CN107650716A - Electric automobile and torque monitoring method and system thereof - Google Patents
Electric automobile and torque monitoring method and system thereof Download PDFInfo
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- CN107650716A CN107650716A CN201710899851.8A CN201710899851A CN107650716A CN 107650716 A CN107650716 A CN 107650716A CN 201710899851 A CN201710899851 A CN 201710899851A CN 107650716 A CN107650716 A CN 107650716A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000002159 abnormal effect Effects 0.000 claims abstract description 63
- 238000012795 verification Methods 0.000 claims description 40
- 230000005611 electricity Effects 0.000 claims description 15
- 230000003068 static effect Effects 0.000 claims description 6
- 230000006399 behavior Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
-
- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
-
- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
- B60L2240/547—Voltage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
- B60L2240/549—Current
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an electric automobile and a torque monitoring method and a torque monitoring system thereof, wherein the method comprises the following steps: acquiring the voltage and current of a power battery of the electric automobile, and acquiring the rotating speed of a driving motor of the electric automobile; estimating torque according to the voltage and current of the power battery and the rotating speed of the driving motor to obtain estimated torque of the electric automobile; acquiring the required torque of the electric automobile, and acquiring the current working condition of the electric automobile; and carrying out torque check according to the estimated torque, the required torque and the current working condition to judge whether the electric automobile has abnormal torque. Therefore, the risk of out-of-control torque of the electric automobile can be reduced, and the safety of a user is guaranteed.
Description
Technical field
The present invention relates to automotive field, the more particularly to a kind of torque monitoring method of electric automobile, a kind of electric automobile
Torque monitoring system and a kind of electric automobile.
Background technology
With the growth year by year of electric automobile quantity, driving safety generally turns into most people problem of concern.In electricity
In the form control of electrical automobile, engine torque is an important parameter, and engine torque is bigger, passes through the speed change of electric automobile
The strength that case and power transmission shaft are applied on wheel is bigger.Because road surface is directly proportional to car weight to the resistance of car, on same road surface
It is believed that the resistance that same car is subject to is constant, therefore in the case where not considering that other factorses influence, engine torque is bigger,
Promoting the strength that automobile advances, acceleration during vehicle starting is bigger with regard to big, and starting is faster.However, this may result in
Accelerate suddenly in vehicle, the unexpected advance such as backward going or when retreating, danger is brought to pedestrian, this vehicle, other vehicles etc..
The content of the invention
It is contemplated that at least solves one of technical problem in above-mentioned technology to a certain extent.Therefore, the present invention
One purpose is to propose a kind of torque monitoring method of electric automobile, and this method helps to reduce electric automobile torque out of control
Risk, the safety of user is ensured.
Second object of the present invention is to propose a kind of torque monitoring of electric automobile.
Third object of the present invention is to propose a kind of electric automobile.
To reach above-mentioned purpose, first aspect present invention embodiment proposes a kind of torque monitoring method of electric automobile,
Monitoring method comprises the following steps：The electrokinetic cell voltage and electrokinetic cell electric current of the electric automobile are obtained, and described in acquisition
The motor rotating speed of electric automobile；Entered according to the electrokinetic cell voltage and electrokinetic cell electric current, the motor rotating speed
Row moment of torsion is estimated to obtain the estimation moment of torsion of the electric automobile；The demand torque of the electric automobile is obtained, and described in acquisition
The current working of electric automobile；According to the estimation moment of torsion, the demand torque and the current working carry out moment of torsion verification with
Judge whether the electric automobile moment of torsion anomaly occurs.
