CN107650716B - Electric car and its torque monitoring method and system - Google Patents

Electric car and its torque monitoring method and system Download PDF

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Publication number
CN107650716B
CN107650716B CN201710899851.8A CN201710899851A CN107650716B CN 107650716 B CN107650716 B CN 107650716B CN 201710899851 A CN201710899851 A CN 201710899851A CN 107650716 B CN107650716 B CN 107650716B
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Prior art keywords
torque
electric car
power battery
driving motor
abnormal
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CN107650716A (en
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张小帅
代康伟
梁海强
许新
李金虎
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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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
    • 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 a kind of electric car and its torque monitoring method and systems, wherein method is the following steps are included: obtain the power battery voltage and power battery electric current of electric car, and obtain the driving motor revolving speed of electric car；Torque estimation is carried out according to power battery voltage and power battery electric current, driving motor revolving speed to obtain the estimation torque of electric car；The demand torque of electric car is obtained, and obtains the current working of electric car；Torque verification is carried out according to estimation torque, demand torque and current working to judge whether electric car torque abnormal phenomenon occurs.Electric automobile torque risk out of control can be reduced as a result, ensured the safety of user.

Description

Electric car and its torque monitoring method and system
Technical field
The present invention relates to automotive field, in particular to a kind of torque monitoring method of electric car, a kind of electric car Torque monitoring system and a kind of electric car.
Background technique
With the growth year by year of electric car quantity, driving safety generally becomes 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 car It is bigger that case and transmission shaft are applied to the strength on wheel.Since resistance of the road surface to vehicle is directly proportional to car weight, on same road surface It is believed that the resistance that same vehicle is subject to is constant, therefore in the case where not considering that other factors influence, engine torque is bigger, For the strength for pushing automobile to advance with regard to big, acceleration when vehicle starting is bigger, starts to walk faster.However, this may result in Accelerate suddenly in vehicle, the unexpected forward or backward such as backward going when, danger is brought to pedestrian, this vehicle, other vehicles etc..
Summary of the invention
The present invention is directed to solve one of the technical problem in above-mentioned technology at least to a certain extent.For this purpose, of the invention One purpose is to propose a kind of torque monitoring method of electric car, and this method helps to reduce electric automobile torque out of control Risk has ensured the safety of user.
Second object of the present invention is to propose a kind of torque monitoring of electric car.
Third object of the present invention is to propose a kind of electric car.
In order to achieve the above objectives, first aspect present invention embodiment proposes a kind of torque monitoring method of electric car, Monitoring method is the following steps are included: obtain the power battery voltage and power battery electric current of the electric car, and described in obtaining The driving motor revolving speed of electric car；According to the power battery voltage and power battery electric current, the driving motor revolving speed into Row torque is estimated to obtain the estimation torque of the electric car；The demand torque of the electric car is obtained, and described in acquisition The current working of electric car；According to the estimation torque, the demand torque and the current working carry out torque verification with Judge whether the electric car torque abnormal phenomenon occurs.
The torque monitoring method of electric car according to an embodiment of the present invention, obtain electric car power battery voltage and Power battery electric current, and obtain the driving motor revolving speed of electric car, then according to power battery voltage and power battery electric current, Driving motor revolving speed carries out torque estimation to obtain the estimation torque of electric car, then obtains the demand torque of electric car, and The current working of electric car is obtained, and then torque verification is carried out to judge according to estimation torque, demand torque and current working Whether electric car there is torque abnormal phenomenon.Thereby, it is possible to generate the unexpected behaviors such as unexpected forward or backward in vehicle When, judge whether electric car torque abnormal phenomenon occurs, and then help to reduce electric automobile torque wind out of control Danger, has ensured the safety of user.
