CN107128210B - Pure electric vehicle whole-control system containing two-shift automatic variable speed - Google Patents
Pure electric vehicle whole-control system containing two-shift automatic variable speed Download PDFInfo
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- CN107128210B CN107128210B CN201610111187.1A CN201610111187A CN107128210B CN 107128210 B CN107128210 B CN 107128210B CN 201610111187 A CN201610111187 A CN 201610111187A CN 107128210 B CN107128210 B CN 107128210B
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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
- 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
- B60L2240/421—Speed
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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
- 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
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- 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 present invention discloses a kind of pure electric vehicle whole-control system containing two-shift automatic variable speed, including entire car controller, motor management systems, instrument display system, rear axle vehicle speed sensor, angular displacement sensor and shift module；Shift module cuts off power when speed compliance gear shift requires when Motor torque is reduced to 0, moment of torsion control is converted to revolving speed control when gear shift；Shift module includes shift process module, shift motor stroke recording module, gear shifting action module, and wherein shift process module and gear shifting action module are mainly completed by full-vehicle control algorithm.Entire car controller monitors electric machine operation state and current vehicle speed in real time by CAN bus, realizes self shifter, reduces the labor intensity of driver.The two speed transmission without clutch is added under the premise of improving vehicle performance in the present invention, reduces the requirement to driving motor performance, so that driving motor is more worked in high efficient area, improves power performance, extend the continual mileage of pure electric vehicle.
Description
Technical field
The present invention is a kind of pure electric vehicle whole-control system containing two-shift automatic variable speed, especially pure electric vehicle minicar
Vehicle shift gears control, belong to pure electric automobile field.
Background technique
For traditional automatic transmission with clutch, entire gearshift procedure has a clutch participation, involved by the present invention
And pure electric vehicle used in two-shift automatic variable speed device be no-clutch two-shift automatic variable speed device, mechanical structure has obtained very big
Simplification.Due to being not provided with clutch, gearbox middle gear axial friction is very big, forces shift shock larger, it is therefore desirable to
When main motor torque is reduced to zero, shift will not just cause serious impact to gearbox.Therefore shift control strategy becomes to compare
Complexity needs accurately to control the revolving speed of driving motor and torque, in addition, rushing in gearshift procedure in order to reduce gear shift
It hits, other than the revolving speed to driving motor carries out accurate control, also to carry out one with entire car controller and drive motor controller
Bodyization control.
Summary of the invention
For above one or more technical problems, a kind of pure electric vehicle full-vehicle control containing two-shift automatic variable speed is provided
System, the present invention improve transmission system under the premise of improving vehicle performance, and the two speed transmission without clutch is added,
The requirement to driving motor performance is reduced, so that driving motor is more worked in high efficient area, improves power performance, extend pure
The continual mileage of electric vehicle.
The present invention is a kind of pure electric vehicle whole-control system containing two-shift automatic variable speed, it is characterized in that:
1, gearbox used in the present invention is the gearbox without clutch, since electric vehicle is not provided with clutch, when shift
Serious impact is caused to gearbox in order to reduce, Motor torque is reduced to 0 to cut off power, while motor mould will be carried out when gear shift
Formula conversion, is converted to revolving speed control for moment of torsion control, revolving speed at this time is by rear axle rotational speed setup.Entire car controller (1) will be given again
Fixed tachometer value feeds back to electric machine controller (2) by CAN bus.
2, the feature of shift module (6) is as follows:
(a) shift motor procedure module (7) reads current speed, motor speed, Motor torque, rear axle revolving speed and shift
The action mark of motor feedback, is automatically performed from 1 grade to 2 grade, 2 grades to 1 grade of switching.
(b) shift motor stroke recording module (8) is read according to the second enable signal that shift process module (7) provide first
Angular displacement sensor (5) signal is taken, initial angle angle value of the angular displacement sensor before shift motor movement is obtained, then adds and change
Keep off motor from 1 grade or 2 grades angle value that need to be walked when changing to neutral gear (stroke corresponding to the angle value be shift motor gear shaft with
The distance of gearbox lever gear shaft), using angle value after being added in real time with shift motor rotate angle value compared
Relatively obtain a third enable signal.
