CN107472076A - Torque control method, device and the vehicle of vehicle - Google Patents
Torque control method, device and the vehicle of vehicle Download PDFInfo
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- CN107472076A CN107472076A CN201610825814.8A CN201610825814A CN107472076A CN 107472076 A CN107472076 A CN 107472076A CN 201610825814 A CN201610825814 A CN 201610825814A CN 107472076 A CN107472076 A CN 107472076A
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- 230000008859 change Effects 0.000 claims abstract description 59
- 230000001172 regenerating effect Effects 0.000 claims abstract description 27
- 230000035772 mutation Effects 0.000 abstract description 13
- 230000009193 crawling Effects 0.000 description 26
- 230000007423 decrease Effects 0.000 description 14
- 238000001914 filtration Methods 0.000 description 10
- 239000002243 precursor Substances 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 5
- 238000005183 dynamical system Methods 0.000 description 5
- 229910052744 lithium Inorganic materials 0.000 description 5
- 230000011218 segmentation Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 2
- 235000011613 Pinus brutia Nutrition 0.000 description 2
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- 238000005299 abrasion Methods 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 2
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- 238000004378 air conditioning Methods 0.000 description 1
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- 239000003638 chemical reducing agent Substances 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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Classifications
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/18—Four-wheel drive vehicles
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/90—Vehicles comprising electric prime movers
- B60Y2200/91—Electric vehicles
-
- 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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
This application discloses a kind of torque control method of vehicle, device and vehicle.This method includes：By in the starting stage, motor speed is started from scratch rise, then is reduced to when zero corresponding Motor torque again as first threshold；Mutual switch step is carried out with the driving stage in the energy regenerating stage of vehicle, when vehicle demand torque reaches first threshold, slows down the rate of change of vehicle demand torque.The method of the embodiment of the present application can be effectively improved impact caused by moment of torsion produces mutation when spline engages with gear, improve the driving and stability of vehicle, better ensure that the reliability and security of vehicle, easy and effective.
Description
Technical field
The application is related to automobile technical field, the more particularly to a kind of torque control method of vehicle, device and vehicle.
Background technology
In the related art, motor output torque is needed by procedure below to wheel：The moment of torsion of motor output is logical first
Cross the first spline (connection motor and decelerator) and be transferred to decelerator, then engaged by the gear of decelerator, then pass through second
Spline (connection reducer and semiaxis) is transferred to semiaxis, and wheel is output to finally by semiaxis.Therefore, the transmission of moment of torsion need through
Cross spline and gear.However, due to the abrasion that processing technology and vehicle travel, the gap of the engaging portion in spline and gear
Can be increasing, cause moment of torsion to produce mutation in engaging portion；And then it is driven into 4 wheel driven driving, energy in starting, two
Under a variety of vehicle working conditions such as recovery, vehicle reduces the driving of vehicle, and nothing because the mutation can cause certain impact
Method ensures the reliability and security of vehicle well.
The content of the invention
The application is intended to one of technical problem at least solving in correlation technique to a certain extent.
Therefore, the purpose of the application is to propose a kind of torque control method of vehicle, this method can improve
The driving and stability of vehicle, and it is easy and effective.
Further object is to propose a kind of torque control device of vehicle.
The further object of the application is to propose a kind of entire car controller.
Another purpose of the application is to propose a kind of vehicle.
To reach above-mentioned purpose, the embodiment of the present application proposes a kind of torque control method of vehicle, including：Step will be played
Duan Zhong, motor speed are started from scratch rise, then are reduced to when zero corresponding Motor torque again as first threshold；In the vehicle
The energy regenerating stage carry out mutual switch step with the driving stage, when vehicle demand torque reaches first threshold, slow down whole
The rate of change of car demand torque.
The torque control method of the vehicle of the embodiment of the present application, be effectively improved moment of torsion produced when spline engages with gear it is prominent
Impact, improves the driving and stability of vehicle, better ensures that the reliability and security of vehicle, simply have caused by change
Effect.
In one embodiment of the application, when switching to the driving stage in the energy regenerating stage, the change
Rate slow down scope be first threshold negative value to first threshold between.
In one embodiment of the application, when switching to the energy regenerating stage in the driving stage, the change
The scope that slows down of rate is first threshold on the occasion of between the negative value to first threshold.
In one embodiment of the application, in deceleration phase, the absolute value of rate of change of the vehicle demand torque etc.
In Ta/t1, wherein TaRepresent the first threshold, t1Represent the duration section of the starting stage.
