CN107472076B - 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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- CN107472076B CN107472076B CN201610825814.8A CN201610825814A CN107472076B CN 107472076 B CN107472076 B CN 107472076B CN 201610825814 A CN201610825814 A CN 201610825814A CN 107472076 B CN107472076 B CN 107472076B
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000008859 change Effects 0.000 claims abstract description 56
- 230000001172 regenerating effect Effects 0.000 claims abstract description 27
- 238000010010 raising Methods 0.000 claims abstract description 8
- 230000035772 mutation Effects 0.000 abstract description 14
- 230000009193 crawling Effects 0.000 description 26
- 230000007423 decrease Effects 0.000 description 19
- 238000001914 filtration Methods 0.000 description 10
- 239000002243 precursor Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 6
- 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
- 230000000694 effects Effects 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004064 recycling Methods 0.000 description 3
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 2
- 235000011613 Pinus brutia Nutrition 0.000 description 2
- 241000018646 Pinus brutia Species 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—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
-
- 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
Abstract
This application discloses a kind of torque control method of vehicle, device and vehicles.This method comprises: by the starting stage, motor speed is started from scratch raising, then is reduced to when zero corresponding Motor torque again as first threshold；Mutual switch step, which is carried out, in the energy regenerating stage of vehicle and driving stage slows down the change rate of vehicle demand torque when vehicle demand torque reaches first threshold.The method of the embodiment of the present application can be effectively improved torque and generate impact caused by mutation when spline is engaged with gear, improve the driving and stability of vehicle, better ensure that the reliability and safety of vehicle, simple and effective.
Description
Technical field
This application involves automobile technical field, in particular to a kind of torque control method of vehicle, device and vehicle.
Background technique
In the related art, motor output torque is needed to wheel by following procedure: the torque of motor output is logical first
It crosses the first spline (connection motor and retarder) and is transferred to retarder, then engaged by the gear of retarder, then pass through second
Spline (connection retarder and semiaxis) is transferred to semiaxis, is output to wheel finally by semiaxis.Therefore, the transmission of torque need through
Cross spline and gear.However, due to the abrasion of processing technology and vehicle driving, the gap of the engaging portion in spline and gear
Can be increasing, cause torque that can generate mutation in engaging portion；And then 4 wheel driven driving, energy are driven into starting, two
Under a variety of vehicle working conditions such as recycling, vehicle reduces the driving of vehicle, and nothing since the mutation will cause certain impact
Method guarantees the reliability and safety of vehicle well.
Summary of the invention
The application is intended to solve at least some of the technical problems in related technologies.
For this purpose, the purpose of the application is to propose a kind of torque control method of vehicle, this method be can be improved
The driving and stability of vehicle, and it is simple 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.
In order to achieve the above objectives, the embodiment of the present application proposes a kind of torque control method of vehicle, comprising: will play step
Duan Zhong, motor speed are started from scratch raising, then are reduced to when zero corresponding Motor torque again as first threshold；In the vehicle
The energy regenerating stage and the driving stage carry out mutual switch step and slow down whole when vehicle demand torque reaches first threshold
The change rate of vehicle demand torque.
The torque control method of the vehicle of the embodiment of the present application, be effectively improved torque generated when spline is engaged with gear it is prominent
It is impacted caused by change, improves the driving and stability of vehicle, better ensured that the reliability and safety of vehicle, simply have
Effect.
In one embodiment of the application, when switching to the driving stage in the energy regenerating stage, the change
Rate slow down range be first threshold negative value to first threshold positive value between.
In one embodiment of the application, when switching to the energy regenerating stage in the driving stage, the change
The range that slows down of rate is first threshold on the occasion of between the negative value of first threshold.
In one embodiment of the application, in deceleration phase, the absolute value etc. of the change rate of the vehicle demand torque
In Ta/t1, wherein TaIndicate the first threshold, t1Indicate the duration of the starting stage.
In one embodiment of the application, the above method further include: when the vehicle, which is in two, drives the stage, acquisition adds
Speed pedal signal；Pedal parsing torque is obtained according to the accelerator pedal signal；Determine whether the pedal parsing torque is greater than
The vehicle is in the crawling torque when crawling stage；If the pedal parsing torque is greater than the crawling torque, by institute
Pedal parsing torque is stated as the vehicle demand torque；And if pedal parsing torque is equal to or less than the crawling
Torque, then using the crawling torque as the vehicle demand torque.
