CN107031637B - Pure electric automobile traction control method - Google Patents
Pure electric automobile traction control method Download PDFInfo
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- CN107031637B CN107031637B CN201611049655.3A CN201611049655A CN107031637B CN 107031637 B CN107031637 B CN 107031637B CN 201611049655 A CN201611049655 A CN 201611049655A CN 107031637 B CN107031637 B CN 107031637B
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
Abstract
Present invention discloses a kind of pure electric automobile traction control methods: when the vehicle is running, controller judges received whole vehicle state information and sends status information to ABS；ABS receiving status information is judged and is controlled braking system, while sending motor driving torque limit value to controller；Controller changes Motor torque request according to the motor driving torque limit value that ABS is sent, and motor makes respective response.The present invention determines the tractive force state of left and right sidesing driving wheel using selected control parameter variation, adjusts the brake force of left and right wheels and the driving force of motor, realizes that the tractive force of electric car optimizes.
Description
Technical field
The present invention relates to electric powered motor field more particularly to method for controlling traction of electric vehicle.
Background technique
The traction control method of orthodox car is mainly according to whole by judging wheel slip in running car
The tractive force state of vehicle, 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, cannot directly adopt in pure electric automobile.
Summary of the invention
The technical problem to be solved by the present invention is to realize that one kind can optimize distribution and the more reasonable pure electric vehicle of distribution
Traction control method.
To achieve the goals above, the technical solution adopted by the present invention are as follows: pure electric automobile traction control method:
When the vehicle is running, controller judges received whole vehicle state information and sends status information to ABS；
ABS receiving status information is judged and is controlled braking system, while sending motor driving torque limit to controller
Value；
Controller changes Motor torque request according to the motor driving torque limit value that ABS is sent, and motor makes respective response.
The whole vehicle state information includes the entire vehicle gear information of the acquisition, accelerator pedal position information, braking state
Information, motor status information.
ABS according to entire vehicle gear information, accelerator pedal position information and motor status information compared with setup parameter, if
In normal range (NR), then vehicle is in normal condition, if not in the normal range, being normally in abnormality, ABS state is protected
It holds.
ABS control method:
1) ABS judges whether left and right front wheel slip rate is more than setting value, if not exceeded, then increasing motor driving moment limit
Value, and the restriction signal via controller is sent to electric machine controller；
If 2) be more than, judge left and right front-wheel whether and meanwhile skid, if so, reduce motor driving moment limit value, 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, reducing side brake force of not skidding, if it is not, then
Increase skidding side brake force；
4) it returns 1)
Setting value is the sliding that 10%, ABS acquires 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: communicating with ABS, and outputs control signals to electric machine controller；
ABS unit；Judge whether vehicle skids, by the adjusting of change and left and right wheels brake force to driving moment,
Realize the control of vehicle tractive force.
Entire vehicle gear state acquisition unit: entire vehicle gear signal is delivered to controller；
Accelerator pedal position acquisition unit: acceleration pedal position signal is delivered to controller；
Braking state acquisition unit: braking state signal is delivered to controller；
Motor status acquisition unit: motor status signal is delivered to controller.
The present invention determines the tractive force state of left and right sidesing driving wheel using selected control parameter variation, adjusts left and right wheels
Brake force and motor driving force, realize electric car tractive force optimize.
Detailed description of the invention
The content of width attached drawing every in description of the invention expression is briefly described below:
Fig. 1 is pure electric automobile traction control method flow chart.
Specific embodiment
The automobile-used traction control method of electric car of the present invention comprehensively considers electric car to be occurred not in the process of running
Same road condition is realized to the polling power controlling of vehicle by electric system in conjunction with braking system, guarantees the passability of vehicle,
Tractive force after optimization distribution is more reasonable, can adjust the brake force of left and right wheels and the driving force of motor, realize electronic vapour
The tractive force of vehicle optimizes.
Pure electric automobile traction control method: when the vehicle is running, controller judges received whole vehicle state information
And status information is sent to ABS；Whole vehicle state information include the entire vehicle gear information of the acquisition, accelerator pedal position information,
Braking state information, motor status information.
ABS receiving status information is judged and is controlled braking system, while sending motor driving torque limit to controller
Value；Controller changes Motor torque request according to the motor driving torque limit value that ABS is sent, and motor makes respective response.