In order to achieve the above objectives, second aspect of the present invention embodiment proposes a kind of torque monitoring system of electric car, Wherein, system includes: the first acquisition module, for obtaining the power battery voltage and power battery electric current of the electric car； Second obtains module, for obtaining the driving motor revolving speed of the electric car；Third obtains module, described electronic for obtaining The demand torque of automobile, and obtain the current working of the electric car；Torque estimation module, for according to the power battery Voltage and power battery electric current, the driving motor revolving speed carry out torque estimation to obtain the estimation torque of the electric car； Abnormal monitoring module, for carrying out torque verification according to the estimation torque, the demand torque and the current working to sentence Whether the electric car that breaks there is torque abnormal phenomenon.
The torque monitoring system of electric car according to an embodiment of the present invention obtains module by first and obtains electric car Power battery voltage and power battery electric current, and by second obtain module obtain electric car driving motor revolving speed, so Module is obtained by third afterwards and obtains the demand torque of electric car, and obtains the current working of electric car, and then pass through torsion Square estimation block carries out torque estimation according to power battery voltage and power battery electric current, driving motor revolving speed to obtain electronic vapour The estimation torque of vehicle, and torque verification is carried out to pass through abnormal monitoring module according to estimation torque, demand torque and current working Judge whether electric car torque abnormal phenomenon occurs.It is unexpected thereby, it is possible to generate unexpected forward or backward etc. in vehicle When behavior, judge whether electric car torque abnormal phenomenon occurs, and then it is out of control to facilitate reduction electric automobile torque Risk, ensured the safety of user.
In order to achieve the above objectives, third aspect present invention embodiment proposes a kind of electric car comprising above-mentioned electronic The torque monitoring system of automobile.
Electric car of the invention can be generated unexpected using the torque monitoring system of above-mentioned electric car in vehicle When the unexpected behaviors such as forward or backward, judge whether electric car torque abnormal phenomenon occurs, and then help to drop Low electric automobile torque risk out of control, has ensured the safety of user.
Detailed description of the invention
Fig. 1 is the flow chart according to the torque monitoring method of the electric car of the embodiment of the present invention；
Fig. 2 is the flow chart of the torque monitoring method of the electric car of a specific embodiment of the invention；
Fig. 3 is the block diagram according to the torque monitoring system of the electric car of the embodiment of the present invention；
Fig. 4 is the block diagram according to the electric car of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention 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 is used to explain the present invention, and is not considered as limiting the invention.
The electric car and its torque monitoring method and system of the embodiment of the present invention described with reference to the accompanying drawing.
Fig. 1 is the flow chart according to the torque monitoring method of the electric car of the embodiment of the present invention.
As shown in Figure 1, the torque monitoring method of electric car the following steps are included:
S101, obtains the power battery voltage and power battery electric current of electric car, and obtains the driving electricity of electric car Machine revolving speed.
S102 carries out torque estimation according to power battery voltage and power battery electric current, driving motor revolving speed to obtain electricity The estimation torque of electrical automobile.
In an embodiment of the present invention, VCU (Vehicle Control Unit, the full-vehicle control of electric car can be passed through Unit) estimation obtains the estimation torque of electric car, specific to estimate that formula be shown in following (1):
Wherein, U is power battery voltage, and I is power battery electric current, PFFor the function of electrical equipment current on electric car Rate, n are the revolving speed of driving motor.
It should be noted that carrying out torque according to power battery voltage and power battery electric current, driving motor revolving speed and estimating Before calculation, abnormal verification can also be carried out to power battery voltage, power battery electric current and driving motor revolving speed respectively.
In some embodiments of the invention, when carrying out abnormal verification to power battery voltage, power battery voltage is obtained Voltage difference between DC bus-bar voltage, and be greater than preset voltage check calibration threshold value in voltage difference and continue first When preset time, it is abnormal to judge that power battery voltage occurs；When carrying out abnormal verification to power battery electric current, power battery is obtained Current differential between electric current and DC bus current, and be greater than preset electric current verification calibration threshold value in current differential and continue When the second preset time, it is abnormal to judge that power battery electric current occurs；When carrying out abnormal verification to driving motor revolving speed, according to electronic The speed of automobile is estimated the revolving speed of driving motor to obtain estimation revolving speed, and obtains driving motor revolving speed and estimation revolving speed Between rotating speed difference absolute value, and rotating speed difference absolute value be greater than preset rotary speed threshold value when, judge driving electricity Machine revolving speed occurs abnormal.