The torque monitoring method of electric automobile according to embodiments of the present invention, obtain electric automobile electrokinetic cell voltage and
Electrokinetic cell electric current, and obtain the motor rotating speed of electric automobile, then according to electrokinetic cell voltage and electrokinetic cell electric current,
Motor rotating speed carries out moment of torsion estimation to obtain the estimation moment of torsion of electric automobile, then obtains the demand torque of electric automobile, and
The current working of electric automobile is obtained, and then moment of torsion verification is carried out to judge according to estimation moment of torsion, demand torque and current working
Whether electric automobile there is moment of torsion anomaly.Thereby, it is possible to produce the unexpected behaviors such as unexpected advance or retrogressing in vehicle
When, whether there is moment of torsion anomaly to electric automobile and judge, and then help to reduce electric automobile torque wind out of control
Danger, has ensured the safety of user.
To reach above-mentioned purpose, second aspect of the present invention embodiment proposes a kind of torque monitoring system of electric automobile,
Wherein, system includes：First acquisition module, for obtaining the electrokinetic cell voltage and electrokinetic cell electric current of the electric automobile；
Second acquisition module, for obtaining the motor rotating speed of the electric automobile；3rd acquisition module, it is described electronic for obtaining
The demand torque of automobile, and obtain the current working of the electric automobile；Torque estimation module, for according to the electrokinetic cell
Voltage and electrokinetic cell electric current, the motor rotating speed carry out moment of torsion estimation to obtain the estimation moment of torsion of the electric automobile；
Abnormal monitoring module, for carrying out moment of torsion verification according to estimation moment of torsion, the demand torque and the current working to sentence
Whether the electric automobile that breaks there is moment of torsion anomaly.
The torque monitoring system of electric automobile according to embodiments of the present invention, electric automobile is obtained by the first acquisition module
Electrokinetic cell voltage and electrokinetic cell electric current, and by the second acquisition module obtain electric automobile motor rotating speed, so
The demand torque of electric automobile is obtained by the 3rd acquisition module afterwards, and obtains the current working of electric automobile, and then passes through torsion
Square estimation block carries out moment of torsion estimation to obtain electronic vapour according to electrokinetic cell voltage and electrokinetic cell electric current, motor rotating speed
The estimation moment of torsion of car, and moment of torsion verification is carried out to pass through abnormal monitoring module according to estimation moment of torsion, demand torque and current working
Judge whether electric automobile moment of torsion anomaly occurs.It is unexpected thereby, it is possible to produce unexpected advance or retrogressing etc. in vehicle
During behavior, whether there is moment of torsion anomaly to electric automobile and judge, and then contribute to reduction electric automobile torque out of control
Risk, ensured the safety of user.
To reach above-mentioned purpose, third aspect present invention embodiment proposes a kind of electric automobile, and it includes above-mentioned electronic
The torque monitoring system of automobile.
The electric automobile of the present invention, using the torque monitoring system of above-mentioned electric automobile, it can be produced in vehicle unexpected
During the unexpected behavior such as advance or retrogressing, whether there is moment of torsion anomaly to electric automobile and judge, and then help to drop
Low electric automobile torque risk out of control, has ensured the safety of user.
Brief description of the drawings
Fig. 1 is the flow chart according to the torque monitoring method of the electric automobile of the embodiment of the present invention；
Fig. 2 is the flow chart of the torque monitoring method of the electric automobile of a specific embodiment of the invention；
Fig. 3 is the block diagram according to the torque monitoring system of the electric automobile of the embodiment of the present invention；
Fig. 4 is the block diagram according to the electric automobile of the embodiment of the present invention.
Embodiment
Embodiments of the invention are 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 present invention, and is not considered as limiting the invention.
The electric automobile of the embodiment of the present invention and its torque monitoring method and system described below in conjunction with the accompanying drawings.
Fig. 1 is the flow chart according to the torque monitoring method of the electric automobile of the embodiment of the present invention.
As shown in figure 1, the torque monitoring method of electric automobile comprises the following steps：
S101, obtains the electrokinetic cell voltage and electrokinetic cell electric current of electric automobile, and obtains the driving electricity of electric automobile
Machine rotating speed.
S102, moment of torsion estimation is carried out to obtain electricity according to electrokinetic cell voltage and electrokinetic cell electric current, motor rotating speed
The estimation moment of torsion of electrical automobile.