(c) shift motor action module (9) enables shift motor according to the first enable signal and the second enable signal and drives
Dynamic motor rotates forward and (is switched to 2 grades from 1 grade) and rotate backward and (is switched to 1 grade from 2 grades), makes to change according to third enable signal
Marking signal whether keeping off motor and stop driving, while switching being finished feeds back to shift process module (7).
Technical scheme is as follows:
A kind of pure electric vehicle whole-control system containing two-shift automatic variable speed, which is characterized in that
System includes entire car controller (1), motor management systems (2), instrument display system (3), rear axle vehicle speed sensor
(4), angular displacement sensor (5) and shift module (6)；
Two-shift automatic variable speed case is the gearbox without clutch；
Wherein shift module (6) is configured that when speed compliance gear shift requirement, cuts off power when Motor torque is reduced to 0,
Motor mode conversion is carried out when gear shift, and moment of torsion control is converted into revolving speed control；
Motor management systems (2) and instrument display system (3) by CAN bus and entire car controller (1) carry out communication and
Data transmission；
Rear axle vehicle speed sensor (4) and angular displacement sensor (5) are connect by rigid line with entire car controller (1).
Further, gear shift module (6) is configured to, and moment of torsion control is converted to revolving speed control when gear shift, turning at this time
Speed is given by rear axle vehicle speed sensor, and given tachometer value is fed back to motor management system by CAN bus again by entire car controller
It unites (2)；Drop torque and torque per liter in gear shift module are to reach fast prompt drop by the setting of torque coefficient to turn round and quick torque per liter
Purpose.
Further, gear shift module includes shift process module (7), shift motor stroke recording module (8) and shift electricity
Machine action module (9)；
Shift process module (7) reads current speed, motor speed, Motor torque, rear axle revolving speed and shift motor
The action mark of feedback, is automatically performed from 1 grade to 2 grade, 2 grades to 1 grade of switching, to shift motor stroke recording module, shift
Motor action module sends the first enable signal, the second enable signal；
Shift motor stroke recording module (8) is read according to the second enable signal that shift process module (7) provide first
Angular displacement sensor (5) signal obtains initial angle angle value of the angular displacement sensor before shift motor movement, then plus shift
Motor is from 1 grade or 2 grades of angle values that need to be walked when changing to neutral gear, using angle value after being added and in real time with shift motor rotation
Angle value is compared to obtain a third enable signal；
Shift motor action module (9) is according to the first enable signal and the shift of the second enable signal and driving motor forward direction turns
It moves or rotates backward, marking signal whether making shift motor stop driving according to third enable signal, while switching being finished
Feed back to shift process module (7).
Further, the angular range of angular displacement sensor (5) is 0~360 °, and angular displacement sensor is mounted on shift electricity
On the gear shaft of machine, for feeding back the specific stroke of shift motor.
Further, motor management systems (2) report the torsion of the tachometer value and motor of current motor to entire car controller (1)
Square value.
Further, entire car controller (1) calculates current vehicle using the speed that rear axle vehicle speed sensor (4) report
Speed, shift module (6) judge whether to need to shift gears using current vehicle speed.
Further, entire car controller (1) sends instrument display system by CAN line for the gear information after shift
(3) it is shown on.