In one embodiment of the application, the above method also includes：When the vehicle, which is in two, drives the stage, collection adds
Speed pedal signal；Pedal parsing moment of torsion is obtained according to the accelerator pedal signal；Determine whether the pedal parsing moment of torsion is more than
The vehicle is in the crawling moment of torsion during crawling stage；If the pedal parsing moment of torsion is more than the crawling moment of torsion, by institute
State pedal and parse moment of torsion as the vehicle demand torque；And if pedal parsing moment of torsion is equal to or less than the crawling
Moment of torsion, then using the crawling moment of torsion as the vehicle demand torque.
To reach above-mentioned purpose, the embodiment of the present application proposes a kind of torque control device of vehicle, including：Determine mould
Block, for by the starting stage, motor speed is started from scratch rise, then is reduced to when zero corresponding Motor torque again as first
Threshold value；And control module, mutual switch step is carried out with the driving stage for the energy regenerating stage in the vehicle, when whole
When car demand torque reaches first threshold, slow down the rate of change of vehicle demand torque.
The torque control device of the vehicle of the embodiment of the present application, be effectively improved moment of torsion produced when spline engages with gear it is prominent
Impact, improves the driving and stability of vehicle, better ensures that the reliability and security of vehicle, simply have caused by change
Effect.
In one embodiment of the application, when switching to the driving stage in the energy regenerating stage, the change
Rate slow down scope be first threshold negative value to first threshold between.
In one embodiment of the application, when switching to the energy regenerating stage in the driving stage, the change
The scope that slows down of rate is first threshold on the occasion of between the negative value to first threshold.
In one embodiment of the application, in deceleration phase, the absolute value of rate of change of the vehicle demand torque etc.
In Ta/t1, wherein TaRepresent the first threshold, t1Represent the duration section of the starting stage.
In one embodiment of the application, the control module is additionally operable to：When the vehicle, which is in two, drives the stage, adopt
Collect accelerator pedal signal, and pedal parsing moment of torsion is obtained according to the accelerator pedal signal, and determine that the pedal parsing is turned round
Whether square is more than the crawling moment of torsion when vehicle is in the crawling stage, and is turned round in pedal parsing moment of torsion more than the crawling
During square, the pedal is parsed into moment of torsion as the vehicle demand torque, and is equal to or less than in pedal parsing moment of torsion
During the crawling moment of torsion, using the crawling moment of torsion as the vehicle demand torque.
To reach above-mentioned purpose, the embodiment of the present application proposes a kind of entire car controller, includes the moment of torsion of above-mentioned vehicle
Control device.
To reach above-mentioned purpose, the embodiment of the present application proposes a kind of vehicle, including above-mentioned entire car controller.
The aspect and advantage that the application adds will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the application.
Brief description of the drawings
The above-mentioned and/or additional aspect of the application and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the schematic diagram according to the dynamical system of the electric automobile of the embodiment of the present application；
Fig. 2 is the flow chart according to the torque control method of the vehicle of the embodiment of the present application；
Fig. 3 is the flow chart according to the torque control method of the vehicle of another embodiment of the application；
Fig. 4 is the schematic diagram according to the moment of torsion control sequential of the embodiment of the present application；
Fig. 5 is the structural representation according to the torque control device of the vehicle of the embodiment of the present application.
Embodiment
Embodiments herein is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the application, and it is not intended that limitation to the application.
Fig. 1 is the schematic diagram according to the dynamical system of the electric automobile of the embodiment of the present application.As shown in figure 1, in electronic vapour
In the dynamical system of car, front axle and rear axle separately control front axle, rear-guard by corresponding motor control, such as precursor motor 10
Motor 40 controls rear axle.In the embodiment of the present application, all motors can correspond to an electric machine controller.In another implementation of the application
In example, each motor can correspond to an electric machine controller, as the corresponding precursor motor 10 of electric machine controller 20, electric machine controller 50 are right
Answer rear-guard motor 40.
The predecessor portions of dynamical system are made up of precursor motor 10, electric machine controller 20, decelerator 30.Precursor motor 10 is logical
Spline is crossed with decelerator 30 to be connected.The inside of decelerator 30 uses gear mesh.Decelerator 30 is connected by spline with front axle.Dynamical system
The rear-guard part of system is made up of rear-guard motor 40, electric machine controller 50, decelerator 60.Rear-guard motor 40 passes through spline and decelerator
60 are connected.The inside of decelerator 60 uses gear mesh.Decelerator 60 is connected by spline with rear axle.