In an embodiment of the present invention, VCU (Vehicle Control Unit, the full-vehicle control of electric automobile can be passed through
Unit) the estimation moment of torsion for obtaining electric automobile is estimated, specific estimation equation can be as follows shown in (1)：
Wherein, U is electrokinetic cell voltage, and I is electrokinetic cell electric current, PFFor the work(of current electrical equipment on electric automobile
Rate, n are the rotating speed of motor.
It should be noted that carry out moment of torsion according to electrokinetic cell voltage and electrokinetic cell electric current, motor rotating speed and estimate
Before calculation, abnormal verification can also be carried out to electrokinetic cell voltage, electrokinetic cell electric current and motor rotating speed respectively.
In some embodiments of the invention, when carrying out abnormal verification to electrokinetic cell voltage, electrokinetic cell voltage is obtained
Voltage difference between DC bus-bar voltage, and be more than default voltage check demarcation threshold value in voltage difference and continue first
During preset time, it is abnormal to judge that electrokinetic cell voltage occurs；When carrying out abnormal verification to electrokinetic cell electric current, electrokinetic cell is obtained
Current differential between electric current and DC bus current, and be more than default electric current verification demarcation threshold value in current differential and continue
During the second preset time, it is abnormal to judge that electrokinetic cell electric current occurs；When carrying out abnormal verification to motor rotating speed, according to electronic
The speed of automobile is estimated the rotating speed of motor to obtain estimation rotating speed, and obtains motor rotating speed and estimation rotating speed
Between rotating speed difference absolute value, and when the absolute value of rotating speed difference is more than default rotary speed threshold value, judge driving electricity
Machine rotating speed occurs abnormal.
Wherein, the first preset time can be as needed as considered electrokinetic cell to electric automobile during traveling with the second preset time
Influence demarcated.Alternatively, the value of the first preset time and the second preset time can be identical or not
With.
Specifically, when judging whether electrokinetic cell voltage occurs abnormal, if electrokinetic cell voltage and dc bus electricity
Difference between pressure is more than voltage check demarcation threshold value, and continues the first preset time T 1, then judges that electrokinetic cell voltage occurs
It is abnormal, otherwise judge electrokinetic cell voltage normal work.
When judging whether electrokinetic cell electric current occurs abnormal, if between electrokinetic cell electric current and DC bus current
Difference is more than electric current verification demarcation threshold value, and continues the second preset time T 2, then it is abnormal to judge that electrokinetic cell electric current occurs, otherwise
Judge electrokinetic cell electric current normal work.
When judging whether motor rotating speed occurs abnormal, if | N-NEST|>Ncal, then it is abnormal to judge that rotating speed occurs,
Otherwise motor rotating speed normal work is judged.Wherein, N be driving motor for electric automobile current rotating speed, NcalFor default turn
Fast threshold value, NESTTo estimate rotating speed, NEST=VABS* i*1000/ (2 π * r*60), r are rolling radius, and i is gearratio, VABSFor electricity
The speed of electrical automobile.
S103, obtains the demand torque of electric automobile, and obtains the current working of electric automobile.
Specifically, during the traveling of electric automobile, VCU can be turned round by equation below (2) to the demand of electric automobile
Square is calculated：
Te=9550*Pe/n (2)
Wherein, Te is demand torque, and Pe is the power of motor, and n is the rotating speed of motor.
S104, moment of torsion verification is carried out according to estimation moment of torsion, demand torque and current working to judge whether electric automobile goes out
Existing moment of torsion anomaly.
In this embodiment, the current working of electric automobile can include static operating mode and driving operating mode.
Specifically, it is big in estimation moment of torsion if the speed of electric automobile is more than 0 when current working is static operating mode
When the first moment of torsion verifies threshold value and the duration is more than three preset times, judge that moment of torsion anomaly occurs in electric automobile.
