CN107215244B - A kind of the electric drive system for electric vehicles torque control system and method on low attached road surface - Google Patents
A kind of the electric drive system for electric vehicles torque control system and method on low attached road surface Download PDFInfo
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- CN107215244B CN107215244B CN201710512419.9A CN201710512419A CN107215244B CN 107215244 B CN107215244 B CN 107215244B CN 201710512419 A CN201710512419 A CN 201710512419A CN 107215244 B CN107215244 B CN 107215244B
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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
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—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
- B60L2240/40—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
Abstract
The invention discloses the electric drive system for electric vehicles torque control systems and method on a kind of low attached road surface, the system comprises: motor speed signal acquisition and processing module, acquire the tach signal of motor and processing, output motor rotating speed to main control module in power drive system；Main control module is acquired according to the motor speed signal and processing module treated motor speed calculates the average value of motor speed change rate, and the calculated result according to the computing module and the Motor torque from entire car controller instruct, the applicable control mode of judgement calculates and issues corresponding motor and executes torque to the electric machine controller in power drive system.The present invention judges whether electric vehicle has skidded operating condition on low attached road surface using motor speed change rate average value, and it is provided with upper limit threshold value and lower limit threshold value thus, accurately skidding judgement and skidding can be realized by the suitable judgment threshold of vehicle calibration acquisition and exit.
Description
Technical field
The invention belongs to electric drive system for electric vehicles control technology fields, more particularly to a kind of electronic vapour on low attached road surface
Vehicle power drive system torque control system and method.
Background technique
Electric car uses the electric energy that stores in battery as unique energy resource supply, have efficiently, energy conservation, low noise and
, there is incomparable advantage in the features such as zero-emission in terms of energy conservation and environmental protection, therefore is increasingly becoming the important hair of automobile industry
One of exhibition trend.Important component of the power drive system as electric car realizes that mechanical energy is mutually converted with electric energy
It is crucial.Power drive system mainly includes electric machine controller and motor body, and wherein the power module price in electric machine controller is not
It is luxuriant and rich with fragrance and higher to the susceptibility of temperature, electric current and voltage.
After electric car enters low attached road surface from normal road surface, frictional force is sharply reduced, and it is quick to be equivalent to motor load
It reduces.Motor speed can accelerate due to load reduction and quickly at this time, from rotation transformer (or Hall sensor, photoelectricity compile
Code device etc.) very big step will occur in the revolving speed that is calculated of collected rotor angular position.The step of motor speed increases
It will result directly in and occur dash current and surge voltage in motor control so as to cause the error protection of electric machine controller, or even meeting
There is electric machine controller damage or motor is out of control, influences vehicle body stabilization and passenger safety.This is not fair in normal driving process
Perhaps occur.
Patent publication us 1 (publication number: CN1681680A, publication date: 2015.10.12) discloses a kind of vehicle slip
Control device, the automobile and its control method for being equipped with the device.When motor requires the torque variation delta Tm of torque Tm* big
When, because the torque variation cause vehicle occur vibration or swing, thus angular acceleration temporarily becomes larger, according to angular acceleration into
Row skids in judgement (step S112), does not occur although skidding, and because angular acceleration is more than wealthy value α Slip, can also be mistaken for beating
It is sliding to occur, therefore, when torque variation delta Tm is more than threshold value Thr elbow in step (S108), though being judged as may be not occur
Skid and be mistaken for skidding, thus do not execute torque restriction process skid generation when control routine (step 120), and hold
The control routine when attachment of row step (S116).
The shortcomings that prior art and the application motion technical problems to be solved:
1, the scheme of patent publication us 1 must be negative value in angular acceleration and enter convergence of skidding after meeting the stipulated time
Control, exits skidding control；And actually when angular acceleration be positive value and in a certain range when can enter skid convergence control
System；It either can be conditional when driver, which has, reduces intention of the motor output torque to reduce motor speed by throttle
Into convergence control of skidding；
And motion of the present invention is provided with two judgment thresholds: upper limit threshold value is UpLimit, lower limit threshold value is
LowLimit；
It is positive value in motor speed change rate average value and is more than or equal to lower limit threshold value LowLimit, is less than or equal to simultaneously
Upper limit threshold value UpLimit or motor speed change rate average value are positive value, and are less than lower limit threshold value LowLimit, are considered
Last moment motor executes the factors such as the relationship (driver intention) of torque and Motor torque instruction, time to determine whether exiting
It skids and controls；
2, the scheme of patent publication us 1 is more (such as the engine shake of the factor being related to for whole control technology
Dynamic, mechanical oscillation etc.), it is lower so as to cause control precision.