Central control box 70 includes the parts such as contactor, insurance.Central control box 70 is used to the energy of lithium battery 80 distributing to motor
10th, 40 and high pressure annex 90 (including air-conditioning, warm wind, DC/DC etc.).Central control box 70 also exports energy to electric machine controller 20,50.
Sole energy element of the lithium battery 80 as whole vehicle, energy is provided for the operation of motor, while be the high pressure annex of vehicle
90 provide energy.Vehicular charger 100 is charged using external recharging apparatus to lithium battery 80.
However, due to processing technology and abrasion caused by traveling over long distances, the engaging portion of spline and gear is easily produced
Raw gap.During moment of torsion transmits, the gap can cause the saltus step of moment of torsion, so as to be impacted to vehicle.Vehicle is by quiet
When only starting to walk, precursor motor 10 produces moment of torsion；Vehicle enters the 4 wheel driven stage by two drive stages, and rear-guard motor 40 is by 0 moment of torsion to need
Seek moment of torsion；During energy regenerating, motor passes through 0 by positive-torque, becomes negative torque, etc..Under above-mentioned operating mode, moment of torsion is by gap
Shi Douhui produces impact, and certain impact is caused to vehicle, reduces the driving of vehicle, can not ensure vehicle well
Reliability and security.
Therefore, the embodiment of the present application proposes the torque control method, device and vehicle of vehicle.
Fig. 2 is the flow chart according to the torque control method of the vehicle of the embodiment of the present application.
As shown in Fig. 2 the torque control method of the vehicle includes：
S101, by the starting stage, motor speed is started from scratch rise, then is reduced to corresponding Motor torque when zero again and is made
For first threshold.
The motor speed of starting stage can be gathered according to default frequency acquisition.In the whole starting stage, motor speed
Then rise of first starting from scratch is reduced to zero again.Corresponding Motor torque is as the first threshold when motor speed to be reduced to zero again
Value.
Specifically, when vehicle is in the starting stage, gear can be suspended to D gears or R gears, and enabled driving electricity by driver
Machine, it can now gather motor speed signal and Motor torque signal.0 is then reduced to again when motor speed raises since 0, note
The Motor torque of record now, the Motor torque are the first threshold T for the back lash for overcoming spline and geara.First threshold Ta
Serve not only as overcoming vehicle to cause spline or gear wear to produce the self study value in gap through long-distance traveling, and also serve as
The threshold value (subsequently will be described in detail) of region filtering in the energy regenerating stage.
S102, mutual switch step is carried out in energy regenerating stage and the driving stage of vehicle, when vehicle demand torque reaches
During to first threshold, slow down the rate of change of vehicle demand torque.
The torque control method of the vehicle of the embodiment of the present application, according to the variation characteristic of the motor speed of starting stage (from
Zero starts to raise, then is reduced to again zero), a Motor torque is determined as first threshold, to reach in vehicle demand torque
During first threshold, slow down the rate of change of vehicle demand torque.First, the determination mode of first threshold is very easy and effective, without
The extra part for being used to overcome back lash, reduces hardware device configuration, and then reduce cost.Secondly, in certain threshold
In the range of value, slow down the rate of change of vehicle demand torque, moment of torsion can be effectively improved mutation is produced when spline engages with gear
Caused by impact, improve the driving and stability of vehicle, better ensure that the reliability and security of vehicle, simply have
Effect.
In the embodiment of the present application, when switching to the driving stage in the energy regenerating stage, rate of change slows down scope as the
The negative value of one threshold value is to first threshold between.In the embodiment of the present application, from the negative value of first threshold to first threshold
On the occasion of i.e. Ta~-Ta, whole process is to overcome the process of gear engagement impact, arrival-TaComplete.
In the embodiment of the present application, when switching to the energy regenerating stage in the driving stage, rate of change slows down scope as the
One threshold value on the occasion of between the negative value to first threshold.In the embodiment of the present application, from first threshold on the occasion of to first threshold
Negative value, i.e.-Ta~Ta, whole process is to overcome the process of gear engagement impact, reaches TaComplete.
In the embodiment of the present application, it is equal to T in deceleration phase, the absolute value of the rate of change of vehicle demand torquea/t1, wherein
TaRepresent first threshold, t1Represent the duration section of starting stage.For example, as shown in Figure 4.
In the embodiment of the present application, the energy regenerating stage is operation phase when vehicle demand torque is negative torque.
Fig. 3 is the flow chart according to the torque control method of the vehicle of another embodiment of the application.It is detailed with reference to Fig. 3
The torque control method of vehicle described in specification the embodiment of the present application.