Further, shift process module (7) includes sequentially connected four modules: gear selecting module, drop turn round pluck gear module,
It rises and turns round synchronization module and extension shelves module；Wherein, it is to pass through that drop, which is turned round and plucks gear module, the drop torque in liter torsion synchronization module and torque per liter,
The setting of torque coefficient achievees the purpose that fast prompt drop is turned round and quick torque per liter；
Gear selecting module: detection current vehicle speed first, according to the shift vehicle speed value of speed and default to determine whether need
It shifts gears, needs, connect drop torsion and pluck gear module；
Drop is turned round and plucks gear module: requiring if meeting shift, motor torque coefficient is reduced to 0, motor torque values are detected, if motor
Torque value is less than 10N.m, to shift motor stroke recording module (8) and gear shifting action module (9) issue the first enable signal with
Second enable signal enables shift motor, driving motor rotation, while the control mode switch of motor to revolving speed is controlled mould
Formula, detection operation marking signal judge whether action mark signal meets setting value, if desired hang shelves and then connect the synchronous mould of liter torsion
Block；
It rises and turns round synchronization module: plucking gear to neutral gear position, at this time by the control mode switch of motor to torque control model, together
When by the torque coefficient of motor set 2, carry out a liter twisting and make；The revolving speed that detection motor speed and rear bridge sensor detect,
If the difference of the absolute value of two signals is less than setting value, it is believed that synchronized, then to shift motor stroke recording module (8) and shift
Action module (9) issues the first enable signal and the second enable signal, enables shift motor；Driving motor rotation, while will be electric
The control mode switch of machine is to rotating speed control mode；
Shelves module: detection operation marking signal is hung, meets corresponding setting value and then hangs shelves to corresponding position, and by the gear position
Confidence breath is sent on instrument display system (3) by CAN bus and shows, while by the control mode switch of motor to torque mould
Formula, and the torque coefficient of motor is set to the parameter that need to hang shelves, hang shelves success.
Further, shift motor stroke recording module (8) includes that detection module, comparison module, motor stop dynamic model block,
Detection module: the second enable signal that detection is sent by shift process module (7), the second enable signal are equal to first
Motor not operating preceding angular displacement sensor initial angle angle value is recorded when value, the second enable signal does not record when being equal to second value；
Detect the first enable signal: when the first enable signal is equal to third value, by the initial value recorded plus shift motor from 1 grade or 2
The angle value that shelves need to be walked when being switched to neutral gear；When first enable signal is equal to four values, the initial value recorded is subtracted into shift electricity
Machine is from 1 grade or 2 grades of angle values that need to be walked when being switched to neutral gear；It will test value and be sent to comparison module；First value, second
Value, third value, the 4th value are according to the preset setting value of needs；
Comparison module: the angle value after calculating is compared with the angle value for rotating variation at any time with shift motor rotation axis
Compared with；If the angle value that shift motor turns over is more than the angle value after calculating, connects motor and stop dynamic model block；
Motor stops dynamic model block: the setting value of stopping for issuing third enable signal gives shift motor action module (9), makes to shift gears
Motor stopping movement.
Further, gear shifting action module (9) includes the first shift module, the second shift module,
First shift module: the second enable signal sent by shift process module (7) and the first enabled letter are detected first
Number, when the second enable signal is the first value, enable shift motor；When first enable signal is equal to third value, shift motor is positive
Rotation；When first enable signal is equal to four values, shift motor is rotated backward, while giving shift process module (7) feedback action
Labeled as 1 signal；
Second shift module: the third enable signal that detection is sent by shift motor stroke recording module (8), third are enabled
When signal is equal to five values, act shift motor stopping, while to the letter of shift process module (7) feedback action label=2
Number；When third enable signal is equal to six values, shift motor is continued to rotate, action mark signal=1 of feedback；
First value, second value, third value, the 4th value, the 5th value, the 6th value are according to the preset setting of needs
Value.
Detailed description of the invention
The structure chart of one embodiment of Fig. 1 pure electric vehicle whole-control system of the invention containing two-shift automatic variable speed；
The structure chart of one embodiment of shift module Fig. 2 of the invention；
Fig. 3 is the flow chart of one embodiment of shift process module of the invention.
Specific embodiment
The present invention is further described now in conjunction with drawings and the specific embodiments:
A kind of pure electric vehicle whole-control system containing two-shift automatic variable speed includes entire car controller (1), motor management system
System (2), instrument display system (3), rear axle vehicle speed sensor (4), angular displacement sensor (5) and shift module (6)；Two grades automatic
Gearbox is the gearbox without clutch；Wherein shift module (6) is configured that when speed compliance gear shift requirement, by Motor torque
Cut off power when being reduced to 0, when gear shift carries out motor mode conversion, and moment of torsion control is converted to revolving speed control；Motor management systems
(2) and instrument display system (3) carries out communication by CAN bus and entire car controller (1) and data are transmitted；Rear axle speed sensing
Device (4) and angular displacement sensor (5) are connect by rigid line with entire car controller (1).