Wherein, the first preset time and the second preset time can be as needed as considered power battery to electric automobile during traveling Influence demarcated.Optionally, the value of the first preset time and the second preset time can be identical, be also possible to not With.
Specifically, when judging whether power battery voltage occurs abnormal, if power battery voltage and DC bus electricity Difference between pressure is greater than voltage check and demarcates threshold value, and continues the first preset time T 1, then judges that power battery voltage occurs It is abnormal, otherwise judge that power battery voltage works normally.
When judging whether power battery electric current occurs abnormal, if between power battery electric current and DC bus current Difference is greater than electric current verification calibration threshold value, and continues the second preset time T 2, then it is abnormal to determine that power battery electric current occurs, otherwise Judge that power battery electric current works normally.
When judging whether driving motor revolving speed occurs abnormal, if | N-NEST|>Ncal, then it is abnormal to judge that revolving speed occurs, Otherwise judge that driving motor revolving speed works normally.Wherein, N is the current rotating speed of driving motor for electric automobile, NcalIt is preset turn Fast threshold value, NESTTo estimate revolving speed, NEST=VABS* i*1000/ (2 π * r*60), r is rolling radius, and i is transmission ratio, VABSFor electricity The speed of electrical automobile.
S103, obtains the demand torque of electric car, and obtains the current working of electric car.
Specifically, in the driving process of electric car, VCU can demand by following formula (2) to electric car turn round Square is calculated:
Te=9550*Pe/n (2)
Wherein, Te is demand torque, and Pe is the power of driving motor, and n is the revolving speed of driving motor.
S104 carries out torque verification according to estimation torque, demand torque and current working to judge whether electric car goes out Existing torque abnormal phenomenon.
In this embodiment, the current working of electric car may include static operating condition and driving operating condition.
Specifically, big in estimation torque if the speed of electric car is greater than 0 when current working is static operating condition When the first torque verifies threshold value and the duration is greater than third preset time, judge that torque abnormal phenomenon occurs in electric car.
When current working is driving operating condition, and exports forward driving torque, obtain between demand torque and estimation torque Torque difference absolute value, and the absolute value of torque difference be greater than the second torque verification threshold value and the duration be greater than the 4th When preset time, judge that torque abnormal phenomenon occurs in electric car.When current working is to drive operating condition, and output is driven in the reverse direction torsion It is timing, judgement in the electric current of driving motor reversion and driving motor if electric car is driven with forward gear when square There is torque abnormal phenomenon in electric car；If electric car is driven with retreating gear, rotates forward and drive in driving motor The electric current of motor is timing, judges that torque abnormal phenomenon occurs in electric car.
Wherein, third preset time and the 4th preset time can be as needed as considered torque to the shadow of electric automobile during traveling Sound is demarcated.Optionally, the value of third preset time and the 4th preset time can be identical, be also possible to difference 's.
Further, when judging that torque abnormal phenomenon occurs in electric car, security restriction control can be carried out to electric car System, such as the operations such as lower electricity, fault alarm, speed limit, zero torque are executed, so that the operation of electric car low speed, reduces accident risk.
For example, as shown in Fig. 2, working as electric car in the process of running, voltage sensor can be passed through respectively, electric current passes Sensor and speed probe obtain the drive of the power battery voltage V and power battery electric current A and electric car of electric car Dynamic motor speed N.And then abnormal verification is carried out to voltage signal, current signal and tach signal respectively,
In one example, when power battery voltage V be greater than voltage check calibration threshold value Vthr and continue first it is default when Between T1 when, it is abnormal to judge that power battery voltage occurs, at this point, limitation control can be carried out to electric car.As power battery electric current A When verifying calibration threshold value A thr greater than electric current and continue the second preset time T 2, it is abnormal to judge that power battery electric current occurs, at this point, Limitation control can be carried out to electric car.When | N-NEST|>NcalWhen, it is abnormal to judge that driving motor revolving speed occurs, at this point, can be to electricity Electrical automobile carries out limitation control.