In order to achieve the above objectives, the embodiment of the present application proposes a kind of torque control device of vehicle, comprising: determines mould
Block, for by the starting stage, motor speed is started from scratch raising, then is reduced to when zero corresponding Motor torque again as first
Threshold value；And control module, for the energy regenerating stage in the vehicle and the stage is driven to carry out mutual switch step, when whole
When vehicle demand torque reaches first threshold, slow down the change rate of vehicle demand torque.
The torque control device of the vehicle of the embodiment of the present application, be effectively improved torque generated when spline is engaged with gear it is prominent
It is impacted caused by change, improves the driving and stability of vehicle, better ensured that the reliability and safety of vehicle, simply have
Effect.
In one embodiment of the application, when switching to the driving stage in the energy regenerating stage, the change
Rate slow down range be first threshold negative value to first threshold positive value between.
In one embodiment of the application, when switching to the energy regenerating stage in the driving stage, the change
The range that slows down of rate is first threshold on the occasion of between the negative value of first threshold.
In one embodiment of the application, in deceleration phase, the absolute value etc. of the change rate of the vehicle demand torque
In Ta/t1, wherein TaIndicate the first threshold, t1Indicate the duration of the starting stage.
In one embodiment of the application, the control module is also used to: when the vehicle, which is in two, drives the stage, being adopted
Collect accelerator pedal signal, and pedal parsing torque is obtained according to the accelerator pedal signal, and determines that the pedal parsing is turned round
Whether square is greater than the crawling torque when vehicle is in the crawling stage, and turns round in pedal parsing torque greater than the crawling
When square, using pedal parsing torque as the vehicle demand torque, and torque is parsed in the pedal and is equal to or less than
When the crawling torque, using the crawling torque as the vehicle demand torque.
In order to achieve the above objectives, the embodiment of the present application proposes a kind of entire car controller, the torque including above-mentioned vehicle
Control device.
In order to achieve the above objectives, the embodiment of the present application proposes a kind of vehicle, including above-mentioned entire car controller.
The additional aspect of the application and advantage will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or recognized by the practice of the application.
Detailed description of the invention
The application is above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the schematic diagram according to the dynamical system of the electric car 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 timing of the embodiment of the present application；
Fig. 5 is the structural schematic diagram according to the torque control device of the vehicle of the embodiment of the present application.
Specific embodiment
Embodiments herein is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the application, and should not be understood as the limitation to the application.
Fig. 1 is the schematic diagram according to the dynamical system of the electric car of the embodiment of the present application.As shown in Figure 1, in electronic vapour
In the dynamical system of vehicle, 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, and such as the corresponding precursor motor 10 of electric machine controller 20, electric machine controller 50 is right
Answer rear-guard motor 40.
The predecessor portions of dynamical system are made of precursor motor 10, electric machine controller 20, retarder 30.Precursor motor 10 is logical
Spline is crossed to be connected with retarder 30.Gear mesh is used inside retarder 30.Retarder 30 is connected by spline with front axle.Dynamical system
The rear-guard part of system is made of rear-guard motor 40, electric machine controller 50, retarder 60.Rear-guard motor 40 passes through spline and retarder
60 are connected.Gear mesh is used inside retarder 60.Retarder 60 is connected by spline with rear axle.
Central control box 70 includes the components such as contactor, insurance.Central control box 70 is used to the energy of lithium battery 80 distributing to motor
10,40 and high pressure attachment 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 entire vehicle provides energy for the operation of motor, while being the high pressure attachment of vehicle
90 provide energy.Vehicular charger 100 is charged using external recharging apparatus to lithium battery 80.
However, the engaging portion of spline and gear is easy to produce due to processing technology and the abrasion of traveling generation over long distances
Raw gap.During torque transmission, which will lead to the jump of torque, to cause to impact to vehicle.Vehicle is by quiet
When only starting to walk, precursor motor 10 generates torque；Vehicle enters the 4 wheel driven stage by two drive stages, and rear-guard motor 40 is by 0 torque to need
Seek torque；When energy regenerating, motor passes through 0 by positive-torque, becomes negative torque, etc..Under above-mentioned operating condition, torque is by gap
Shi Douhui generates impact, and certain impact is caused to vehicle, reduces the driving of vehicle, can not guarantee vehicle well
Reliability and safety.
For this purpose, 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 raising, then is reduced to corresponding Motor torque when zero again and is made
For first threshold.