As shown in figure 3, the torque control method of the vehicle includes：
S201, monitor the vehicle demand torque of vehicle.
For example, brake pedal after driver's release the gas pedal, or driver's release the gas pedal, vehicle is by driving
Dynamic stage (including crawling stage, two drive stages and 4 wheel driven stage) switches to the energy regenerating stage, under vehicle demand torque starts
Drop, such as declined with the first default rate of change.
S202, continue to monitor the vehicle demand torque of vehicle, if monitoring that vehicle demand torque reaches first threshold
On the occasion of slowing down the rate of change of vehicle demand torque.
For example, the rate of change of vehicle demand torque is changed into the second default rate of change.It is pre- that second default rate of change is less than first
If rate of change.
That is, vehicle demand torque do not drop to first threshold on the occasion of before, extraneous shadow can not be applied
Ring, vehicle demand torque continue to decline until first threshold on the occasion of when, such as declined with the first default rate of change.
Vehicle demand torque drop to first threshold on the occasion of when, illustrate very close zero moment of torsion of vehicle demand torque,
Need to continue to control vehicle demand torque to become negative torque from positive-torque afterwards.Become negative twist from positive-torque in vehicle demand torque
When during square, it is related to the change of spline and (or) gear field of conjugate.Therefore, now need to slow down the change of vehicle demand torque
Rate, to control the decline of vehicle demand torque.
According to the torque control method of the vehicle of the embodiment of the present application, during the decline of vehicle demand torque, if also
Do not drop on the occasion of the back lash for overcoming spline and gear torque value (that is, first threshold) when, not to vehicle demand
Moment of torsion is exerted one's influence, and vehicle demand torque continues to decline with the first default rate of change.Vehicle demand torque drop on the occasion of
When overcoming torque value (that is, the first threshold) of the back lash of spline and gear, with the second default rate of change control vehicle demand
What moment of torsion continued to drop to negative value overcomes the torque value of spline and gear backlash (that is, the negative value of first threshold), that is,
Say, also less torque gradient control vehicle demand torque continues to decline.The moment of torsion control side of the vehicle of the embodiment of the present application
For method in above-mentioned switch step, vehicle demand torque continues have different torque gradients when declining, and realizes region filtering, from
And the saltus step of moment of torsion is further avoided to be impacted to vehicle (that is, in the area on the occasion of the negative value to first threshold of first threshold
Between, continue to decline with smaller torque gradient control vehicle demand torque), moment of torsion is effectively improved when spline engages with gear
Impact caused by producing mutation, the driving and stability of vehicle are improved, better ensure that the reliability and security of vehicle,
It is easy and effective.
S203, continue to monitor the vehicle demand torque of vehicle, if monitoring that vehicle demand torque reaches first threshold
Negative value, stop slowing down the rate of change of vehicle demand torque.
Now, vehicle demand torque also may proceed to drop to minimum point is gone up again.
Wherein, when vehicle demand torque is negative torque, vehicle is in the energy regenerating stage.If vehicle demand torque from
Negative minimum point bottom out, illustrate that vehicle starts to switch to the driving stage from the energy regenerating stage.
S204, continue to monitor the vehicle demand torque of vehicle, if monitoring that vehicle demand torque reaches the first threshold again
The negative value of value, slow down the rate of change of vehicle demand torque.
Now, vehicle demand torque gos up.When reaching the negative value of first threshold when ging up, illustrate that vehicle needs
Very close zero moment of torsion of moment of torsion is sought, needs to continue to control vehicle demand torque to become positive-torque from negative torque afterwards.Needed in vehicle
Ask moment of torsion become positive-torque from negative torque during when, be related to the change of spline and (or) gear field of conjugate.Therefore, now need
Slow down the rate of change of vehicle demand torque, to control the rising of vehicle demand torque.
According to the torque control method of the vehicle of the embodiment of the present application, in vehicle demand torque uphill process, if also
When not rising to torque value (that is, the negative value of first threshold) of the back lash for overcoming spline and gear of negative value, not to whole
Car demand torque is exerted one's influence.The torque value of the back lash for overcoming spline and gear of negative value is risen in vehicle demand torque
When (that is, the negative value of first threshold), with the second default rate of change control vehicle demand torque continue to rise on the occasion of overcome flower
The torque value of key and gear backlash (that is, first threshold on the occasion of), that is to say, that also less torque gradient control is whole
Car demand torque continues to rise.The torque control method of the vehicle of the embodiment of the present application is in above-mentioned switch step, vehicle demand
Moment of torsion continues have different torque gradients when ging up, and region filtering is realized, so as to further avoid the saltus step of moment of torsion to car
Impact (that is, first threshold negative value to first threshold on the occasion of section, it is with smaller torque gradient control whole
Car demand torque continues to decline), impact caused by moment of torsion produces mutation when spline engages with gear is effectively improved, improves car
Driving and stability, better ensure that the reliability and security of vehicle, it is easy and effective.
