value of thrust of different automobile types.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that the present invention is implemented not by aforesaid way
Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is employed, or without changing
Enter and the design of the present invention and technical scheme are directly applied into other occasions, within protection scope of the present invention.
Claims (7)
1. pure electric automobile traction control method, it is characterised in that：
When the vehicle is running, controller judges the whole vehicle state information of reception and sends status information to ABS；
ABS receiving status informations are judged and control brakes, while sending motor driving torque limit value to controller；
The motor driving torque limit value that controller is sent according to ABS changes Motor torque request, and motor makes respective response.
2. pure electric automobile traction control method according to claim 1, it is characterised in that：The whole vehicle state information
Entire vehicle gear information, accelerator pedal position information, braking state information, motor status information including the collection.
3. pure electric automobile traction control method according to claim 1 or 2, it is characterised in that：ABS is according to vehicle shelves
Position information, accelerator pedal position information and motor status information are compared with setup parameter, if in normal range (NR), vehicle is in
Normal condition, if not in normal range (NR), being normally in abnormality, ABS states are kept.
4. pure electric automobile traction control method according to claim 3, it is characterised in that：ABS control methods：
1) ABS judges whether left and right front wheel slip rate exceedes setting value, if not exceeded, then increase motor driving moment limit value, and
The restriction signal via controller is sent to electric machine controller；
If 2) exceeded, judge whether left and right front-wheel skids simultaneously, if so, motor driving moment limit value is then reduced, and should
Restriction signal via controller is sent to electric machine controller；
3) if it is not, then judging the whether restricted power in side that do not skid, if so, then reducing side brake force of not skidding, if it is not, then increasing
Skidding side brake force；
4) return 1).
5. pure electric automobile traction control method according to claim 4, it is characterised in that：Setting value is in described 1
10%, ABS gather the slip rate that wheel speed information calculates left and right wheels by wheel speed sensors.
6. based on the control system of pure electric automobile traction control method any one of claim 1-5, its feature exists
In, including：
Controller：Communicated with ABS, and output control signals to electric machine controller；
ABS unit；Judge whether vehicle skids, by the change to driving moment and the regulation of left and right wheelses brake force, realize
The control of vehicle tractive force.
7. control system according to claim 6, it is characterised in that system also includes：
Entire vehicle gear state acquisition unit：Entire vehicle gear signal is delivered to controller；
Accelerator pedal position collecting unit：Acceleration pedal position signal is delivered to controller；
Braking state collecting unit：Braking state signal is delivered to controller；
Motor status collecting unit：Motor status signal is delivered to controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611049655.3A CN107031637B (en) | 2016-11-25 | 2016-11-25 | Pure electric automobile traction control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611049655.3A CN107031637B (en) | 2016-11-25 | 2016-11-25 | Pure electric automobile traction control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107031637A true CN107031637A (en) | 2017-08-11 |
| CN107031637B CN107031637B (en) | 2019-06-14 |
Family
ID=59531136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611049655.3A Active CN107031637B (en) | 2016-11-25 | 2016-11-25 | Pure electric automobile traction control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107031637B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110936941A (en) * | 2018-09-21 | 2020-03-31 | 丰田自动车株式会社 | Vehicle brake control device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101088818A (en) * | 2006-06-14 | 2007-12-19 | 比亚迪股份有限公司 | Antiskid control system and method for electromobile |
| JP2010149682A (en) * | 2008-12-25 | 2010-07-08 | Nissan Motor Co Ltd | Device and method for controlling engine start |
| CN101985300A (en) * | 2010-09-30 | 2011-03-16 | 重庆长安汽车股份有限公司 | Torque control method capable of preventing driving wheels from slipping |
| CN104385937A (en) * | 2014-10-16 | 2015-03-04 | 奇瑞汽车股份有限公司 | Method for controlling traction force of blade electric automobile |
| CN104477164A (en) * | 2014-11-20 | 2015-04-01 | 北京新能源汽车股份有限公司 | Acceleration anti-slip control system and method of pure electric vehicle |
-
2016
- 2016-11-25 CN CN201611049655.3A patent/CN107031637B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101088818A (en) * | 2006-06-14 | 2007-12-19 | 比亚迪股份有限公司 | Antiskid control system and method for electromobile |
| JP2010149682A (en) * | 2008-12-25 | 2010-07-08 | Nissan Motor Co Ltd | Device and method for controlling engine start |
| CN101985300A (en) * | 2010-09-30 | 2011-03-16 | 重庆长安汽车股份有限公司 | Torque control method capable of preventing driving wheels from slipping |
| CN104385937A (en) * | 2014-10-16 | 2015-03-04 | 奇瑞汽车股份有限公司 | Method for controlling traction force of blade electric automobile |
| CN104477164A (en) * | 2014-11-20 | 2015-04-01 | 北京新能源汽车股份有限公司 | Acceleration anti-slip control system and method of pure electric vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110936941A (en) * | 2018-09-21 | 2020-03-31 | 丰田自动车株式会社 | Vehicle brake control device |
| CN110936941B (en) * | 2018-09-21 | 2022-03-22 | 丰田自动车株式会社 | Vehicle brake control device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107031637B (en) | 2019-06-14 |
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