When current working is driving operating mode, and exports forward drive moment of torsion, obtain between demand torque and estimation moment of torsion
Torque difference absolute value, and torque difference absolute value be more than the second moment of torsion verification threshold value and the duration be more than the 4th
During preset time, judge that moment of torsion anomaly occurs in electric automobile.When current working for driving operating mode, and export reverse drive turn round
During square, if electric automobile is driven with forward gear, it is timing in the electric current of motor reversion and motor, judges
There is moment of torsion anomaly in electric automobile；If electric automobile is driven with retreating gear, rotates forward and drive in motor
The electric current of motor is timing, judges that moment of torsion anomaly occurs in electric automobile.
Wherein, the 3rd preset time can be as needed as considered shadow of the moment of torsion to electric automobile during traveling with the 4th preset time
Sound is demarcated.Alternatively, the value of the 3rd preset time and the 4th preset time can be identical or difference
's.
Further, when judging that moment of torsion anomaly occurs in electric automobile, security restriction control can be carried out to electric automobile
System, such as the operations such as lower electricity, fault alarm, speed limit, zero moment of torsion are performed, so that electric automobile low speed is run, reduce accident risk.
For example, as shown in Fig. 2 working as electric automobile in the process of running, voltage sensor can be passed through respectively, electric current passes
Sensor and speed probe obtain the electrokinetic cell voltage V of electric automobile and electrokinetic cell electric current A and electric automobile drive
Dynamic motor speed N.And then abnormal verification is carried out to voltage signal, current signal and tach signal respectively,
In one example, when electrokinetic cell voltage V, which is more than voltage check demarcation threshold value Vthr, and continues first presets
Between T1 when, it is abnormal to judge that electrokinetic cell voltage occurs, now, limitation control can be carried out to electric automobile.As electrokinetic cell electric current A
When verifying demarcation threshold value A thr more than electric current and continuing the second preset time T 2, it is abnormal to judge that electrokinetic cell electric current occurs, now,
Limitation control can be carried out to electric automobile.When | N-NEST|>NcalWhen, it is abnormal to judge that motor rotating speed occurs, now, can be to electricity
Electrical automobile carries out limitation control.
In another example, if electrokinetic cell voltage, electric current and motor rotating speed do not verify out exception, basis
Electrokinetic cell voltage and electrokinetic cell electric current, motor rotating speed carry out moment of torsion estimation, to obtain the estimation moment of torsion of electric automobile.
And then the demand torque of electric automobile is obtained, and the moment of torsion of electric automobile is verified according to estimation moment of torsion and demand torque.
If the moment of torsion verification of electric automobile is abnormal, limitation control is carried out to electric automobile.
To sum up, the torque monitoring method of electric automobile according to embodiments of the present invention, the electrokinetic cell of electric automobile is obtained
Voltage and electrokinetic cell electric current, and the motor rotating speed of electric automobile is obtained, then according to electrokinetic cell voltage and power electric
Pond electric current, motor rotating speed carry out moment of torsion estimation to obtain the estimation moment of torsion of electric automobile, then obtain the demand of electric automobile
Moment of torsion, and the current working of electric automobile is obtained, and then moment of torsion verification is carried out according to estimation moment of torsion, demand torque and current working
To judge whether electric automobile moment of torsion anomaly occurs, and then can be when moment of torsion anomaly occurs in electric automobile to electronic vapour
Car carries out limitation control.The risk out of control thereby, it is possible to reduce electric automobile torque, has ensured the safety of user.
Fig. 3 is the block diagram according to the torque monitoring system of the electric automobile of the embodiment of the present invention.As shown in figure 3, the electricity
The torque monitoring system 100 of electrical automobile includes：First acquisition module 10, the second acquisition module 20, the 3rd acquisition module 30, moment of torsion
Estimation block 40 and abnormal monitoring module 50.