In embodiments herein, region filtering, the different filtering system of each section of use are carried out to vehicle demand torque
Number, preferably improve the impact as caused by moment of torsion engage with gear generation mutation in spline, improve the driving and surely of vehicle
It is qualitative, better ensure that the reliability and security of vehicle.
In embodiments herein, the method for the embodiment of the present application also includes：When vehicle, which is in two, drives the stage, collection
Accelerator pedal signal；Pedal parsing moment of torsion is obtained according to accelerator pedal signal；Determine whether pedal parsing moment of torsion is more than at vehicle
Crawling moment of torsion when the crawling stage；If pedal parsing moment of torsion is more than crawling moment of torsion, pedal is parsed into moment of torsion as vehicle
Demand torque；And if pedal parsing moment of torsion is equal to or less than crawling moment of torsion, then using crawling moment of torsion as vehicle demand torque.
In embodiments herein, moment of torsion is parsed to pedal and carries out taking big processing with crawling moment of torsion, efficiently against torsion
The mutation of square, improve the driving and stability of vehicle.
In order to make it easy to understand, be described in detail below with a specific embodiment and with reference to Fig. 4, it is specific as follows：
Fig. 4 is the schematic diagram according to the moment of torsion control sequential of the embodiment of the present application.Needed as shown in figure 4, solid line 1 represents vehicle
Moment of torsion is sought, dotted line 2 represents motor speed, and dotted line 3 represents accelerator pedal signal, and dotted line 4 represents precursor motor moment of torsion, the generation of dotted line 5
Table rear-guard Motor torque.
0-t1Period：Starting stage.
Gear is suspended to driver into D gears or R is kept off, and enables motor, gathers motor speed signal and Motor torque signal.
0 is then reduced to again when motor speed raises since 0, records motor torque values now.The motor torque values are to overcome flower
The torque value T of the back lash of key and geara(i.e. first threshold).
t1-t2Period：The crawling stage.
By the starting stage, gap has eliminated, and the spline and gear of vehicle are all in engagement.The moment of torsion of vehicle is opened
Begin to increase.When moment of torsion overcomes the frictional force on tire and ground, motor speed is begun to ramp up, low vehicle speeds.
t2-t3Period：Two drive the stage.
Driver's bend the throttle.Two drive the stages, and pedal is parsed into moment of torsion and crawling moment of torsion carries out taking big processing, with gram
Take the mutation of moment of torsion.
t3-t4Period：The 4 wheel driven stage.
As driver continues bend the throttle, vehicle enters the 4 wheel driven stage.The moment of torsion of precursor motor slowly declines, with
Rear-guard motor is coordinated to participate in the rising of moment of torsion during driving.
t4-t7' during：The driving stage switches to the energy regenerating stage.
Driver's pine accelerator pedal, vehicle deceleration；Or brake pedal after driver's pine accelerator pedal, vehicle system
It is dynamic.
If stalling current is smaller, lithium battery can be used as unique recovery source, primarily to reducing energy conversion
Consumption rate；When braking recovers energy it is larger when, lithium battery keeps constant recovery electric current, and unnecessary recovering energy can be by surpassing
Level electric capacity is reclaimed.
At this stage, region filtering is realized in the control that vehicle demand torque declines.It is specifically divided into following segmentation.
First segmentation：t4-t5Period
Start loose accelerator pedal, vehicle demand torque is with the second default rate of change k2Begin to decline.
Second segmentation：t5-t6Period
Vehicle demand torque will become negative torque from positive-torque, be related to the change of spline and (or) gear field of conjugate,
Slow down the rate of change of vehicle demand torque, with the first default rate of change k1Vehicle demand torque is controlled to decline, k1<k2。
3rd segmentation：t6-t7Period
Complete the conversion of positive negative torque.
4th segmentation：t7-t7' during
Vehicle demand torque will be transformed into positive-torque by negative torque.Slow down the rate of change of vehicle demand torque, with first
Predetermined torque rate of change k1Vehicle demand torque is controlled to rise, k1<k2。
t7’–t8Period, terminate energy regenerating and enter the crawling stage.
