CN107901908A - The control method and control system of electric car uphill starting - Google Patents
The control method and control system of electric car uphill starting Download PDFInfo
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- CN107901908A CN107901908A CN201710919680.0A CN201710919680A CN107901908A CN 107901908 A CN107901908 A CN 107901908A CN 201710919680 A CN201710919680 A CN 201710919680A CN 107901908 A CN107901908 A CN 107901908A
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- electric car
- electric
- uphill starting
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- car
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
-
- 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
- B60L15/2072—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 for drive off
- B60L15/2081—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 for drive off for drive off on a slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The present invention provides a kind of control method and control system of electric car uphill starting.Control method includes：When electric car is in uphill starting state, detects that brake pedal is unclamped and continue to keep on-position in preset time with electric car after parking brake releasing；After the preset time, if detect that accelerator pedal is stepped on and driver's driving torque of electric car wheel motor output is more than the first driving torque, then keep the master cylinder pressure force value of the electric mechanical brake booster of brake of electric vehicle state is gradually reduced with default decompression step-length, so that electric car realizes uphill starting.The present invention is by coordinating control hydraulic braking force and motor driving torque, car slipping, and have the advantages that response speed faster backward when can avoid electric car uphill starting, so as to aid in driver easily to realize ramp gentle start.
Description
Technical field
The present invention relates to electric vehicle engineering field, and in particular to a kind of control method of electric car uphill starting and control
System.
Background technology
Before driver drives starting of going up a slope again after vehicle comes to a complete stop at heavy grade road surface or sleety weather on ramp, drive
The usually first pull-up parking brake of member is to maintain stationary vehicle, rapid bend the throttle again after loosening the brake, in vehicle start
Unclamp parking brake at the same time.But due to the consideration of comfort, moment of torsion changes the limitation of rate, Er Qie electricity during electric automobile stepping on accelerator pedal
Electrical automobile generally uses the preferential strategy that brakes, after brake pedal return (or master cylinder does not have pressure), parking brake release,
Moment of torsion control instruction can just be performed.The mini-bus of the pure electric vehicle or vehicle body of logistic car is heavier, load is larger, complete vehicle quality significantly increases
Add.This kind of electric automobile is in uphill starting, in fact it could happen that accelerates response lag, is short of power and causes vehicle car slipping, triggers
Traffic accident.
For pure electric automobile, the prior art judges vehicle anti-slide state by speed and motor speed, in vehicle start
Large torque is quickly sent when slipping by slope trend or slipping by slope and maintains a period of time, the effect of gravity is overcome, realizes uphill starting
Auxiliary；Or realize that uphill starting aids in by the stall function of motor.
But for pure electric automobile only by Motor torque carry out uphill starting auxiliary method, actually speed and
Motor speed has precision limitation, and motor speed is also possible to fluctuate near 0 when slightly slipping by slope.If by entire car controller come
Electric machine controller is controlled, CAN bus communication also has time delay in itself.When detecting vehicle anti-slide, reality has slipped by slope one
Fixed distance.Slipped so can cause to go up a slope to loosen the brake when starting to walk into the time of stepping on accelerator pedal after vehicle.It is if logical
The stall function of crossing motor realizes that uphill starting aids in, it is possible that being constantly in high-power during upward slope normal driving
Discharge and burn electric machine controller.
The content of the invention
For in the prior art the defects of, the present invention provides control method and the control system of a kind of electric car uphill starting
System, by coordinating control hydraulic braking force and motor driving torque, realizes the miscellaneous function to driver's uphill starting, ensures car
Gentle start.
To achieve the above object, the present invention provides following technical scheme：
On the one hand, the present invention provides a kind of control method of electric car uphill starting, including：
When electric car is in uphill starting state, detect that brake pedal is unclamped with electric car after parking brake releasing default
Continue to keep on-position in time；
After the preset time, if detecting, accelerator pedal is stepped on and the driver of electric car wheel motor output drives
When dynamic torque is more than the first driving torque, then the master cylinder pressure force value of the electric mechanical brake booster of brake of electric vehicle state is kept
Gradually reduced with default decompression step-length, so that electric car realizes uphill starting.
Further, the control method further includes：
Driver's driving torque of electric car wheel motor output is adjusted, so that the moment of torsion of wheel motor output reaches target
After driving torque, electric car carries out uphill starting；
When electric car travel speed exceedes uphill starting preset value, target drives moment of torsion is adjusted to driver and drives torsion
Square；
Wherein, driver's driving torque is more than the target drives moment of torsion, and the target drives moment of torsion is more than described
First driving torque.