Gear shift module (6) is configured to, and moment of torsion control is converted to revolving speed control when gear shift, revolving speed at this time is by rear axle speed
Sensor is given, and given tachometer value is fed back to motor management systems (2) by CAN bus again by entire car controller；Gear shift mould
Drop torque and torque per liter in block are to achieve the purpose that fast prompt drop is turned round and quick torque per liter by the setting of torque coefficient.
In a specific embodiment, gear shift module includes shift process module (7), shift motor stroke recording module
(8) and shift motor action module (9)；
Shift process module (7) reads current speed, motor speed, Motor torque, rear axle revolving speed and shift motor
The action mark of feedback, is automatically performed from 1 grade to 2 grade, 2 grades to 1 grade of switching, to shift motor stroke recording module, shift
Motor action module sends the first enable signal, the second enable signal；
Shift motor stroke recording module (8) is read according to the second enable signal that shift process module (7) provide first
Angular displacement sensor (5) signal obtains initial angle angle value of the angular displacement sensor before shift motor movement, then plus shift
Motor is from 1 grade or 2 grades of angle values that need to be walked when changing to neutral gear, using angle value after being added and in real time with shift motor rotation
Angle value is compared to obtain a third enable signal；
Shift motor action module (9) is according to the first enable signal and the shift of the second enable signal and driving motor forward direction turns
It moves or rotates backward, marking signal whether making shift motor stop driving according to third enable signal, while switching being finished
Feed back to shift process module (7).
In a specific embodiment, the angular range of angular displacement sensor (5) is 0~360 °, angular displacement sensor peace
On the gear shaft of shift motor, for feeding back the specific stroke of shift motor.
In a specific embodiment, motor management systems (2) report the tachometer value of current motor to entire car controller (1)
And the torque value of motor.
In a specific embodiment, entire car controller (1) is calculated using the speed that rear axle vehicle speed sensor (4) report
Current speed, shift module (6) judge whether to need to shift gears using current vehicle speed.
In a specific embodiment, entire car controller (1) sends instrument by CAN line for the gear information after shift
Display system is shown on (3).
In a specific embodiment, shift process module (7) includes sequentially connected four modules: gear selecting module, drop
Torsion plucks gear module, rises and turn round synchronization module and extension shelves module；Wherein, drop turn round pluck gear module, rise turn round synchronization module in drop torque and
Torque per liter is to achieve the purpose that fast prompt drop is turned round and quick torque per liter by the setting of torque coefficient；
Gear selecting module: detection current vehicle speed first, according to the shift vehicle speed value of speed and default to determine whether need
It shifts gears, needs, connect drop torsion and pluck gear module；
Drop is turned round and plucks gear module: requiring if meeting shift, motor torque coefficient is reduced to 0, motor torque values are detected, if motor
Torque value is less than 10N.m, to shift motor stroke recording module (8) and gear shifting action module (9) issue the first enable signal with
Second enable signal enables shift motor, driving motor rotation, while the control mode switch of motor to revolving speed is controlled mould
Formula, detection operation marking signal judge whether action mark signal meets setting value, if desired hang shelves and then connect the synchronous mould of liter torsion
Block；
It rises and turns round synchronization module: plucking gear to neutral gear position, at this time by the control mode switch of motor to torque control model, together
When by the torque coefficient of motor set 2, carry out a liter twisting and make；The revolving speed that detection motor speed and rear bridge sensor detect,
If the difference of the absolute value of two signals is less than setting value, it is believed that synchronized, then to shift motor stroke recording module (8) and shift
Action module (9) issues the first enable signal and the second enable signal, enables shift motor；Driving motor rotation, while will be electric
The control mode switch of machine is to rotating speed control mode；
Shelves module: detection operation marking signal is hung, meets corresponding setting value and then hangs shelves to corresponding position, and by the gear position
Confidence breath is sent on instrument display system (3) by CAN bus and shows, while by the control mode switch of motor to torque mould
Formula, and the torque coefficient of motor is set to the parameter that need to hang shelves, hang shelves success.