Summary of the invention
Object of the present invention is to: the electric drive system for electric vehicles torque control system and method on a kind of low attached road surface are provided,
Judge whether electric vehicle has skidded operating condition on low attached road surface using motor speed change rate average value, and is provided with thus
Two judgment thresholds: upper limit threshold value and lower limit threshold value, obtaining suitable judgment threshold by vehicle calibration can be realized standard
True skidding judgement and skidding are exited.
The technical scheme is that
A kind of electric drive system for electric vehicles torque control system on low attached road surface, comprising:
Motor speed signal acquisition and processing module, for acquiring the tach signal of motor in power drive system, and meanwhile it is right
Collected signal is filtered Shape correction to inhibit noise jamming, improve signal quality, and output motor rotating speed is to master control
Module；
Main control module is made of computing module and control module, wherein
Computing module, for calculating electricity according to motor speed signal acquisition and processing module treated motor speed
The average value of machine relative speed variation；
Control module refers to for the calculated result according to the computing module and the Motor torque from entire car controller
It enables, judges applicable control mode, and calculate and issue corresponding motor and execute torque to the motor control in power drive system
Device.
Preferably, become for acquiring the device of motor speed using rotation in the motor speed signal acquisition and processing module
One or more of transformer, Hall sensor, photoelectric encoder.
Preferably, the Motor torque instruction is sent to master control by CAN bus or FlexRay bus for entire car controller
Module.
A kind of electric drive system for electric vehicles torque control method on low attached road surface, comprising:
Step 1, set motor speed change rate average value upper limit threshold value as UpLimit, lower limit threshold value is
LowLimit；The average value for calculating power drive system motor speed change rate judges electric vehicle low attached according to calculated result
Whether operating condition is had skidded on road surface；
If the motor speed change rate average value being calculated in step 2, step 1 is negative value or 0, then it is assumed that do not occur to beat
Sliding, setting skidding flag bit is 0；Motor executes torque T orque_Act and is equal to the Motor torque instruction from entire car controller
Torque_Cmd；
Step 3, if the motor speed change rate average value being calculated in step 1 is positive value and is greater than upper limit threshold value
UpLimit, then it is assumed that skid, setting skidding flag bit is 1；Motor executes torque T orque_Act and need to instruct in Motor torque
It is accordingly reduced on the basis of Torque_Cmd；
Step 4, if the motor speed change rate average value being calculated in step 1 is positive value and is less than lower limit threshold value
LowLimit, the processing mode that motor executes torque T orque_Act are divided into 2 kinds:
(1) if skidding flag bit is 0, motor executes torque T orque_Act and is equal to Motor torque instruction Torque_
Cmd；
(2) if skidding flag bit is 1, further compare the motor that last moment is calculated and execute torque and this moment
Motor torque instruction:
If the motor of last moment executes the Motor torque instruction that torque is more than or equal to this moment, motor executes torque
Torque_Act is equal to Motor torque and instructs Torque_Cmd, and skidding flag bit is set as 0；If last moment motor executes torque
Motor torque less than this moment instructs, then sets timer t and timer limit value Tlimit:
(2-1) when timer t is less than or equal to Tlimit, motor executes the electricity that torque T orque_Act is equal to last moment
It is constant that machine executes torque, and skidding flag bit remains 1；
(2-2) when timer t is greater than Tlimit, motor executes torque T orque_Act and instructs equal to Motor torque
Torque_Cmd, skidding flag bit are set as 0；Timer t stops counting；
Step 5, if the motor speed change rate average value being calculated in step 1 is positive value, and it is more than or equal to lower limit door
Limit value LowLimit, while being less than or equal to upper limit threshold value UpLimit, motor executes the processing mode point of torque T orque_Act
It is 2 kinds:
(1) if skidding flag bit is 0, motor executes torque T orque_Act and is equal to Motor torque instruction Torque_
Cmd；
(2) if skidding flag bit is 1, further compare the motor that last moment is calculated and execute torque and this moment
Motor torque instruction:
If the motor of last moment executes the Motor torque instruction that torque is more than or equal to this moment, motor executes torque
Torque_Act is equal to Motor torque and instructs Torque_Cmd, and skidding flag bit is set as 0；If last moment motor executes torque
Motor torque less than this moment instructs, then motor executes torque T orque_Act and executes torque not equal to the motor of last moment
Become, skidding flag bit remains 1.