Further, the target drives moment of torsion includes：Left target drives torque TLWith right target drives torque TR；
TL=T2-TD_c-TD_L,
TR=T2-TD_c-TD_R,
Wherein, TD_LSubtract torsion value, T for left motorD_RSubtract torsion value, T for right motorD_cSubtract torsion value, T jointly for left and right motor2For
Driver's driving torque.
Further, first driving torque is：
Wherein, T1For the grade resistance of car ramp starting, r is vehicle wheel roll radius, and k is the deceleration of hub reduction gear
Than η is total transmission efficiency.
Further, the preset time is 2 seconds.
On the other hand, present invention also offers a kind of control system of electric car uphill starting, including：
Electric mechanical brake booster 10 and entire car controller 3；
The input terminal of the entire car controller 3 is connected with the output terminal of the electric mechanical brake booster 10；
The entire car controller 3 carries out uphill starting using control method control electric car described above；
When entire car controller 3 controls electric car to carry out uphill starting, the entire car controller 3 controls the motor machine
Brake booster 10 is braked, so that electric car continues to keep on-position in preset time.
Further, the control system further includes：
Wheel speed sensors 2, wheel motor 4, electric machine controller 5, inertia measurement sensor 6, gearshift controller 7, acceleration are stepped on
Board position sensor 8 and brake pedal position sensor 9；
The input terminal of the entire car controller 3 respectively with wheel speed sensors 2, the inertia measurement sensor 6, described
Gearshift controller 7, the accelerator pedal position sensor 8 are connected with the output terminal of the brake pedal position sensor 9；Institute
The output terminal for stating entire car controller 3 is connected with the input terminal of the electric machine controller 5；The output terminal of the electric machine controller 5
The input terminal of the wheel motor 4 rotated with driving wheel 1 is connected.
Further, the inertia measurement sensor 6, for collecting acceleration of gravity along the component on the direction of road surface；
The inertia measurement sensor 6 is arranged on the centroid position on the chassis of electric car.
Further, the wheel speed sensors 2 are arranged on the wheel shaft of electric car, for gathering the vehicle wheel of electric car
Speed；Brake actuator on the wheel shaft uses disk brake.
Further, electric mechanical brake booster 10 includes：The pressure sensor of master cylinder pressure is detected, the pressure passes
The output terminal of sensor is connected with the access port of the entire car controller 3.
As shown from the above technical solution, a kind of control method of electric car uphill starting of the present invention and control system
System, by coordinating control hydraulic braking force and motor driving torque, car slipping backward when can avoid electric car uphill starting, also can
Prevent low attached road surface slope driving wheel skids from influencing grade climbing performance, and there is response speed faster, so as to aid in driving
Member easily realizes ramp gentle start.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of control method flow diagram of electric car uphill starting provided in an embodiment of the present invention；
Fig. 2 is the control method flow diagram of another electric car uphill starting provided in an embodiment of the present invention；
Fig. 3 is a kind of structure diagram of the control system of electric car uphill starting provided in an embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, clear, complete description is carried out to the technical solution in the embodiment of the present invention, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without making creative work, belong to the scope of protection of the invention.
An embodiment of the present invention provides a kind of control method of electric car uphill starting, referring to Fig. 1, this method specifically includes
Following steps：
S101：When electric car is in uphill starting state, detect that brake pedal unclamps and electric car after parking brake releasing
Continue to keep on-position in preset time；
In this step, the logic that electric car enters that uphill starting auxiliary controls is, as vehicle reference travel speed VrefFor
When 0, and when gear is drive shift or reverse gear, filtered longitudinal acceleration signal a is detectedx_filtNumerical value be less than accelerate
Spend threshold value athresholdAnd duration when being more than first time threshold value, judge that electric car is in uphill starting state and drives
The person of sailing will carry out uphill starting operation, aid in controlling into uphill starting, wherein longitudinal acceleration signal ax_filtIt is inertia measurement
The acceleration of gravity of sensor collection is along the component on the direction of road surface.
After electric car enters uphill starting auxiliary control, the master cylinder pressure p of brake monitor is detected, due to driver
Parking brake is loosened the brake and releases, master cylinder pressure is reduced to the master cylinder pressure of demand or brake pressure one during equal to uphill starting
When starting just to be not up to uphill starting during the master cylinder pressure of demand, i.e. p≤p1+perrorWhen, entire car controller is to motor machine system
Dynamic booster sends target master cylinder pressure force value p2=p1+perror, ask electric mechanical brake booster active brake to make master cylinder
Pressure remains p=p2.