Wherein, the first acquisition module 10 is used for the electrokinetic cell voltage and electrokinetic cell electric current for obtaining electric automobile.Second
Acquisition module 20 is used for the motor rotating speed for obtaining electric automobile.3rd acquisition module 30 is used for the demand for obtaining electric automobile
Moment of torsion, and obtain the current working of electric automobile.Torque estimation module 40 is used for according to electrokinetic cell voltage and electrokinetic cell electricity
Stream, motor rotating speed carry out moment of torsion estimation to obtain the estimation moment of torsion of electric automobile.Abnormal monitoring module 50 is used for basis and estimated
Calculate moment of torsion, demand torque and current working and carry out moment of torsion verification to judge whether electric automobile moment of torsion anomaly occurs.
In an embodiment of the present invention, torque estimation module 40 can calculate estimation moment of torsion by equation below (1)：
Wherein, U is electrokinetic cell voltage, and I is electrokinetic cell electric current, PFFor the work(of current electrical equipment on electric automobile
Rate, n are the rotating speed of motor.
3rd acquisition module 30 can obtain the demand torque of electric automobile by equation below (2)：
Te=9550*Pe/n (2)
Wherein, Te is demand torque, and Pe is the power of motor, and n is the rotating speed of motor.
Alternatively, the current working of electric automobile can include static operating mode and driving operating mode.
Specifically, abnormal monitoring module 50 according to estimation moment of torsion, demand torque and current working carry out moment of torsion verification with
When judging whether electric automobile moment of torsion anomaly occurs, it is further used for judging current working.
Specifically, when current working is static operating mode, if the speed of electric automobile is more than 0, abnormal monitoring module
50, when estimation moment of torsion is more than the first moment of torsion verification threshold value and the duration is more than three preset times, judge that electric automobile goes out
Existing moment of torsion anomaly.
When current working is driving operating mode, and exports forward drive moment of torsion, abnormal monitoring module 50 obtains demand torque
The absolute value of torque difference between estimation moment of torsion, and be more than the second moment of torsion verification threshold value in the absolute value of torque difference and hold
When the continuous time is more than four preset times, judge that moment of torsion anomaly occurs in electric automobile.When current working for driving operating mode, and
When exporting reverse drive moment of torsion, if electric automobile is driven with forward gear, abnormal monitoring module 50 is then anti-in motor
Turn and the electric current of motor is timing, judge that moment of torsion anomaly occurs in electric automobile；If electric automobile is entered with retreating gear
Row driving, abnormal monitoring module 50 is then rotated forward in motor and the electric current of motor is timing, judges that electric automobile occurs
Moment of torsion anomaly.
Further, when judging that moment of torsion anomaly occurs in electric automobile, abnormal monitoring module 50 is additionally operable to can be to electricity
Electrical automobile carries out security restriction control, such as performs the operations such as lower electricity, fault alarm, speed limit, zero moment of torsion, so that electric automobile is low
Speed operation, reduces accident risk.
In some embodiments of the invention, abnormal monitoring module 50 torque estimation module according to electrokinetic cell voltage and
Electrokinetic cell electric current, motor rotating speed carry out moment of torsion estimation before, also respectively to electrokinetic cell voltage, electrokinetic cell electric current and
Motor rotating speed carries out abnormal verification.
Specifically, abnormal monitoring module 50 obtains electrokinetic cell voltage when carrying out abnormal verification to electrokinetic cell voltage
Voltage difference between DC bus-bar voltage, and be more than default voltage check demarcation threshold value in voltage difference and continue first
During preset time, it is abnormal to judge that electrokinetic cell voltage occurs；When carrying out abnormal verification to electrokinetic cell electric current, electrokinetic cell is obtained
Current differential between electric current and DC bus current, and be more than default electric current verification demarcation threshold value in current differential and continue
During the second preset time, it is abnormal to judge that electrokinetic cell electric current occurs；And when carrying out abnormal verification to motor rotating speed, according to
The speed of electric automobile is estimated the rotating speed of motor to obtain estimation rotating speed, and obtains motor rotating speed and estimation
The absolute value of rotating speed difference between rotating speed, and when the absolute value of rotating speed difference is more than default rotary speed threshold value, judge to drive
Dynamic motor speed occurs abnormal.