In a specific embodiment, shift motor stroke recording module (8) includes detection module, comparison module, motor
Stop dynamic model block,
Detection module: the second enable signal that detection is sent by shift process module (7), the second enable signal are equal to first
Motor not operating preceding angular displacement sensor initial angle angle value is recorded when value, the second enable signal does not record when being equal to second value；
Detect the first enable signal: when the first enable signal is equal to third value, by the initial value recorded plus shift motor from 1 grade or 2
The angle value that shelves need to be walked when being switched to neutral gear；When first enable signal is equal to four values, the initial value recorded is subtracted into shift electricity
Machine is from 1 grade or 2 grades of angle values that need to be walked when being switched to neutral gear；It will test value and be sent to comparison module；First value, second
Value, third value, the 4th value are according to the preset setting value of needs；
Comparison module: the angle value after calculating is compared with the angle value for rotating variation at any time with shift motor rotation axis
Compared with；If the angle value that shift motor turns over is more than the angle value after calculating, connects motor and stop dynamic model block；
Motor stops dynamic model block: the setting value of stopping for issuing third enable signal gives shift motor action module (9), makes to shift gears
Motor stopping movement.
In a specific embodiment, gear shifting action module (9) includes the first shift module, the second shift module,
First shift module: the second enable signal sent by shift process module (7) and the first enabled letter are detected first
Number, when the second enable signal is the first value, enable shift motor；When first enable signal is equal to third value, shift motor is positive
Rotation；When first enable signal is equal to four values, shift motor is rotated backward, while giving shift process module (7) feedback action
Labeled as 1 signal；
Second shift module: the third enable signal that detection is sent by shift motor stroke recording module (8), third are enabled
When signal is equal to five values, act shift motor stopping, while to the letter of shift process module (7) feedback action label=2
Number；When third enable signal is equal to six values, shift motor is continued to rotate, action mark signal=1 of feedback；
First value, second value, third value, the 4th value, the 5th value, the 6th value are according to the preset setting of needs
Value.
It illustrates below and implementation process is illustrated:
1, shift process module (7) mainly includes four steps: gear selecting drops to turn round and plucks gear, rises and turn round synchronous and extension shelves.Torque drops
The setting for mainly passing through torque coefficient with torque per liter achievees the purpose that fast prompt drop is turned round and quick torque per liter.2 grades are changed to from 1 grade
Steps are as follows:
(a) current vehicle speed is detected first, it is full if current vehicle speed has been more than the max speed of setting
Foot shift requires.
If (b) meeting shift to require, motor torque coefficient is reduced to 0, motor torque values are detected, if motor torque values are less than
10N.m issues the first enable signal A and the second enable signal B to shift motor stroke recording module (8) and action module (9),
Second enable signal B=1 at this time enables shift motor；First enable signal A=0, driving motor rotate forward, while will be electric
The control mode switch of machine is to rotating speed control mode.
(c) detection operation marking signal plucks gear to neutral gear position, at this time by the control model of motor if the signal value is 2
It is switched to torque control model, while setting 2 for the torque coefficient of motor, a liter twisting is carried out and makees.
(d) revolving speed that detection motor speed and rear bridge sensor detect, if the difference of the absolute value of two signals is less than
100rpm, it is believed that synchronized.Then it is enabled first to be issued to shift motor stroke recording module (8) and gear shifting action module (9)
Signal and the second enable signal, the second enable signal B=1, enables shift motor at this time；First enable signal A=0, driving electricity
Machine rotates forward, while by the control mode switch of motor to rotating speed control mode.