Wherein, perrorIt is brake pressure allowance, is demarcated according to real vehicle；The master cylinder pressure of demand, is pressed when p1 is uphill starting
Calculated according to following Disk Brake pressure and braking moment conversion formula：
Wherein, TbFor each wheel braking moment, equal to T1/ 4, T1For the grade resistance of car ramp starting；p0For oil pipe
The pressure loss Deng caused by, can determine an empirical value by actual test；RcFor the effective friction radius of brake；dbFor
Take turns cylinder diameter；ηbFor brake efficiency, generally require more than 0.85；NcFor the wheel cylinder number of each brake；KbfFor brake
Efficiency factor, is the ratio between obtained frictional force and input power in the effective friction radius of brake, disk brake efficiency because
Number is calculated according to twice of friction coefficient.
This brake pressure at least continues preset time after uphill starting auxiliary control is entered, and it is liquid that the preset time is most short
The compacting dynamic sustained release time, the hydraulic braking sustained release time is generally 2 seconds, therefore the preset time is more than or equal to 2 seconds.
S102：After the preset time, if detecting, accelerator pedal is stepped on and what electric car wheel motor exported drives
When the person's of sailing driving torque is more than the first driving torque, then the master cylinder of the electric mechanical brake booster of brake of electric vehicle state is kept
Pressure value is gradually reduced with default decompression step-length, so that electric car realizes uphill starting.
In this step, after the preset time in above-mentioned steps S101, when detection accelerator pedal is stepped on by driver,
Entire car controller is travelled according to acceleration pedal position signal, gear signal and the motor speed signal, the vehicle reference that collect
Speed, the maximum discharge power limitation of characteristic curve, acceleration MAP chart and the limitation of pond management system with reference to motor, determines to drive
The person's of sailing driving torque T2.Current gear is drive shift and driver's driving torque T2More than the first driving torque T, i.e. T2During ＞ T,
Or it is reverse gear and driver's driving torque T2Less than minus first driving torque T, i.e. T2During ＜-T, entire car controller is to motor machine
The target master cylinder pressure force value p2 that brake booster is sent gradually is reduced with depressurizing step-length, until being reduced to 0；Wherein, step-length is depressurized
Scope between 1-5bar/10ms, different decompression step value can be chosen according to the load-carrying of different electric cars, load-carrying is bigger
It is smaller then to depressurize step value.
First driving torque is：
Wherein, T1For the grade resistance of uphill starting, r is vehicle wheel roll radius, and k is the speed reducing ratio of hub reduction gear；η is
Total transmission efficiency, this value is different in different motor speeds and moment of torsion, can be measured by laboratory.
For electric car in uphill starting, main running resistance is grade resistance.Acceleration resistance, air drag are hindered with rolling
Power etc. is ignored, and the grade resistance of car ramp starting can be calculated by the following formula：
T1=mgsin θ r=-max_stastic·r
Wherein, m is the fully loaded quality of electric car, and θ is the angle of gradient, and r is vehicle wheel roll radius, ax_stasticIt is that electric car is quiet
State longitudinal acceleration value, its numerical values recited are equal to the previous moment longitudinal acceleration signal into the uphill starting auxiliary system moment
ax_filtNumerical value.Longitudinal acceleration signal ax_filtIt is the filtered letter of longitudinal acceleration signal of inertia measurement sensor collection
Number, the method for filtering can use and be not limited to the modes such as first-order lag filtering, Kalman filtering.ax_filtIt is accelerated forwardly as just,
When headstock is parked in upward trend forward, ax_filtSize be exactly component of the acceleration of gravity along road surface, be a negative value, can be anti-
Reflect the size of grade resistance.The gradient can not possibly be mutated during uphill starting, also not high to requirement of real-time.When vehicle powers on shape
Detected when state is static and detect a when brake pedal position is more than threshold value (judging driver's brake pedal)x_filtNumber
Value, and by this cycle and upper cycle ax_filtThe numerical value entire car controller that is stored in electric car memory in.
As can be seen from the above description, an embodiment of the present invention provides a kind of control method of electric car uphill starting, by whole
Vehicle controller judges driver intention and vehicle-state, grade resistance information, coordinates control electric mechanical brake booster
The driving torque of hydraulic braking force and electric machine controller, car slipping backward when can avoid electric car uphill starting, so as to aid in driving
The person of sailing easily realizes ramp gentle start, and has the advantages that response speed faster.
An embodiment of the present invention provides a kind of control method of electric car uphill starting, referring to Fig. 2, the control method is upper
On the basis of stating embodiment, following steps are further included：
S103：Driver's driving torque of electric car wheel motor output is adjusted, so that the moment of torsion of wheel motor output reaches
To after target drives moment of torsion, electric car carries out uphill starting；
In this step, since driver's driving torque of electric car wheel motor output is excessive, driving wheel is caused
Skidding influences uphill starting, therefore adjusts left and right motor target drives moment of torsion according to the anti-skidding threshold value of drive wheel, adjusts electricity
Driver's driving torque of motor-car wheel motor output, prevents that driving wheel is beaten in coefficient of road adhesion relatively low uphill starting
It is sliding.