Preferably, the method for the average value of calculating power drive system motor speed change rate includes: in step 1
The calculation formula of motor speed change rate are as follows:
N (k) in formula is the motor speed of power drive system electric machine controller kth time acquisition, and N (k-1) is electric drive trains
The motor speed of electric machine controller kth -1 time acquisition of system, Δ t are the calculating cycle of motor speed change rate；
The calculation formula of motor speed change rate average value are as follows:
In formulaThe motor speed change rates being calculated for kth-n+1 times,It is calculated for kth time
The motor speed change rate arrived, n are average value number.
Preferably, the value of the calculating cycle Δ t of the motor speed change rate and average value frequency n is obtained by vehicle calibration
, Δ t is chosen for 20ms, and n is chosen for 2.
Preferably, in step 3, the average value of motor speed change rate is bigger, and motor execution torque T orque_Act is smaller,
The specific formula for calculation of motor execution torque T orque_Act are as follows:
Preferably, in step 1, UpLimit is greater than LowLimit and both for positive value, and UpLimit and LowLimit are logical
It crosses vehicle calibration and obtains desired value.
Preferably, in step 4, timer limit value Tlimit is demarcated by vehicle and is obtained desired value.
Preferably, power drive system electric machine controller skidding flag bit in power-up initializing is set as 0.
The invention has the advantages that
1, motion of the present invention judges whether electric vehicle occurs on low attached road surface using motor speed change rate average value
Skidding operating condition, and it is provided with two judgment thresholds: upper limit threshold value and lower limit threshold value thus, it is suitable to be obtained by vehicle calibration
Judgment threshold can be realized accurately skid judgement and skidding exit；
2, motion of the present invention is after judgement needs to exit skidding operating condition, further the relatively motor that is calculated of last moment
It executes torque and the Motor torque at this moment instructs, judge whether to need to be delayed to exit skidding operating condition, fully considered driver
It is intended to；
3, motion scheme simple logic of the present invention is clearly easily achieved, can when vehicle has skidded rapid limiting motor
Torque is executed, the adverse effect of dash current and voltage for power drive system caused by skidding is reduced, also helps simultaneously
Guarantee vehicle body stabilization and passenger safety.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and embodiments:
Fig. 1 is electric drive system for electric vehicles torque control system structure principle chart in embodiment；
Fig. 2 is electric drive system for electric vehicles torque control method flow chart in embodiment；
Fig. 3 is electric drive system for electric vehicles moment of torsion control effect picture in embodiment.
Specific embodiment
As shown in Figure 1, the electric drive system for electric vehicles torque control system on disclosed low attached road surface, described
The composition of control system are as follows:
Motor speed signal acquisition and processing module, for acquiring the tach signal of motor in power drive system, and meanwhile it is right
Collected signal is filtered Shape correction to inhibit noise jamming, improve signal quality, and output motor rotating speed is to master control
Module；
Main control module is made of computing module and control module, wherein
Computing module, for calculating electricity according to motor speed signal acquisition and processing module treated motor speed
The average value of machine relative speed variation；
Control module refers to for the calculated result according to the computing module and the Motor torque from entire car controller
It enables, judges applicable control mode, and calculate and issue corresponding motor and execute torque to the motor control in power drive system
Device.
When it is implemented, the device in the motor speed signal acquisition and processing module for acquiring motor speed is
Rotation transformer, but it is not limited only to rotation transformer, the other devices such as Hall sensor, photoelectric encoder also can be used.
The Motor torque instruction is sent to main control module by CAN communication mode for entire car controller, but not only limits
In CAN communication mode, other communication modes such as FlexRay communication modes also can be used.
As shown in Fig. 2, the electric drive system for electric vehicles torque control method on disclosed low attached road surface, packet
It includes:
Step 1 sets the upper limit threshold value of motor speed change rate average value as UpLimit, and lower limit threshold value is
LowLimit.UpLimit is greater than LowLimit and need to be demarcated and be obtained by vehicle both for positive value, UpLimit and LowLimit
Obtain desired value.Judge whether electric vehicle occurs on low attached road surface according to the average value of power drive system motor speed change rate
Skidding operating condition, the calculation formula of motor speed change rate are as follows:
N (k) in formula is the motor speed of power drive system electric machine controller kth time acquisition, and N (k-1) is electric drive trains
The motor speed of electric machine controller kth -1 time acquisition of system, Δ t are the calculating cycle of motor speed change rate；
The calculation formula of motor speed change rate average value are as follows:
In formulaThe motor speed change rates being calculated for kth-n+1 times,It is calculated for kth time
The motor speed change rate arrived, n are average value number；Δ t and n need to be demarcated by vehicle and be obtained desired value, it is preferred that Δ t choosing
It is taken as 20ms, n is chosen for 2.