(e) detection operation marking signal is hung shelves to 2 gears and is set, and the gear positions information is led to if the signal value is 2
It crosses CAN bus and is sent on instrument display system (3) and show.Simultaneously by the control mode switch of motor to torque mode, and will
The torque coefficient of motor sets 1.
(f) shelves success is hung.
The step of changing to 1 grade from 2 grades is similar with upshift.
2, the step of shift motor stroke recording module (8) are as follows:
(a) the second enable signal sent by shift process module (7), the second enable signal B=1 are detected first
Angular displacement sensor initial angle angle value before Shi Jilu motor is not operating, when the second enable signal B=0, do not record.
(b) it detects the first enable signal: when the first enable signal A=0, the initial value recorded being added into shift motor from 1
Shelves or 2 grades of angle values that need to be walked when being switched to neutral gear；When the first enable signal A=1, the initial value recorded is subtracted into shift motor
From 1 grade or 2 grades of angle values that need to be walked when being switched to neutral gear.
(c) angle value after calculating is compared with the angle value for rotating variation at any time with shift motor rotation axis；
If (d) angle value that shift motor turns over be more than calculate after angle value, issue third enable signal C=1 to
Shift motor action module (9) acts shift motor stopping.
3, the step of shift motor action module is as follows:
(a) the second enable signal B and the first enable signal A sent by shift process module (7) is detected first, and second makes
When energy signal B=1, shift motor is enabled；First enable signal A=0, shift motor rotate forward；First enable signal A=1,
Shift motor rotates backward.Simultaneously to the signal of shift process module (7) feedback action label=1.
(b) the third enable signal that detection is sent by shift motor stroke recording module (8), third enable signal C=1,
Act shift motor stopping, while to the signal of shift process module (7) feedback action label=2；Third enable signal C=
0, shift motor continues to rotate, action mark signal=1 of feedback.
Finally it should be noted that: above embodiments are only to illustrate the technical solution of this case rather than its limitations；Although
This case is described in detail referring to preferred embodiment, it should be understood by those ordinary skilled in the art that: still can be with
It modifies to the specific embodiment of this case or some technical features can be equivalently replaced；Without departing from this case technical side
The spirit of case should all cover in the claimed technical proposal scope of this case.
Claims (9)
1. a kind of pure electric vehicle whole-control system containing two-shift automatic variable speed, which is characterized in that
System include entire car controller (1), motor management systems (2), instrument display system (3), rear axle vehicle speed sensor (4),
Angular displacement sensor (5) and shift module (6)；
Two-shift automatic variable speed case is the gearbox without clutch；
Wherein shift module (6) is configured that when speed compliance gear shift requirement, and power, gear shift are cut off when Motor torque is reduced to 0
The conversion of Shi Jinhang motor mode, is converted to revolving speed control for moment of torsion control；
Gear shift module includes shift process module (7), shift motor stroke recording module (8) and shift motor action module (9)；
Shift process module (7) reads current speed, motor speed, Motor torque, rear axle revolving speed and shift motor feedback
Action mark, be automatically performed from 1 grade to 2 grade, shift motor stroke recording module, shift motor are given in 2 grades to 1 grade of switching
Action module sends the first enable signal, the second enable signal；
Shift motor stroke recording module (8) reads angle position according to the second enable signal that shift process module (7) provide first
Displacement sensor (5) signal obtains initial angle angle value of the angular displacement sensor before shift motor movement, then adds shift motor
From 1 grade or 2 grades of angle values that need to be walked when changing to neutral gear, using angle value after being added and in real time with the angle of shift motor rotation
Value is compared to obtain a third enable signal；
Shift motor action module (9) according to the first enable signal and the second enable signal shift and driving motor rotate forward or
It rotates backward, marking signal whether making shift motor stop driving according to third enable signal, while switching being finished is fed back
Give shift process module (7)；
Motor management systems (2) and instrument display system (3) pass through CAN bus and entire car controller (1) carries out communication and data
Transmission；
Rear axle vehicle speed sensor (4) and angular displacement sensor (5) are connect by rigid line with entire car controller (1).