Specifically, when the difference between the electrokinetic cell voltage and DC bus-bar voltage that the first acquisition module 10 obtains is big
When demarcating threshold value in voltage check, and continuing the first preset time T 1, abnormal monitoring module 50 then judges that electrokinetic cell voltage goes out
It is now abnormal, otherwise judge electrokinetic cell voltage normal work.
When the difference between the electrokinetic cell electric current and DC bus current that the first acquisition module 10 obtains is more than electric current school
Standard inspection determines threshold value, and when continuing the second preset time T 2, it is abnormal that abnormal monitoring module 50 then judges that electrokinetic cell electric current occurs, no
Then judge electrokinetic cell electric current normal work.
When the driving motor for electric automobile rotating speed that the second acquisition module 20 obtains meets relational expression：|N-NEST|>Ncal, it is abnormal
It is abnormal that monitoring module 50 then judges that rotating speed occurs, and otherwise judges motor rotating speed normal work.Wherein, N drives for electric automobile
The current rotating speed of dynamic motor, NcalFor rotary speed threshold value, NESTTo estimate rotating speed, NEST=VABS* i*1000/ (2 π * r*60), r are rolling
Radius, i are gearratio, VABSFor the speed of electric automobile.
To sum up, the torque monitoring system of electric automobile according to embodiments of the present invention, electricity is obtained by the first acquisition module
The electrokinetic cell voltage and electrokinetic cell electric current of electrical automobile, and turned by the motor of the second acquisition module acquisition electric automobile
Speed, then obtains the demand torque of electric automobile by the 3rd acquisition module, and obtains the current working of electric automobile, Jin Ertong
Cross torque estimation module and moment of torsion estimation is carried out to obtain electricity according to electrokinetic cell voltage and electrokinetic cell electric current, motor rotating speed
The estimation moment of torsion of electrical automobile, then moment of torsion school is carried out according to estimation moment of torsion, demand torque and current working by abnormal monitoring module
Test to judge whether electric automobile moment of torsion anomaly occurs by abnormal monitoring module, and then moment of torsion can occur in electric automobile
Limitation control is carried out to electric automobile during anomaly.The risk out of control thereby, it is possible to reduce electric automobile torque, has ensured use
The safety at family.
Fig. 4 is the block diagram of electric automobile according to embodiments of the present invention.As shown in figure 4, the electric automobile 1000 includes
The torque monitoring system 100 of the electric automobile of above-described embodiment.
The electric automobile of the embodiment of the present invention, using the torque monitoring system of above-mentioned electric automobile, it can be produced in vehicle
During the unexpected behaviors such as raw unexpected advance or retrogressing, judge whether electric automobile moment of torsion anomaly occurs, help to reduce
Electric automobile torque risk out of control, has ensured the safety of user.
In addition, other of the electric automobile of the embodiment of the present invention form and its effect is to those skilled in the art
It is known, to reduce redundancy, do not repeat herein.