If the motor speed change rate average value being calculated in step 2, step 1 is negative value or 0, then it is assumed that do not occur to beat
Sliding, setting skidding flag bit is 0.Motor executes torque T orque_Act and is equal to the Motor torque instruction from entire car controller
Torque_Cmd；Wherein power drive system electric machine controller skidding flag bit in power-up initializing is set as 0.
If the motor speed change rate average value being calculated in step 3, step 1 is positive value and is greater than upper limit threshold value
UpLimit, then it is assumed that skid, setting skidding flag bit is 1.Motor executes torque T orque_Act and need to instruct in Motor torque
It is accordingly reduced on the basis of Torque_Cmd.And the average value of motor speed change rate is bigger, motor executes torque T orque_
Act is smaller.The specific formula for calculation of motor execution torque T orque_Act are as follows:
If the motor speed change rate average value being calculated in step 4, step 1 is positive value and is less than lower limit threshold value
LowLimit, the processing mode that motor executes torque T orque_Act are divided into 2 kinds:
(1) if skidding flag bit is 0, motor executes torque T orque_Act and is equal to Motor torque instruction Torque_
Cmd；
(2) if skidding flag bit is 1, further compare the motor that last moment is calculated and execute torque and this moment
Motor torque instruction.If the motor of last moment executes the Motor torque instruction that torque is more than or equal to this moment, motor is held
Row torque T orque_Act is equal to Motor torque and instructs Torque_Cmd, and skidding flag bit is set as 0；If last moment motor is held
The Motor torque that row torque is less than this moment instructs, then sets timer t and timer limit value Tlimit:
(2-1) when timer t is less than or equal to Tlimit, motor executes the electricity that torque T orque_Act is equal to last moment
It is constant that machine executes torque, and skidding flag bit remains 1；
(2-2) when timer t is greater than Tlimit, motor executes torque T orque_Act and instructs equal to Motor torque
Torque_Cmd, skidding flag bit are set as 0；Timer t stops counting；
(2-3) Tlimit need to be demarcated by vehicle and be obtained desired value.
If the motor speed change rate average value being calculated in step 5, step 1 is positive value, and is more than or equal to lower limit door
Limit value LowLimit, while being less than or equal to upper limit threshold value UpLimit, motor executes the processing mode point of torque T orque_Act
It is 2 kinds:
(1) if skidding flag bit is 0, motor executes torque T orque_Act and is equal to Motor torque instruction Torque_
Cmd；
(2) if skidding flag bit is 1, further compare the motor that last moment is calculated and execute torque and this moment
Motor torque instruction.If the motor of last moment executes the Motor torque instruction that torque is more than or equal to this moment, motor is held
Row torque T orque_Act is equal to Motor torque and instructs Torque_Cmd, and skidding flag bit is set as 0；If last moment motor is held
The Motor torque that row torque is less than this moment instructs, then motor executes the motor execution that torque T orque_Act is equal to last moment
Torque is constant, and skidding flag bit remains 1.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
It cans understand the content of the present invention and implement it accordingly, it is not intended to limit the scope of the present invention.It is all to lead according to the present invention
The modification for wanting the Spirit Essence of technical solution to be done, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of electric drive system for electric vehicles torque control method on low attached road surface characterized by comprising
Step 1, set motor speed change rate average value upper limit threshold value as UpLimit, lower limit threshold value is
LowLimit；The average value for calculating power drive system motor speed change rate judges electric vehicle low attached according to calculated result
Whether operating condition is had skidded on road surface；
If the motor speed change rate average value being calculated in step 2, step 1 is negative value or 0, then it is assumed that it does not skid,
Setting skidding flag bit is 0；Motor executes torque T orque_Act and is equal to the Motor torque instruction Torque_ from entire car controller
Cmd；
Step 3, if the motor speed change rate average value being calculated in step 1 is positive value and is greater than upper limit threshold value
UpLimit, then it is assumed that skid, setting skidding flag bit is 1；Motor executes torque T orque_Act and need to instruct in Motor torque
It is accordingly reduced on the basis of Torque_Cmd；
Step 4, if the motor speed change rate average value being calculated in step 1 is positive value and is less than lower limit threshold value
LowLimit, the processing mode that motor executes torque T orque_Act are divided into 2 kinds:
(1) if skidding flag bit is 0, motor executes torque T orque_Act and is equal to Motor torque instruction Torque_Cmd；
(2) if skidding flag bit is 1, further compare the electricity that the motor that last moment is calculated executes torque and this moment
Machine torque command:
If the motor of last moment executes the Motor torque instruction that torque is more than or equal to this moment, motor executes torque
Torque_Act is equal to Motor torque and instructs Torque_Cmd, and skidding flag bit is set as 0；If last moment motor executes torque
Motor torque less than this moment instructs, then sets timer t and timer limit value Tlimit:
(2-1) when timer t is less than or equal to Tlimit, motor executes torque T orque_Act and holds equal to the motor of last moment
Row torque is constant, and skidding flag bit remains 1；
(2-2) when timer t is greater than Tlimit, motor executes torque T orque_Act and is equal to Motor torque instruction Torque_
Cmd, skidding flag bit are set as 0；Timer t stops counting；
Step 5, if the motor speed change rate average value being calculated in step 1 is positive value, and it is more than or equal to lower limit threshold value
LowLimit, while being less than or equal to upper limit threshold value UpLimit, the processing mode that motor executes torque T orque_Act is divided into 2
Kind:
(1) if skidding flag bit is 0, motor executes torque T orque_Act and is equal to Motor torque instruction Torque_Cmd；
(2) if skidding flag bit is 1, further compare the electricity that the motor that last moment is calculated executes torque and this moment
Machine torque command:
If the motor of last moment executes the Motor torque instruction that torque is more than or equal to this moment, motor executes torque
Torque_Act is equal to Motor torque and instructs Torque_Cmd, and skidding flag bit is set as 0；If last moment motor executes torque
Motor torque less than this moment instructs, then motor executes torque T orque_Act and executes torque not equal to the motor of last moment
Become, skidding flag bit remains 1.
2. the electric drive system for electric vehicles torque control method on low attached road surface according to claim 1, which is characterized in that
The method of the average value of calculating power drive system motor speed change rate includes: in step 1
The calculation formula of motor speed change rate are as follows:
N (k) in formula is the motor speed of power drive system electric machine controller kth time acquisition, and N (k-1) is power drive system electricity
The motor speed of machine controller kth -1 time acquisition, Δ t are the calculating cycle of motor speed change rate；
The calculation formula of motor speed change rate average value are as follows:
In formulaThe motor speed change rates being calculated for kth-n+1 times,It is calculated for kth time
Motor speed change rate, n are average value number.
3. the electric drive system for electric vehicles torque control method on low attached road surface according to claim 2, which is characterized in that
The calculating cycle Δ t of the motor speed change rate and the value of average value frequency n are demarcated by vehicle and are obtained, and Δ t is 20ms, n
It is 2.
4. the electric drive system for electric vehicles torque control method on low attached road surface according to claim 1, which is characterized in that
In step 3, the average value of motor speed change rate is bigger, and motor execution torque T orque_Act is smaller, and motor executes torque
The specific formula for calculation of Torque_Act are as follows:
5. the electric drive system for electric vehicles torque control method on low attached road surface according to claim 1, which is characterized in that
In step 1, UpLimit is greater than LowLimit and is closed both for positive value, UpLimit and LowLimit by vehicle calibration
Just when.
6. the electric drive system for electric vehicles torque control method on low attached road surface according to claim 1, which is characterized in that
In step 4, timer limit value Tlimit is demarcated by vehicle and is obtained desired value.
7. the electric drive system for electric vehicles moment of torsion control side on low attached road surface described in any one of -6 according to claim 1
Method, which is characterized in that power drive system electric machine controller skidding flag bit in power-up initializing is set as 0.
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| CN109017449B (en) * | 2018-08-17 | 2021-05-07 | 南京越博动力系统股份有限公司 | Driving anti-skid control method and system for pure electric vehicle |
| CN108953589A (en) * | 2018-08-17 | 2018-12-07 | 合肥巨动力系统有限公司 | A kind of two grades of method for changing speed of novel electric vehicle and system |
| CN109353226B (en) * | 2018-09-04 | 2021-10-08 | 南京理工大学 | Pure electric vehicle torque filtering control method |
| CN111216564B (en) * | 2018-11-27 | 2022-05-24 | 宇通客车股份有限公司 | Vehicle torque control method and device |
| CN110901413B (en) * | 2019-12-10 | 2023-04-07 | 合肥阳光电动力科技有限公司 | Automobile torque control method and device |
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| CN113799619A (en) * | 2021-09-24 | 2021-12-17 | 极氪汽车(宁波杭州湾新区)有限公司 | Vehicle active torque reduction method, system, equipment and storage medium thereof |
| CN114312784B (en) * | 2021-11-30 | 2023-09-12 | 合肥巨一动力系统有限公司 | Electric drive anti-slip protection control method based on TCS working condition of whole vehicle |
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2017
- 2017-06-29 CN CN201710512419.9A patent/CN107215244B/en active Active
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