2. a kind of pure electric vehicle whole-control system containing two-shift automatic variable speed according to claim 1, which is characterized in that
Its gear shift module (6) is configured to, and moment of torsion control is converted to revolving speed control when gear shift, revolving speed at this time is by rear axle vehicle speed sensor
Given, given tachometer value is fed back to motor management systems (2) by CAN bus again by entire car controller；In gear shift module
Drop torque and torque per liter are to achieve the purpose that fast prompt drop is turned round and quick torque per liter by the setting of torque coefficient.
3. a kind of pure electric vehicle whole-control system containing two-shift automatic variable speed according to claim 1, which is characterized in that
The angular range of angular displacement sensor (5) is 0~360 °, and angular displacement sensor is mounted on the gear shaft of shift motor, is used to
Feed back the specific stroke of shift motor.
4. a kind of pure electric vehicle whole-control system containing two-shift automatic variable speed according to claim 1, which is characterized in that
Motor management systems (2) report the tachometer value of current motor and the torque value of motor to entire car controller (1).
5. a kind of pure electric vehicle whole-control system containing two-shift automatic variable speed according to claim 1, which is characterized in that
Entire car controller (1) calculates current speed using the speed that rear axle vehicle speed sensor (4) report, and shift module (6) utilizes
Current vehicle speed judges whether to need to shift gears.
6. a kind of pure electric vehicle whole-control system containing two-shift automatic variable speed according to claim 1, which is characterized in that
Entire car controller (1) is sent the gear information after shift on instrument display system (3) by CAN line and shown.
7. a kind of pure electric vehicle whole-control system containing two-shift automatic variable speed according to claim 1, which is characterized in that
Shift process module (7) includes sequentially connected four modules: gear selecting module, drop, which are turned round, plucks gear module, rises and turn round synchronization module and extension
Shelves module；Wherein, it is to be reached by the setting of torque coefficient that drop, which is turned round and plucks gear module, the drop torque in liter torsion synchronization module and torque per liter,
The purpose with quick torque per liter is turned round to fast prompt drop；
Gear selecting module: detection current vehicle speed first, according to the shift vehicle speed value of speed and default to determine whether needing to change
Gear, needs, and connects drop torsion and plucks gear module；
Drop is turned round and plucks gear module: requiring if meeting shift, motor torque coefficient is reduced to 0, motor torque values are detected, if Motor torque
Value is less than 10N.m, issues the first enable signal and second to shift motor stroke recording module (8) and gear shifting action module (9)
Enable signal enables shift motor, and driving motor rotates, while by the control mode switch of motor to rotating speed control mode, examining
Action mark signal is surveyed, judges whether action mark signal meets setting value, shelves is if desired hung and then connects a liter torsion synchronization module；
It rises and turns round synchronization module: plucking gear and simultaneously will to neutral gear position at this time by the control mode switch of motor to torque control model
The torque coefficient of motor is set as 2, carries out a liter twisting and makees；The revolving speed that detection motor speed and rear bridge sensor detect, if two
The difference of the absolute value of signal is less than setting value, it is believed that has synchronized, has then given shift motor stroke recording module (8) and gear shifting action
Module (9) issues the first enable signal and the second enable signal, enables shift motor；Driving motor rotation, while by motor
Control mode switch is to rotating speed control mode；
Shelves module: detection operation marking signal is hung, meets corresponding setting value and then hangs shelves to corresponding gear, and the gear positions are believed
Breath is sent on instrument display system (3) by CAN bus and shows, while by the control mode switch of motor to torque mode,
And the torque coefficient of motor is set to the parameter that need to hang shelves, hang shelves success.