The motor speed of starting stage can be acquired according to preset frequency acquisition.In the entire starting stage, motor speed
Then raising of first starting from scratch is reduced to zero again.Motor speed is reduced to when zero corresponding Motor torque again as the first threshold
Value.
Specifically, when vehicle is in the starting stage, gear can be suspended to D gear or R gear, and enabled driving electricity by driver
Machine can acquire motor speed signal and Motor torque signal at this time.It is then reduced to 0 again when motor speed is increased since 0, note
The Motor torque of record at this time, the Motor torque are the first threshold T for overcoming the back lash of spline and geara.First threshold Ta
It serves not only as that vehicle is overcome to cause spline or gear wear to generate the self study value in gap, and conduct through long-distance traveling
The threshold value (subsequent to will be described in detail) of region filtering in the energy regenerating stage.
S102 carries out mutual switch step in the energy regenerating stage of vehicle and driving stage, when vehicle demand torque reaches
When to first threshold, slow down the change rate 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 increase, then is reduced to again zero), determines a Motor torque as first threshold, to reach in vehicle demand torque
When first threshold, slow down the change rate of vehicle demand torque.Firstly, the method for determination of first threshold is very simple and effective, it is not necessarily to
The additional component for being used to overcome back lash reduces hardware device configuration, and then reduces cost.Secondly, in certain threshold
It is worth in range, slows down the change rate of vehicle demand torque, torque can be effectively improved and generate mutation when spline is engaged with gear
Caused by impact, improve the driving and stability of vehicle, better ensure that the reliability and safety of vehicle, simply have
Effect.
In the embodiment of the present application, when switching to the driving stage in the energy regenerating stage, the range that slows down of change rate is the
The negative value of one threshold value is between the positive value of first threshold.In the embodiment of the present application, from the negative value of first threshold to first threshold
Positive value, 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, the range that slows down of change rate is the
The positive value of one threshold value is between the negative value of first threshold.In the embodiment of the present application, from the positive value of first threshold 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, in deceleration phase, the absolute value of the change rate of vehicle demand torque is equal to Ta/t1, wherein
TaIndicate first threshold, t1Indicate the duration of starting stage.For example, as shown in Figure 4.
In the embodiment of the present application, the energy regenerating stage be vehicle demand torque be negative torque when operation phase.
Fig. 3 is the flow chart according to the torque control method of the vehicle of another embodiment of the application.It is detailed below 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 monitors 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 with the first default change rate decline.
S202 continues the vehicle demand torque for monitoring vehicle, if monitoring that vehicle demand torque reaches first threshold
Positive value slows down the change rate of vehicle demand torque.
For example, the change rate of vehicle demand torque becomes the second default change rate.Second default change rate is pre- less than first
If change rate.
That is, extraneous shadow can not be applied before the positive value that vehicle demand torque does not drop to first threshold
It rings, vehicle demand torque continues decline when the positive value of first threshold, such as with the first default change rate decline.
When vehicle demand torque drops to the positive value of first threshold, illustrate very close zero torque of vehicle demand torque,
It needs to continue to control vehicle demand torque later and becomes negative torque from positive-torque.Become negative twist from positive-torque in vehicle demand torque
When during square, it is related to the variation of spline and (or) gear field of conjugate.Therefore, need to slow down the change of vehicle demand torque at this time
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
When not dropping to torque value (that is, first threshold) of the back lash for overcoming spline and gear of positive value, not to vehicle demand
Torque is exerted one's influence, and vehicle demand torque continues to decline with the first default change rate.Positive value is dropped in vehicle demand torque
When overcoming torque value (that is, first threshold) of the back lash of spline and gear, vehicle demand is controlled with the second default change rate
Torque continues to drop to the torque value (that is, negative value of first threshold) for overcoming spline and gear backlash of negative value, that is,
It says, also lesser 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
Method, with different torque gradients when vehicle demand torque continues to decline, realizes region filtering in above-mentioned switch step, from
And the jump for further avoiding torque causes impact (that is, in the area on the occasion of the negative value to first threshold of first threshold on vehicle
Between, continue to decline with smaller torque gradient control vehicle demand torque), torque is effectively improved when spline is engaged with gear
It generates and is impacted caused by mutation, improve the driving and stability of vehicle, better ensure that the reliability and safety of vehicle,
It is simple and effective.
S203 continues the vehicle demand torque for monitoring vehicle, if monitoring that vehicle demand torque reaches first threshold
Negative value stops the change rate for slowing down vehicle demand torque.