No longer the rate of change of vehicle demand torque is slowed down, the rate of change of vehicle demand torque is with the second predetermined torque
Rate of change k2Rise.
t8After, driver's bend the throttle, vehicle initially entered for two drive stages.
In order to realize above-described embodiment, the embodiment of the present application also proposes the torque control device of vehicle.With reference to the accompanying drawings
The torque control device for the vehicle that description proposes according to the embodiment of the present application.
Fig. 5 is the structural representation of the torque control device of the vehicle of the embodiment of the present application.
As shown in figure 5, the torque control device 110 of the vehicle includes：Determining module 120 and control module 130.
Determining module 120, for by the starting stage, motor speed is started from scratch rise, then is reduced to again corresponding when zero
Motor torque as first threshold.
Control module 130, mutual switch step is carried out with the driving stage for the energy regenerating stage in vehicle, works as vehicle
When demand torque reaches first threshold, slow down the rate of change of vehicle demand torque.
The torque control device of the vehicle of the embodiment of the present application, according to the variation characteristic of the motor speed of starting stage (from
Zero starts to raise, then is reduced to again zero), a Motor torque is determined as first threshold, to reach in vehicle demand torque
During first threshold, slow down the rate of change of vehicle demand torque.First, the determination mode of first threshold is very easy and effective, without
The extra part for being used to overcome back lash, reduces hardware device configuration, and then reduce cost.Secondly, in certain threshold
In the range of value, slow down the rate of change of vehicle demand torque, moment of torsion can be effectively improved mutation is produced when spline engages with gear
Caused by impact, improve the driving and stability of vehicle, better ensure that the reliability and security of vehicle, simply have
Effect.
In the embodiment of the present application, when switching to the driving stage in the energy regenerating stage, rate of change slows down scope as the
The negative value of one threshold value is to first threshold between.
In the embodiment of the present application, when switching to the energy regenerating stage in the driving stage, rate of change slows down scope as the
One threshold value on the occasion of between the negative value to first threshold.
According to the torque control device of the vehicle of the embodiment of the present application, during the decline of vehicle demand torque, if also
Do not drop on the occasion of the back lash for overcoming spline and gear torque value (that is, first threshold) when, not to vehicle demand
Moment of torsion is exerted one's influence, and vehicle demand torque continues to decline with the first default rate of change.Vehicle demand torque drop on the occasion of
When overcoming torque value (that is, the first threshold) of the back lash of spline and gear, with the second default rate of change control vehicle demand
What moment of torsion continued to drop to negative value overcomes the torque value of spline and gear backlash (that is, the negative value of first threshold), that is,
Say, also less torque gradient control vehicle demand torque continues to decline.The moment of torsion control side of the vehicle of the embodiment of the present application
For method in above-mentioned switch step, vehicle demand torque continues have different torque gradients when declining, and realizes region filtering, from
And the saltus step of moment of torsion is further avoided to be impacted to vehicle (that is, in the area on the occasion of the negative value to first threshold of first threshold
Between, continue to decline with smaller torque gradient control vehicle demand torque), moment of torsion is effectively improved when spline engages with gear
Impact caused by producing mutation, the driving and stability of vehicle are improved, better ensure that the reliability and security of vehicle,
It is easy and effective.
According to the torque control device of the vehicle of the embodiment of the present application, in vehicle demand torque uphill process, if also
When not rising to torque value (that is, the negative value of first threshold) of the back lash for overcoming spline and gear of negative value, not to whole
Car demand torque is exerted one's influence.The torque value of the back lash for overcoming spline and gear of negative value is risen in vehicle demand torque
When (that is, the negative value of first threshold), with the second default rate of change control vehicle demand torque continue to rise on the occasion of overcome flower
The torque value of key and gear backlash (that is, first threshold on the occasion of), that is to say, that also less torque gradient control is whole
Car demand torque continues to rise.The torque control method of the vehicle of the embodiment of the present application is in above-mentioned switch step, vehicle demand
Moment of torsion continues have different torque gradients when ging up, and region filtering is realized, so as to further avoid the saltus step of moment of torsion to car
Impact (that is, first threshold negative value to first threshold on the occasion of section, it is with smaller torque gradient control whole
Car demand torque continues to decline), impact caused by moment of torsion produces mutation when spline engages with gear is effectively improved, improves car
Driving and stability, better ensure that the reliability and security of vehicle, it is easy and effective.
In embodiments herein, region filtering, the different filtering system of each section of use are carried out to vehicle demand torque
Number, preferably improve the impact as caused by moment of torsion engage with gear generation mutation in spline, improve the driving and surely of vehicle
It is qualitative, better ensure that the reliability and security of vehicle.