As shown in Figure 1, ABS judges whether normally (step only sends CAN signal to each controller to vehicle driving status
Diagnostic signal judgement, avoid ABS from malfunctioning) i.e. ABS according to entire vehicle gear information, accelerator pedal position information and motor status believe
Breath is compared with setup parameter, if in the normal range, vehicle is in normal condition, if not in the normal range, it is normal to locate
In abnormality, ABS state is kept.
ABS acquires the slip rate that wheel speed information calculates left and right wheels by wheel speed sensors, judges whether left and right wheels are beaten
Sliding (slip rate > 10%) determines the driving force state of vehicle according to the slip rate and speed of left and right wheels, then by driving force
The control of vehicle tractive force is realized in the change of square and the adjusting of left and right wheels brake 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) be more than, judge left and right front-wheel whether and meanwhile skid, if so, reduce motor driving moment limit value, 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, reducing side brake force of not skidding, if it is not, then
Increase skidding side brake force；
4) it returns 1)
Control system based on above-mentioned pure electric automobile traction control method includes:
Controller: communicating with ABS, and outputs control signals to electric machine controller；
ABS unit；Judge whether vehicle skids, by the adjusting of change and left and right wheels brake force to driving moment,
Realize the control of vehicle tractive force.
Entire vehicle gear state acquisition unit: entire vehicle gear signal is delivered to controller；
Accelerator pedal position acquisition unit: acceleration pedal position signal is delivered to controller；
Braking state acquisition unit: braking state signal is delivered to controller；
Motor status acquisition unit: motor status signal is delivered to controller.
When system work and vehicle operation, when vehicle is in low attachment road surface, need 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 control.ABS system is in dynamic equilibrium to the size control of brake force and driving force limit value always, to guarantee 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, need and when the turning and acceleration of vehicle, the demand to tractive force, design parameter needed for corresponding state judges and
For the calibration of the value of thrust of different automobile types.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out is used, or without changing
It is within the scope of the present invention into the conception and technical scheme of the invention are directly applied to other occasions.
Claims (5)
1. pure electric automobile traction control method, it is characterised in that:
When the vehicle is running, controller judges received whole vehicle state information and sends status information to ABS；
ABS receiving status information is judged and is controlled braking system, while sending motor driving torque limit value to controller；
Controller changes Motor torque request according to the motor driving torque limit value that ABS is sent, and motor makes respective response;
The whole vehicle state information include the entire vehicle gear information of the acquisition, accelerator pedal position information, braking state information,
Motor status information;
ABS according to entire vehicle gear information, accelerator pedal position information and motor status information compared with setup parameter, if normal
In range, then vehicle is in normal condition, if not in the normal range, vehicle is in abnormality, ABS state is kept.
2. pure electric automobile traction control method according to claim 1, it is characterised in that: ABS control method:
1) ABS judges whether left and right front wheel slip rate is more than 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) be more than, judge left and right front-wheel whether and meanwhile skid, and should if so, reduce motor driving moment limit value
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, reducing side brake force of not skidding, if it is not, then increasing
Skidding side brake force；
4) it returns 1).
3. pure electric automobile traction control method according to claim 2, it is characterised in that: it is described 1) in setting value be
10%, ABS acquire the slip rate that wheel speed information calculates left and right wheels by wheel speed sensors.
4. based on the control system of pure electric automobile traction control method described in any one of claim 1-3, feature exists
In, comprising:
Controller: communicating with ABS, and outputs control signals to electric machine controller；
ABS unit；Judge whether vehicle skids, by the adjusting of change and left and right wheels brake force to driving moment, realizes
The control of vehicle tractive force.
5. control system according to claim 4, which is characterized in that system further include:
Entire vehicle gear state acquisition unit: entire vehicle gear signal is delivered to controller；
Accelerator pedal position acquisition unit: acceleration pedal position signal is delivered to controller；
Braking state acquisition unit: braking state signal is delivered to controller；
Motor status acquisition 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 CN107031637A (en) | 2017-08-11 |
| CN107031637B true CN107031637B (en) | 2019-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611049655.3A Active CN107031637B (en) | 2016-11-25 | 2016-11-25 | Pure electric automobile traction control method |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7032275B2 (en) * | 2018-09-21 | 2022-03-08 | トヨタ自動車株式会社 | Vehicle braking 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 |
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| CN107031637A (en) | 2017-08-11 |
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