At this point, vehicle demand torque also will continue to drop to minimum point and go 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 illustrates that vehicle starts to switch to the driving stage from the energy regenerating stage.
S204 continues the vehicle demand torque for monitoring vehicle, if monitoring that vehicle demand torque reaches the first threshold again
The negative value of value slows down the change rate of vehicle demand torque.
At this point, vehicle demand torque is ging up.When reaching the negative value of first threshold when ging up, illustrate that vehicle needs
It asks torque very close to zero torque, needs to continue to control vehicle demand torque later from negative torque and become positive-torque.It is needed in vehicle
When during asking torque to become positive-torque from negative torque, it is related to the variation of spline and (or) gear field of conjugate.Therefore, it needs at this time
Slow down the change rate 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, negative value of first threshold) of the back lash for overcoming spline and gear of negative value, not to whole
Vehicle 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, negative value of first threshold), flower is overcome with what the second default change rate control vehicle demand torque continued to rise to positive value
The torque value (that is, positive value of first threshold) of key and gear backlash, that is to say, that also lesser torque gradient control is whole
Vehicle 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
With different torque gradients when torque continues to go up, region filtering is realized, to further avoid the jump of torque to vehicle
Cause impact (that is, first threshold negative value to first threshold positive value section, controlled with smaller torque gradient whole
Vehicle demand torque continues to decline), it is effectively improved torque and generates impact caused by mutation when spline is engaged with gear, improve vehicle
Driving and stability, better ensure that the reliability and safety of vehicle, it is simple and effective.
In embodiments herein, region filtering is carried out to vehicle demand torque, each section uses different filtering systems
Number preferably improves and impacts caused by engage with gear generation mutation in spline as torque, improve the driving of vehicle with surely
It is qualitative, better ensure that the reliability and safety of vehicle.
In embodiments herein, the method for the embodiment of the present application further include: when vehicle, which is in two, drives the stage, acquisition
Accelerator pedal signal；Pedal parsing torque is obtained according to accelerator pedal signal；Determine whether pedal parsing torque is greater than at vehicle
Crawling torque when the crawling stage；If pedal, which parses torque, is greater than crawling torque, using pedal parsing torque as vehicle
Demand torque；And if pedal parsing torque is equal to or less than crawling torque, using crawling torque as vehicle demand torque.
In embodiments herein, pedal parsing torque and crawling torque are carried out taking big processing, efficiently against torsion
The mutation of square improves the driving and stability of vehicle.
In order to make it easy to understand, be described in detail below with a specific embodiment and in conjunction with Fig. 4, it is specific as follows:
Fig. 4 is the schematic diagram according to the moment of torsion control timing of the embodiment of the present application.As shown in figure 4, solid line 1, which represents vehicle, to be needed
Torque is sought, dotted line 2 represents motor speed, and dotted line 3 represents accelerator pedal signal, and dotted line 4 represents precursor motor torque, 5 generation of dotted line
Table rear-guard Motor torque.
0-t1Period: starting stage.
Gear is suspended to D gear to driver or R is kept off, and enables driving motor, acquires motor speed signal and Motor torque signal.
It is then reduced to 0 again when motor speed is increased since 0, records motor torque values at this time.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: crawling stage.
By the starting stage, gap has been eliminated, and the spline and gear of vehicle are all in meshing state.The torque of vehicle is opened
Begin to increase.When torque 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, by pedal parsing torque and crawling torque carry out taking big processing, with gram
Take the mutation of torque.
t3-t4Period: 4 wheel driven stage.
As driver continues bend the throttle, vehicle enters the 4 wheel driven stage.The torque of precursor motor slowly declines, with
The rising of torque when rear-guard motor being cooperated to participate in 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.
It, can be using lithium battery as unique recycling source, primarily to reducing energy conversion if stalling current is smaller
Consumption rate；When braking recovers energy it is larger when, the recycling electric current that lithium battery is kept constant, extra recovering energy can be by surpassing
Grade capacitor is recycled.
At this stage, region filtering is realized in the control of vehicle demand torque decline.It is specifically divided into following segmentation.
First segmentation: t4-t5Period
Start loose accelerator pedal, vehicle demand torque is with the second default change rate k2It begins to decline.
Second segmentation: t5-t6Period
Vehicle demand torque will become negative torque from positive-torque, be related to the variation of spline and (or) gear field of conjugate,
Slow down the change rate of vehicle demand torque, with the first default change rate k1Control the decline of vehicle demand torque, k1<k2。
Third segmentation: t6-t7Period
Complete the transformation of positive negative torque.