In the embodiment of the present application, it is equal to T in deceleration phase, the absolute value of the rate of change of vehicle demand torquea/t1, wherein
TaRepresent first threshold, t1Represent the duration section of starting stage.
In embodiments herein, control module 130 is additionally operable to：When vehicle, which is in two, drives the stage, collection acceleration is stepped on
Partitioned signal；Pedal parsing moment of torsion is obtained according to accelerator pedal signal；Determine whether pedal parsing moment of torsion more than vehicle is in crawling
Crawling moment of torsion during the stage；If pedal parsing moment of torsion is more than crawling moment of torsion, pedal is parsed into moment of torsion turns round as vehicle demand
Square；And if pedal parsing moment of torsion is equal to or less than crawling moment of torsion, then using crawling moment of torsion as vehicle demand torque.
In embodiments herein, moment of torsion is parsed to pedal and carries out taking big processing with crawling moment of torsion, efficiently against torsion
The mutation of square, improve the driving and stability of vehicle.
It should be noted that the explanation of the foregoing torque control method embodiment to vehicle is also applied for the embodiment
Vehicle torque control device, here is omitted.
In addition, the embodiment of the present application also proposed a kind of entire car controller, the entire car controller includes above-mentioned vehicle
Torque control device.
In addition, the embodiment of the present application also proposed a kind of vehicle, the vehicle includes the torque control device of above-mentioned vehicle.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present application, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In this application, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, limited unless otherwise clear and definite.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the application.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Although embodiments herein has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to the limitation to the application is interpreted as, one of ordinary skill in the art within the scope of application can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (10)
- A kind of 1. torque control method of vehicle, it is characterised in that including：By in the starting stage, motor speed is started from scratch rise, then is reduced to when zero corresponding Motor torque again as the first threshold Value；Mutual switch step is carried out with the driving stage in the energy regenerating stage of the vehicle, when vehicle demand torque reaches first During threshold value, slow down the rate of change of vehicle demand torque.
- 2. the torque control method of vehicle according to claim 1, it is characterised in that switch in the energy regenerating stage To the driving stage when, the rate of change slow down scope be first threshold negative value to first threshold between.
- 3. the torque control method of vehicle according to claim 1, it is characterised in that switch to institute in the driving stage When stating the energy regenerating stage, the scope that slows down of the rate of change is first threshold on the occasion of between the negative value to first threshold.
- 4. the torque control method of the vehicle according to claim any one of 1-3, it is characterised in thatIn deceleration phase, the absolute value of the rate of change of the vehicle demand torque is equal to Ta/t1, wherein TaRepresent first threshold Value, t1Represent the duration section of the starting stage.
- A kind of 5. torque control device of vehicle, it is characterised in that including：Determining module, for by the starting stage, motor speed is started from scratch rise, then is reduced to corresponding motor when zero again and is turned round Square is as first threshold；AndControl module, mutual switch step is carried out with the driving stage for the energy regenerating stage in the vehicle, when vehicle needs When asking the moment of torsion to reach first threshold, slow down the rate of change of vehicle demand torque.
- 6. the torque control device of vehicle according to claim 5, it is characterised in that switch in the energy regenerating stage To the driving stage when, the rate of change slow down scope be first threshold negative value to first threshold between.
- 7. the torque control device of vehicle according to claim 5, it is characterised in that switch to institute in the driving stage When stating the energy regenerating stage, the scope that slows down of the rate of change is first threshold on the occasion of between the negative value to first threshold.
- 8. the torque control device of the vehicle according to claim any one of 5-7, it is characterised in thatIn deceleration phase, the absolute value of the rate of change of the vehicle demand torque is equal to Ta/t1, wherein TaRepresent first threshold Value, t1Represent the duration section of the starting stage.
- A kind of 9. entire car controller, it is characterised in that including：The moment of torsion control dress of vehicle described in claim any one of 5-8 Put.
- A kind of 10. vehicle, it is characterised in that including：Entire car controller described in claim 9.