It should be noted that in flow charts represent or logic and/or step described otherwise above herein, for example,
The order list of the executable instruction for realizing logic function is considered, may be embodied in any computer can
Read in medium, for instruction execution system, device or equipment (such as computer based system including the system of processor or its
He can be from instruction execution system, device or equipment instruction fetch and the system of execute instruction) use, or combine these instructions and perform
System, device or equipment and use.For the purpose of this specification, " computer-readable medium " can be it is any can include, store,
Communication, propagate or transmit program for instruction execution system, device or equipment or combination these instruction execution systems, device or set
The standby and device that uses.The more specifically example (non-exhaustive list) of computer-readable medium includes following：With one or
The electrical connection section (electronic installation) of multiple wirings, portable computer diskette box (magnetic device), random access memory (RAM), only
Read memory (ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable light
Disk read-only storage (CDROM).In addition, computer-readable medium can even is that can thereon print described program paper or its
His suitable medium, because can then enter edlin, interpretation or must for example by carrying out optical scanner to paper or other media
Handled when wanting with other suitable methods electronically to obtain described program, be then stored in computer storage
In.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, software that multiple steps or method can be performed in memory and by suitable instruction execution system with storage
Or firmware is realized.If, and in another embodiment, can be with well known in the art for example, realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, have suitable combinational logic gate circuit application specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
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 one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, 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.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
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 present invention.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 of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (13)
1. a kind of torque monitoring method of electric automobile, it is characterised in that comprise the following steps：
The electrokinetic cell voltage and electrokinetic cell electric current of the electric automobile are obtained, and obtains the motor of the electric automobile
Rotating speed；
Moment of torsion estimation is carried out according to the electrokinetic cell voltage and electrokinetic cell electric current, the motor rotating speed with described in obtaining
The estimation moment of torsion of electric automobile；
The demand torque of the electric automobile is obtained, and obtains the current working of the electric automobile；
Moment of torsion verification is carried out to judge the electric automobile according to estimation moment of torsion, the demand torque and the current working
Whether moment of torsion anomaly is occurred.
2. the torque monitoring method of electric automobile according to claim 1, it is characterised in that according to the electrokinetic cell
Before voltage and electrokinetic cell electric current, the motor rotating speed carry out moment of torsion estimation, also respectively to the electrokinetic cell voltage,
The electrokinetic cell electric current and the motor rotating speed carry out abnormal verification.
3. the torque monitoring method of electric automobile according to claim 2, it is characterised in that wherein,
When carrying out abnormal verification to the electrokinetic cell voltage, obtain between the electrokinetic cell voltage and DC bus-bar voltage
Voltage difference, and when the voltage difference is more than default voltage check demarcation threshold value and continues the first preset time, judge
The electrokinetic cell voltage occurs abnormal；
When carrying out abnormal verification to the electrokinetic cell electric current, obtain between the electrokinetic cell electric current and DC bus current
Current differential, and when the current differential is more than default electric current verification demarcation threshold value and continues the second preset time, judge
The electrokinetic cell electric current occurs abnormal；
When carrying out abnormal verification to the motor rotating speed, the rotating speed of motor is entered according to the speed of the electric automobile
Row estimation obtains the absolute of the rotating speed difference between the motor rotating speed and the estimation rotating speed to obtain estimation rotating speed
Value, and when the absolute value of the rotating speed difference is more than default rotary speed threshold value, it is different to judge that the motor rotating speed occurs
Often.
4. the torque monitoring method of the electric automobile according to any one of claim 1-3, it is characterised in that according to described
Estimation moment of torsion, the demand torque and the current working carry out moment of torsion verification to judge whether the electric automobile moment of torsion occurs
Anomaly, including：
The current working is judged；
It is big in the estimation moment of torsion if the speed of the electric automobile is more than 0 when the current working is static operating mode
When the first moment of torsion verifies threshold value and the duration is more than three preset times, it is extremely existing to judge that moment of torsion occurs in the electric automobile
As；
When the current working for driving operating mode when, obtain the torque difference between the demand torque and the estimation moment of torsion
Absolute value, and it is more than the 4th preset time more than the second moment of torsion verification threshold value and duration in the absolute value of the torque difference
When, judge that moment of torsion anomaly occurs in the electric automobile.
5. the torque monitoring method of electric automobile according to claim 4, it is characterised in that when the current working is drive
During condition of starting building, wherein,
If the electric automobile is driven with forward gear, in motor reversion and the electric current of the motor
For timing, judge that moment of torsion anomaly occurs in the electric automobile；
If the electric automobile is driven with retreating gear, in motor rotating forward and the electric current of the motor
For timing, judge that moment of torsion anomaly occurs in the electric automobile.
6. the torque monitoring method of the electric automobile according to any one of claim 1-5, it is characterised in that when judging
When stating electric automobile and moment of torsion anomaly occur, security restriction control is carried out to the electric automobile.