In another example, if power battery voltage, electric current and driving motor revolving speed do not verify out abnormal, basis Power battery voltage and power battery electric current, driving motor revolving speed carry out torque estimation, to obtain the estimation torque of electric car. And then the demand torque of electric car is obtained, and verify to the torque of electric car according to estimation torque and demand torque. If the torque of electric car verifies exception, limitation control is carried out to electric car.
To sum up, the torque monitoring method of electric car according to an embodiment of the present invention obtains the power battery of electric car Voltage and power battery electric current, and the driving motor revolving speed of electric car is obtained, then according to power battery voltage and power electric Pond electric current, driving motor revolving speed carry out torque estimation to obtain the estimation torque of electric car, then obtain the demand of electric car Torque, and the current working of electric car is obtained, and then torque verification is carried out according to estimation torque, demand torque and current working To judge whether electric car torque abnormal phenomenon occurs, and then can be when torque abnormal phenomenon occurs in electric car to electronic vapour Vehicle carries out limitation control.Thereby, it is possible to reduce electric automobile torque risk out of control, the safety of user has been ensured.
Fig. 3 is the block diagram according to the torque monitoring system of the electric car of the embodiment of the present invention.As shown in figure 3, the electricity The torque monitoring system 100 of electrical automobile includes: that the first acquisition module 10, second obtains module 20, third obtains module 30, torque Estimation block 40 and abnormal monitoring module 50.
Wherein, the first acquisition module 10 is used to obtain the power battery voltage and power battery electric current of electric car.Second Obtain the driving motor revolving speed that module 20 is used to obtain electric car.Third obtains the demand that module 30 is used to obtain electric car Torque, and obtain the current working of electric car.Torque estimation module 40 is used for according to power battery voltage and power battery electricity Stream, driving motor revolving speed carry out torque estimation to obtain the estimation torque of electric car.Abnormal monitoring module 50 is used for basis and estimates It calculates torque, demand torque and current working and carries out torque verification to judge whether electric car torque abnormal phenomenon occurs.
In an embodiment of the present invention, torque estimation module 40 can calculate estimation torque by following formula (1):
Wherein, U is power battery voltage, and I is power battery electric current, PFFor the function of electrical equipment current on electric car Rate, n are the revolving speed of driving motor.
Third obtains module 30 can obtain the demand torque of electric car by following formula (2):
Te=9550*Pe/n (2)
Wherein, Te is demand torque, and Pe is the power of driving motor, and n is the revolving speed of driving motor.
Optionally, the current working of electric car may include static operating condition and driving operating condition.
Specifically, abnormal monitoring module 50 according to estimation torque, demand torque and current working carry out torque verification with When judging whether electric car torque abnormal phenomenon occurs, it is further used for judging current working.
Specifically, when current working is static operating condition, if the speed of electric car is greater than 0, abnormal monitoring module 50, when estimating that torque is greater than the first torque verification threshold value and the duration is greater than third preset time, judge that electric car goes out Existing torque abnormal phenomenon.
When current working is driving operating condition, and exports forward driving torque, abnormal monitoring module 50 obtains demand torque The absolute value of torque difference between estimation torque, and be greater than the second torque verification threshold value in the absolute value of torque difference and hold When the continuous time is greater than four preset times, judge that torque abnormal phenomenon occurs in electric car.When current working be driving operating condition, and Output is when being driven in the reverse direction torque, if electric car is driven with forward gear, abnormal monitoring module 50 if is anti-in driving motor Turn and the electric current of driving motor is timing, judges that torque abnormal phenomenon occurs in electric car；If electric car with retreating gear into Row driving, abnormal monitoring module 50 is then rotated forward in driving motor and the electric current of driving motor is timing, judges that electric car occurs Torque abnormal phenomenon.