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| CN201610825814.8A CN107472076B (en) | 2016-06-24 | 2016-06-24 | Torque control method, device and the vehicle of vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610825814.8A CN107472076B (en) | 2016-06-24 | 2016-06-24 | Torque control method, device and the vehicle of vehicle |
| CN201610472055.1 | 2016-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610472055.1 Division | 2016-06-24 | 2016-06-24 |
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| CN107472076B CN107472076B (en) | 2019-11-22 |
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| CN201610825814.8A Expired - Fee Related CN107472076B (en) | 2016-06-24 | 2016-06-24 | Torque control method, device and the vehicle of vehicle |
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| CN109343593A (en) * | 2018-09-25 | 2019-02-15 | 东南（福建）汽车工业有限公司 | The torque control model and torque control method that electric car prevents vehicle from shaking |
| CN109808510A (en) * | 2019-02-26 | 2019-05-28 | 北京经纬恒润科技有限公司 | The control method and entire car controller of electric car output torque |
| CN110131057A (en) * | 2018-02-08 | 2019-08-16 | 郑州宇通客车股份有限公司 | A kind of torque control method and system |
| CN110406389A (en) * | 2018-04-28 | 2019-11-05 | 广州汽车集团股份有限公司 | Control method, device, computer equipment and the medium of vehicle drive ride comfort |
| CN110682798A (en) * | 2018-07-05 | 2020-01-14 | 蔚来汽车有限公司 | Motor torque control method, device, system and computer storage medium |
| CN111605409A (en) * | 2020-05-13 | 2020-09-01 | 上海首智新能源科技有限公司 | Gear system control method for new energy automobile driving system |
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| CN113276689A (en) * | 2021-05-21 | 2021-08-20 | 江铃汽车股份有限公司 | Torque filtering method of pure electric vehicle |
| CN113428012A (en) * | 2021-07-29 | 2021-09-24 | 安徽江淮汽车集团股份有限公司 | Torque control method for pure electric vehicle transmission system |
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| CN110682798A (en) * | 2018-07-05 | 2020-01-14 | 蔚来汽车有限公司 | Motor torque control method, device, system and computer storage medium |
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| CN109808510B (en) * | 2019-02-26 | 2020-11-03 | 北京经纬恒润科技有限公司 | Control method for output torque of electric vehicle and vehicle control unit |
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| CN111605409A (en) * | 2020-05-13 | 2020-09-01 | 上海首智新能源科技有限公司 | Gear system control method for new energy automobile driving system |
| CN111605409B (en) * | 2020-05-13 | 2023-08-25 | 江苏首智新能源技术有限公司 | New energy automobile driving system tooth system control method |
| CN114056335B (en) * | 2020-07-31 | 2023-07-11 | 比亚迪股份有限公司 | Power output control method, traction control unit, power system and vehicle |
| CN114056335A (en) * | 2020-07-31 | 2022-02-18 | 比亚迪股份有限公司 | Power output control method, traction control unit, power system and vehicle |
| CN111959294A (en) * | 2020-08-31 | 2020-11-20 | 重庆长安新能源汽车科技有限公司 | Energy recovery torque quitting control method and system, vehicle and storage medium |
| CN113071330B (en) * | 2021-04-16 | 2022-12-02 | 中国第一汽车股份有限公司 | Motor torque control method, system, vehicle and storage medium |
| CN113071330A (en) * | 2021-04-16 | 2021-07-06 | 中国第一汽车股份有限公司 | Motor torque control method, system, vehicle and storage medium |
| CN113276689B (en) * | 2021-05-21 | 2022-05-10 | 江铃汽车股份有限公司 | Torque filtering method of pure electric vehicle |
| CN113276689A (en) * | 2021-05-21 | 2021-08-20 | 江铃汽车股份有限公司 | Torque filtering method of pure electric vehicle |
| CN113428012A (en) * | 2021-07-29 | 2021-09-24 | 安徽江淮汽车集团股份有限公司 | Torque control method for pure electric vehicle transmission system |
| CN116118525A (en) * | 2023-04-03 | 2023-05-16 | 成都赛力斯科技有限公司 | Motor torque zero crossing control method and device, electronic equipment and new energy automobile |
| CN116118525B (en) * | 2023-04-03 | 2023-06-23 | 成都赛力斯科技有限公司 | Motor torque zero crossing control method and device, electronic equipment and new energy automobile |
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Denomination of invention: Vehicle torque control method, device and vehicle Effective date of registration: 20211213 Granted publication date: 20191122 Pledgee: BEIJING AUTOMOTIVE GROUP Co.,Ltd. Pledgor: Borgward Automotive (China) Co., Ltd. Registration number: Y2021990001167 |
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Date of cancellation: 20231201 Granted publication date: 20191122 Pledgee: BEIJING AUTOMOTIVE GROUP Co.,Ltd. Pledgor: Beijing baowo Automobile Co.,Ltd.|Borgward Automotive (China) Co., Ltd. Registration number: Y2021990001167 |
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