A kind of 7. torque monitoring system of electric automobile, it is characterised in that including：
First acquisition module, for obtaining the electrokinetic cell voltage and electrokinetic cell electric current of the electric automobile；
Second acquisition module, for obtaining the motor rotating speed of the electric automobile；
3rd acquisition module, for obtaining the demand torque of the electric automobile, and obtain the current working of the electric automobile；
Torque estimation module, for being carried out according to the electrokinetic cell voltage and electrokinetic cell electric current, the motor rotating speed
Moment of torsion is estimated to obtain the estimation moment of torsion of the electric automobile；
Abnormal monitoring module, for carrying out moment of torsion verification according to estimation moment of torsion, the demand torque and the current working
To judge whether the electric automobile moment of torsion anomaly occurs.
8. the torque monitoring system of electric automobile according to claim 7, it is characterised in that the abnormal monitoring module,
It is additionally operable to according to the electrokinetic cell voltage and electrokinetic cell electric current, the motor rotating speed be entered in the torque estimation module
Before the estimation of row moment of torsion, the electrokinetic cell voltage, the electrokinetic cell electric current and the motor rotating speed are carried out respectively
Abnormal verification.
9. the torque monitoring system of electric automobile according to claim 8, it is characterised in that the abnormal monitoring module is entered
One step is used for, wherein,
When carrying out abnormal verification to the electrokinetic cell voltage, obtain between the electrokinetic cell voltage and DC bus-bar voltage
Voltage difference, and when the voltage difference is more than default voltage check demarcation threshold value and continues the first preset time, judge
The electrokinetic cell voltage occurs abnormal；
When carrying out abnormal verification to the electrokinetic cell electric current, obtain between the electrokinetic cell electric current and DC bus current
Current differential, and when the current differential is more than default electric current verification demarcation threshold value and continues the second preset time, judge
The electrokinetic cell electric current occurs abnormal；
When carrying out abnormal verification to the motor rotating speed, the rotating speed of motor is entered according to the speed of the electric automobile
Row estimation obtains the absolute of the rotating speed difference between the motor rotating speed and the estimation rotating speed to obtain estimation rotating speed
Value, and when the absolute value of the rotating speed difference is more than default rotary speed threshold value, it is different to judge that the motor rotating speed occurs
Often.
10. the torque monitoring system of the electric automobile according to any one of claim 7-9, it is characterised in that described different
Normal monitoring module carries out moment of torsion verification to judge the electricity according to estimation moment of torsion, the demand torque and the current working
When whether electrical automobile moment of torsion anomaly occurs, it is further used for,
The current working is judged；
It is big in the estimation moment of torsion if the speed of the electric automobile is more than 0 when the current working is static operating mode
When the first moment of torsion verifies threshold value and the duration is more than three preset times, it is extremely existing to judge that moment of torsion occurs in the electric automobile
As；
When the current working for driving operating mode when, obtain the torque difference between the demand torque and the estimation moment of torsion
Absolute value, and it is more than the 4th preset time more than the second moment of torsion verification threshold value and duration in the absolute value of the torque difference
When, judge that moment of torsion anomaly occurs in the electric automobile.
11. the torque monitoring system of electric automobile according to claim 10, it is characterised in that when the current working is
When driving operating mode, the abnormal monitoring module is additionally operable to,
If the electric automobile is driven with forward gear, in motor reversion and the electric current of the motor
For timing, judge that moment of torsion anomaly occurs in the electric automobile；
If the electric automobile is driven with retreating gear, in motor rotating forward and the electric current of the motor
For timing, judge that moment of torsion anomaly occurs in the electric automobile.
12. the torque monitoring system of the electric automobile according to any one of claim 7-11, it is characterised in that work as judgement
When moment of torsion anomaly occurs in the electric automobile, the abnormal monitoring module is additionally operable to carry out safe limit to the electric automobile
System control.
13. a kind of electric automobile, it is characterised in that include the torsion of the electric automobile according to any one of claim 7-12
Monitoring of torque system.
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