Further, when judging that torque abnormal phenomenon occurs in electric car, abnormal monitoring module 50 is also used to can be to electricity Electrical automobile carries out security restriction control, such as executes the operations such as lower electricity, fault alarm, speed limit, zero torque, so that electric car is low Speed operation, reduces accident risk.
In some embodiments of the invention, abnormal monitoring module 50 torque estimation module according to power battery voltage and Power battery electric current, driving motor revolving speed carry out torque estimation before, also respectively to power battery voltage, power battery electric current and Driving motor revolving speed carries out abnormal verification.
Specifically, abnormal monitoring module 50 obtains power battery voltage when carrying out abnormal verification to power battery voltage Voltage difference between DC bus-bar voltage, and be greater than preset voltage check calibration threshold value in voltage difference and continue first When preset time, it is abnormal to judge that power battery voltage occurs；When carrying out abnormal verification to power battery electric current, power battery is obtained Current differential between electric current and DC bus current, and be greater than preset electric current verification calibration threshold value in current differential and continue When the second preset time, it is abnormal to judge that power battery electric current occurs；And when carrying out abnormal verification to driving motor revolving speed, according to The speed of electric car is estimated the revolving speed of driving motor to obtain estimation revolving speed, and obtains driving motor revolving speed and estimation The absolute value of rotating speed difference between revolving speed, and when the absolute value of rotating speed difference is greater than preset rotary speed threshold value, judge to drive Dynamic motor speed occurs abnormal.
Specifically, the difference between the power battery voltage and DC bus-bar voltage that obtain the acquisition of module 10 when first is big When demarcating threshold value in voltage check, and continuing the first preset time T 1, abnormal monitoring module 50 then judges that power battery voltage goes out It is now abnormal, otherwise judge that power battery voltage works normally.
When the difference between the power battery electric current and DC bus current that first obtains the acquisition of module 10 is greater than electric current school Standard inspection determines threshold value, and when continuing the second preset time T 2, and it is abnormal that abnormal monitoring module 50 then judges that power battery electric current occurs, no Then judge that power battery electric current works normally.
When the driving motor for electric automobile revolving speed that the second acquisition module 20 obtains meets relational expression: | N-NEST|>Ncal, abnormal It is abnormal that monitoring module 50 then judges that revolving speed occurs, and otherwise judges that driving motor revolving speed works normally.Wherein, N is electric car drive Dynamic motor current rotating speed, NcalFor rotary speed threshold value, NESTTo estimate revolving speed, NEST=VABS* i*1000/ (2 π * r*60), r are to roll Radius, i are transmission ratio, VABSFor the speed of electric car.
To sum up, the torque monitoring system of electric car according to an embodiment of the present invention obtains module by first and obtains electricity The power battery voltage and power battery electric current of electrical automobile, and the driving motor turn that module obtains electric car is obtained by second Then speed obtains module by third and obtains the demand torque of electric car, and obtains the current working of electric car, Jin Ertong It crosses torque estimation module and torque estimation is carried out to obtain electricity according to power battery voltage and power battery electric current, driving motor revolving speed The estimation torque of electrical automobile, then torque school is carried out according to estimation torque, demand torque and current working by abnormal monitoring module It tests to judge whether electric car torque abnormal phenomenon occurs by abnormal monitoring module, and then torque can occur in electric car Limitation control is carried out to electric car when abnormal phenomenon.Thereby, it is possible to reduce electric automobile torque risk out of control, use has been ensured The safety at family.
Fig. 4 is the block diagram of electric car according to an embodiment of the present invention.As shown in figure 4, the electric car 1000 includes The torque monitoring system 100 of the electric car of above-described embodiment.