8. a kind of pure electric vehicle whole-control system containing two-shift automatic variable speed according to claim 1, which is characterized in that
Shift motor stroke recording module (8) includes that detection module, comparison module, motor stop dynamic model block,
Detection module: the second enable signal that detection is sent by shift process module (7), when the second enable signal is equal to the first value
The not operating preceding angular displacement sensor initial angle angle value of motor is recorded, the second enable signal does not record when being equal to second value；Detection
First enable signal: when the first enable signal is equal to third value, the initial value recorded is cut plus shift motor from 1 grade or 2 grades
The angle value that need to be walked when changing to neutral gear；When first enable signal is equal to four values, the initial value recorded is subtracted into shift motor from 1
Shelves or 2 grades of angle values that need to be walked when being switched to neutral gear；It will test value and be sent to comparison module；First value, second value, third
Value, the 4th value are according to the preset setting value of needs；
Comparison module: the angle value after calculating is compared with the angle value for rotating variation at any time with shift motor rotation axis；
If the angle value that shift motor turns over is more than the angle value after calculating, connects motor and stop dynamic model block；
Motor stops dynamic model block: the setting value of stopping for issuing third enable signal gives shift motor action module (9), makes shift motor
Stopping movement.
9. a kind of pure electric vehicle whole-control system containing two-shift automatic variable speed according to claim 1, which is characterized in that
Gear shifting action module (9) includes the first shift module, the second shift module,
First shift module: detecting the second enable signal and the first enable signal sent by shift process module (7) first, the
When two enable signals are the first value, shift motor is enabled；When first enable signal is equal to third value, shift motor is rotated forward；
When first enable signal is equal to four values, shift motor is rotated backward, while being labeled as to shift process module (7) feedback action
1 signal；
Second shift module: the third enable signal that detection is sent by shift motor stroke recording module (8), third enable signal
When equal to five values, act shift motor stopping, while to the signal of shift process module (7) feedback action label=2；The
When three enable signals are equal to six values, shift motor is continued to rotate, action mark signal=1 of feedback；
First value, second value, third value, the 4th value, the 5th value, the 6th value are according to the preset setting value of needs.
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| CN108082005A (en) * | 2017-11-27 | 2018-05-29 | 江西博能上饶客车有限公司 | The vehicle integrated control method and system of a kind of pure electric coach |
| CN110053603B (en) * | 2019-04-25 | 2021-07-30 | 奇瑞汽车股份有限公司 | Shift control method and apparatus for electric vehicle |
| CN112196994B (en) | 2019-12-17 | 2022-03-15 | 长城汽车股份有限公司 | Gear control method and system of two-gear reduction box |
| CN114791039B (en) * | 2021-01-25 | 2023-09-15 | 长城汽车股份有限公司 | Gear shifting control method and device for rear axle gearbox and vehicle |
| CN114035547A (en) * | 2021-11-10 | 2022-02-11 | 潍柴动力股份有限公司 | Hardware-in-loop simulation method and device, electronic equipment and computer storage medium |
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| CN101346252A (en) * | 2006-02-01 | 2009-01-14 | 丰田自动车株式会社 | Power output apparatus, vehicle including power output apparatus, and control unit and method for power output apparatus |
| CN103158582A (en) * | 2011-12-19 | 2013-06-19 | 北汽福田汽车股份有限公司 | Gear-shifting control method of pure electric vehicle |
| CN104608769A (en) * | 2014-10-20 | 2015-05-13 | 比亚迪股份有限公司 | Gear-shifting control method for electric automobile and motor speed adjusting method based on gear-shifting |
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| JP2015142494A (en) * | 2014-01-30 | 2015-08-03 | アイシン精機株式会社 | Driving device for vehicle and method of controlling the same |
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| CN101346252A (en) * | 2006-02-01 | 2009-01-14 | 丰田自动车株式会社 | Power output apparatus, vehicle including power output apparatus, and control unit and method for power output apparatus |
| CN103158582A (en) * | 2011-12-19 | 2013-06-19 | 北汽福田汽车股份有限公司 | Gear-shifting control method of pure electric vehicle |
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Address after: No.39 Xingfu North Road, Xi'an, Shaanxi 710201 Patentee after: Shaanxi Automobile Group Co.,Ltd. Address before: No.39 Xingfu North Road, Xi'an, Shaanxi 710201 Patentee before: SHAANXI AUTOMOBILE GROUP Co.,Ltd. |