4th segmentation: t7-t7' during
Vehicle demand torque will be transformed into positive-torque by negative torque.Slow down the change rate of vehicle demand torque, with first
Predetermined torque change rate k1It controls vehicle demand torque to rise, k1<k2。
t7’–t8Period terminates energy regenerating and enters the crawling stage.
No longer the change rate of vehicle demand torque is slowed down, the change rate of vehicle demand torque is with the second predetermined torque
Change rate 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 of the vehicle proposed according to the embodiment of the present application is described.
Fig. 5 is the structural schematic diagram 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 comprises determining that module 120 and control module 130.
Determining module 120, for by the starting stage, motor speed is started from scratch raisings, then correspondence when being reduced to zero again
Motor torque as first threshold.
Control module 130 for the energy regenerating stage in vehicle and drives the stage to carry out mutual switch step, works as vehicle
When demand torque reaches first threshold, slow down the change rate 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 increase, then is reduced to again zero), determines a Motor torque as first threshold, to reach in vehicle demand torque
When first threshold, slow down the change rate of vehicle demand torque.Firstly, the method for determination of first threshold is very simple and effective, it is not necessarily to
The additional component for being used to overcome back lash reduces hardware device configuration, and then reduces cost.Secondly, in certain threshold
It is worth in range, slows down the change rate of vehicle demand torque, torque can be effectively improved and generate mutation when spline is engaged with gear
Caused by impact, improve the driving and stability of vehicle, better ensure that the reliability and safety of vehicle, simply have
Effect.
In the embodiment of the present application, when switching to the driving stage in the energy regenerating stage, the range that slows down of change rate is the
The negative value of one threshold value is between the positive value of first threshold.
In the embodiment of the present application, when switching to the energy regenerating stage in the driving stage, the range that slows down of change rate is the
The positive value of one threshold value is between the negative value of 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
When not dropping to torque value (that is, first threshold) of the back lash for overcoming spline and gear of positive value, not to vehicle demand
Torque is exerted one's influence, and vehicle demand torque continues to decline with the first default change rate.Positive value is dropped in vehicle demand torque
When overcoming torque value (that is, first threshold) of the back lash of spline and gear, vehicle demand is controlled with the second default change rate
Torque continues to drop to the torque value (that is, negative value of first threshold) for overcoming spline and gear backlash of negative value, that is,
It says, also lesser 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
Method, with different torque gradients when vehicle demand torque continues to decline, realizes region filtering in above-mentioned switch step, from
And the jump for further avoiding torque causes impact (that is, in the area on the occasion of the negative value to first threshold of first threshold on vehicle
Between, continue to decline with smaller torque gradient control vehicle demand torque), torque is effectively improved when spline is engaged with gear
It generates and is impacted caused by mutation, improve the driving and stability of vehicle, better ensure that the reliability and safety of vehicle,
It is simple 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, negative value of first threshold) of the back lash for overcoming spline and gear of negative value, not to whole
Vehicle 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, negative value of first threshold), flower is overcome with what the second default change rate control vehicle demand torque continued to rise to positive value
The torque value (that is, positive value of first threshold) of key and gear backlash, that is to say, that also lesser torque gradient control is whole
Vehicle 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
With different torque gradients when torque continues to go up, region filtering is realized, to further avoid the jump of torque to vehicle
Cause impact (that is, first threshold negative value to first threshold positive value section, controlled with smaller torque gradient whole
Vehicle demand torque continues to decline), it is effectively improved torque and generates impact caused by mutation when spline is engaged with gear, improve vehicle
Driving and stability, better ensure that the reliability and safety of vehicle, it is simple and effective.
In embodiments herein, region filtering is carried out to vehicle demand torque, each section uses different filtering systems
Number preferably improves and impacts caused by engage with gear generation mutation in spline as torque, improve the driving of vehicle with surely
It is qualitative, better ensure that the reliability and safety of vehicle.
In the embodiment of the present application, in deceleration phase, the absolute value of the change rate of vehicle demand torque is equal to Ta/t1, wherein
TaIndicate first threshold, t1Indicate the duration of starting stage.