The electric car of the embodiment of the present invention can be produced using the torque monitoring system of above-mentioned electric car in vehicle When the unexpected behaviors such as raw unexpected forward or backward, judges whether electric car torque abnormal phenomenon occurs, help to reduce Electric automobile torque risk out of control, has ensured the safety of user.
In addition, other of the electric car of the embodiment of the present invention constitute and its effect is to those skilled in the art It is known, to reduce redundancy, it is not repeated herein.
It should be noted that in flow charts indicate or logic and/or step described otherwise above herein, for example, It is considered the order list of the executable instruction for realizing logic function, 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 executed instruction) it uses, or combine these instruction executions System, device or equipment and use.For the purpose of this specification, " computer-readable medium " can be it is any may include, store, Communicate, propagate, or transport program is for instruction execution system, device or equipment or combines these instruction execution systems, device or sets The standby and device that uses.The more specific example (non-exhaustive list) of computer-readable medium include the following: have one or The electrical connection section (electronic device) of multiple wirings, portable computer diskette box (magnetic device), random access memory (RAM), only It reads memory (ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable light Disk read-only memory (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or its His suitable medium, because can then be edited for example by carrying out optical scanner to paper or other media, be interpreted or must It is handled when wanting with other suitable methods electronically to obtain described program, is then stored in computer storage In.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene Programmable gate array (FPGA) etc..
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
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 one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more, Unless otherwise specifically defined.
In the present invention 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.It 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 specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with 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 be directly above or diagonally above the second feature, or be merely representative of First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below " One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height 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 spy described in conjunction with this embodiment or example Point is included at least one embodiment or example of the invention.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 the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned Embodiment is changed, modifies, replacement and variant.

Claims (11)

1. a kind of torque monitoring method of electric car, which comprises the following steps:
The power battery voltage and power battery electric current of the electric car are obtained, and obtains the driving motor of the electric car Revolving speed；
It is described to obtain that torque estimation is carried out according to the power battery voltage and power battery electric current, the driving motor revolving speed The estimation torque of electric car；
The demand torque of the electric car is obtained, and obtains the current working of the electric car；
Torque verification is carried out according to the estimation torque, the demand torque and the current working to judge the electric car Whether torque abnormal phenomenon is occurred；
The current working is judged；
It is big in the estimation torque if the speed of the electric car is greater than 0 when the current working is static operating condition When the first torque verifies threshold value and the duration is greater than third preset time, it is extremely existing to judge that torque occurs in the electric car As；
When the current working is driving operating condition, the torque difference between the demand torque and the estimation torque is obtained Absolute value, and it is greater than the second torque verification threshold value and duration greater than the 4th preset time in the absolute value of the torque difference When, judge that torque abnormal phenomenon occurs in the electric car.
2. the torque monitoring method of electric car according to claim 1, which is characterized in that according to the power battery Before voltage and power battery electric current, the driving motor revolving speed carry out torque estimation, also respectively to the power battery voltage, The power battery electric current and the driving motor revolving speed carry out abnormal verification.
3. the torque monitoring method of electric car according to claim 2, which is characterized in that wherein,
When carrying out abnormal verification to the power battery voltage, obtain between the power battery voltage and DC bus-bar voltage Voltage difference, and when the voltage difference is greater than preset voltage check calibration threshold value and continues the first preset time, judgement The power battery voltage occurs abnormal；
When carrying out abnormal verification to the power battery electric current, obtain between the power battery electric current and DC bus current Current differential, and when the current differential is greater than preset electric current verification calibration threshold value and continues the second preset time, judgement The power battery electric current occurs abnormal；
When carrying out abnormal verification to the driving motor revolving speed, according to the speed of the electric car to the revolving speed of driving motor into Row estimation to obtain estimation revolving speed, and obtain the driving motor revolving speed and it is described estimation revolving speed between rotating speed difference it is absolute Value, and when the absolute value of the rotating speed difference is greater than preset rotary speed threshold value, it is different to judge that the driving motor revolving speed occurs Often.
4. the torque monitoring method of electric car according to claim 1, which is characterized in that when the current working is to drive When condition of starting building, wherein
If the electric car is driven with forward gear, in driving motor reversion and the electric current of the driving motor For timing, judge that torque abnormal phenomenon occurs in the electric car；
If the electric car is driven with retreating gear, in driving motor rotating forward and the electric current of the driving motor For timing, judge that torque abnormal phenomenon occurs in the electric car.
5. the torque monitoring method of electric car described in any one of -4 according to claim 1, which is characterized in that when judging When stating electric car and torque abnormal phenomenon occur, security restriction control is carried out to the electric car.
6. a kind of torque monitoring system of electric car characterized by comprising
First obtains module, for obtaining the power battery voltage and power battery electric current of the electric car；
Second obtains module, for obtaining the driving motor revolving speed of the electric car；
Third obtains module, for obtaining the demand torque of the electric car, and obtains the current working of the electric car；
Torque estimation module, for being carried out according to the power battery voltage and power battery electric current, the driving motor revolving speed Torque is estimated to obtain the estimation torque of the electric car；
Abnormal monitoring module, for carrying out torque verification according to the estimation torque, the demand torque and the current working To judge whether the electric car torque abnormal phenomenon occurs, and for judging the current working；
It is big in the estimation torque if the speed of the electric car is greater than 0 when the current working is static operating condition When the first torque verifies threshold value and the duration is greater than third preset time, it is extremely existing to judge that torque occurs in the electric car As；
When the current working is driving operating condition, the torque difference between the demand torque and the estimation torque is obtained Absolute value, and it is greater than the second torque verification threshold value and duration greater than the 4th preset time in the absolute value of the torque difference When, judge that torque abnormal phenomenon occurs in the electric car.
7. the torque monitoring system of electric car according to claim 6, which is characterized in that the abnormal monitoring module, Be also used to the torque estimation module according to the power battery voltage and power battery electric current, the driving motor revolving speed into Before the estimation of row torque, the power battery voltage, the power battery electric current and the driving motor revolving speed are carried out respectively Abnormal verification.
8. the torque monitoring system of electric car according to claim 7, which is characterized in that the abnormal monitoring module into One step is used for, wherein
When carrying out abnormal verification to the power battery voltage, obtain between the power battery voltage and DC bus-bar voltage Voltage difference, and when the voltage difference is greater than preset voltage check calibration threshold value and continues the first preset time, judgement The power battery voltage occurs abnormal；
When carrying out abnormal verification to the power battery electric current, obtain between the power battery electric current and DC bus current Current differential, and when the current differential is greater than preset electric current verification calibration threshold value and continues the second preset time, judgement The power battery electric current occurs abnormal；
When carrying out abnormal verification to the driving motor revolving speed, according to the speed of the electric car to the revolving speed of driving motor into Row estimation to obtain estimation revolving speed, and obtain the driving motor revolving speed and it is described estimation revolving speed between rotating speed difference it is absolute Value, and when the absolute value of the rotating speed difference is greater than preset rotary speed threshold value, it is different to judge that the driving motor revolving speed occurs Often.
9. the torque monitoring system of electric car according to claim 6, which is characterized in that when the current working is to drive When condition of starting building, the abnormal monitoring module is also used to,
If the electric car is driven with forward gear, in driving motor reversion and the electric current of the driving motor For timing, judge that torque abnormal phenomenon occurs in the electric car；
If the electric car is driven with retreating gear, in driving motor rotating forward and the electric current of the driving motor For timing, judge that torque abnormal phenomenon occurs in the electric car.
10. the torque monitoring system of the electric car according to any one of claim 7-9, which is characterized in that work as judgement When torque abnormal phenomenon occurs in the electric car, the abnormal monitoring module is also used to carry out safe limit to the electric car System control.
11. a kind of electric car, which is characterized in that the torsion including the electric car according to any one of claim 7-10 Monitoring of torque system.
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