In embodiments herein, control module 130 is also used to: when vehicle, which is in two, drives the stage, acquisition accelerates to step on
Partitioned signal；Pedal parsing torque is obtained according to accelerator pedal signal；Determine whether pedal parsing torque is greater than vehicle and is in crawling
Crawling torque when the stage；If pedal, which parses torque, is greater than crawling torque, turned round using pedal parsing torque as vehicle demand
Square；And if pedal parsing torque is equal to or less than crawling torque, using crawling torque as vehicle demand torque.
In embodiments herein, pedal parsing torque and crawling torque are carried out taking big processing, efficiently against torsion
The mutation of square improves the driving and stability of vehicle.
It should be noted that the explanation of the aforementioned torque control method embodiment to vehicle is also applied for the embodiment
Vehicle torque control device, details are not described herein again.
In addition, the embodiment of the present application also proposed a kind of entire car controller, which includes above-mentioned vehicle
Torque control device.
In addition, the embodiment of the present application also proposed a kind of vehicle, which includes the torque control device of above-mentioned vehicle.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present application, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In this application unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those 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 spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the application.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although embodiments herein has been shown and described above, it is to be understood that above-described embodiment is example
Property, it should not be understood as the limitation to the application, those skilled in the art within the scope of application can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of torque control method of vehicle characterized by comprising
By in the starting stage, motor speed is started from scratch raising, then is reduced to when zero corresponding Motor torque again as the first threshold
Value；
Mutual switch step is carried out in the energy regenerating stage of the vehicle and driving stage, when vehicle demand torque reaches first
When threshold value, slow down the change rate of vehicle demand torque.
2. the torque control method of vehicle according to claim 1, which is characterized in that switch in the energy regenerating stage
When to the driving stage, the change rate slows down negative value that range is first threshold between the positive value of first threshold.
3. the torque control method of vehicle according to claim 1, which is characterized in that switch to institute in the driving stage
When stating the energy regenerating stage, the range that slows down of the change rate is first threshold on the occasion of between the negative value of first threshold.
4. the torque control method of vehicle according to claim 1-3, which is characterized in that
It is equal to T in the absolute value of deceleration phase, the change rate of the vehicle demand torquea/t1, wherein TaIndicate t1Corresponding first
Threshold value, t1Indicate the duration of the starting stage.
5. a kind of torque control device of vehicle characterized by comprising
Determining module, for by the starting stage, motor speed is started from scratch raisings, then is reduced to corresponding motor torsion when zero again
Square is as first threshold；And
Control module for the energy regenerating stage in the vehicle and drives the stage to carry out mutual switch step, when vehicle needs
When torque being asked to reach first threshold, slow down the change rate of vehicle demand torque.
6. the torque control device of vehicle according to claim 5, which is characterized in that switch in the energy regenerating stage
When to the driving stage, the change rate slows down negative value that range is first threshold between the positive value of first threshold.
7. the torque control device of vehicle according to claim 5, which is characterized in that switch to institute in the driving stage
When stating the energy regenerating stage, the range that slows down of the change rate is first threshold on the occasion of between the negative value of first threshold.
8. according to the torque control device of the described in any item vehicles of claim 5-7, which is characterized in that
It is equal to T in the absolute value of deceleration phase, the change rate of the vehicle demand torquea/t1, wherein TaIndicate t1Corresponding first
Threshold value, t1Indicate the duration of the starting stage.
9. a kind of entire car controller characterized by comprising the moment of torsion control of the described in any item vehicles of claim 5-8 fills
It sets.
10. a kind of vehicle characterized by comprising entire car controller as claimed 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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| CN201610825814.8A CN107472076B (en) | 2016-06-24 | 2016-06-24 | Torque control method, device and the vehicle of vehicle |
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| CN110131057B (en) * | 2018-02-08 | 2022-04-05 | 宇通客车股份有限公司 | Torque control method and system |
| CN110406389B (en) * | 2018-04-28 | 2021-04-06 | 广州汽车集团股份有限公司 | Method, apparatus, computer device and medium for controlling vehicle driving smoothness |
| CN110682798B (en) * | 2018-07-05 | 2023-08-18 | 蔚来(安徽)控股有限公司 | Motor torque control method, device, system and computer storage medium |
| 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 |
| 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 |
| CN112141104B (en) * | 2019-06-26 | 2022-01-28 | 北京新能源汽车股份有限公司 | Vehicle brake control method and device and automobile |
| CN112977072A (en) * | 2019-12-13 | 2021-06-18 | 长城汽车股份有限公司 | Control method and device of new energy vehicle and new energy vehicle |
| 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 |
| 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 |
| 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 |
| 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 |
| 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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