Calculate the anti-skidding threshold value of drive wheel and motor Anti-slip regulation subtracts torsion value, determine that left and right motor target drives are turned round
Square TL、TR.According to being looked into reference to travel speed, predetermined characteristic curve draws front and back wheel activation, front and back wheel exits, left and right wheels activate, left
The Anti-slip regulation threshold value s that right wheel exitsfr_enable、sfr_disable、slr_enable、slr_disable, numerical value with speed increase and subtract
It is small.Calculation procedure is as follows：
WhenWhen, left and right motor is adjusted according to PID and subtracts torsion value T jointlyD_c,
WhenWhen, motor subtracts torsion value T jointlyD_c=0,
WhenWhen, left motor is adjusted according to PID and subtracts torsion value TD_L,
WhenWhen, left motor subtracts torsion value TD_L=0,
WhenWhen, right motor is adjusted according to PID and subtracts torsion value TD_R,
WhenWhen, right motor subtracts torsion value TD_R=0.
Left motor is adjusted according to PID and subtracts torsion value TD_L, right motor subtract torsion value TD_RSubtract torsion value T jointly with left and right motorD_cSo that
Wherein, wheel speed sensors signal is converted into wheel wheel speed (wheel circle centre position linear velocity), remembers VFL、VFR、VRL、VRR
For the near front wheel, off-front wheel, left rear wheel, off hind wheel wheel speed.
Calculate vehicle reference travel speed Vref=(VFL+VFR)·1/2。
According to driver's driving torque T2, left motor subtract torsion value TD_L, right motor subtract torsion value TD_RSubtract jointly with left and right motor
Torsion value TD_cDetermine target drives torque TLAnd TR。
TL=T2-TD_c-TD_L, TR=T2-TD_c-TD_R；
Entire car controller is by target drives torque TLAnd TRElectric machine controller is sent to, realizes the control to wheel motor.
S104：When electric car travel speed exceedes uphill starting preset value, target drives moment of torsion is adjusted to driver
Driving torque；
In this step, as electric car travel speed VrefMore than after uphill starting speed critical value or driving wheel not
Skid, the target drives torque smooth control that wheel motor exports is switched to driver's driving torque, it is auxiliary to exit uphill starting
Help control；It is considered as electric car when uphill starting speed critical value is 10km/h and is successfully completed hill start, then uphill starting is pre-
If value is more than or equal to 10km/h.
Wherein, driver's driving torque is more than the target drives moment of torsion, and the target drives moment of torsion is more than described
First driving torque.
As can be seen from the above description, by coordinating control hydraulic braking force and motor driving torque, low attached road surface slope can be prevented
Driving wheel, which skids, influences grade climbing performance, and auxiliary driver easily realizes ramp gentle start.
An embodiment of the present invention provides a kind of control system of electric car uphill starting, referring to Fig. 3, the control system bag
Include：
Electric mechanical brake booster 10 and entire car controller 3；
The input terminal of the entire car controller 3 is connected with the output terminal of the electric mechanical brake booster 10；
The entire car controller 3 carries out ramp using the control method control electric car described in above method embodiment and rises
Step；
When entire car controller 3 controls electric car to carry out uphill starting, the entire car controller 3 controls the motor machine
Brake booster 10 is braked, so that electric car continues to keep on-position in preset time.
Further, further included referring to Fig. 3, the control system：
Wheel speed sensors 2, wheel motor 4, electric machine controller 5, inertia measurement sensor 6, gearshift controller 7, acceleration are stepped on
Board position sensor 8 and brake pedal position sensor 9；
The input terminal of the entire car controller 3 respectively with wheel speed sensors 2, the inertia measurement sensor 6, described
Gearshift controller 7, the accelerator pedal position sensor 8 are connected with the output terminal of the brake pedal position sensor 9；Institute
The output terminal for stating entire car controller 3 is connected with the input terminal of the electric machine controller 5；The output terminal of the electric machine controller 5
The input terminal of the wheel motor 4 rotated with driving wheel 1 is connected.
Further, the inertia measurement sensor 6, for collecting acceleration of gravity along the component on the direction of road surface；
The inertia measurement sensor 6 is arranged on the centroid position on the chassis of electric car.
Further, the wheel speed sensors 2 are arranged on the wheel shaft of electric car, for gathering the vehicle wheel of electric car
Speed；Brake actuator on the wheel shaft uses disk brake.
Further, electric mechanical brake booster 10 includes：The pressure sensor of master cylinder pressure is detected, the pressure passes
The output terminal of sensor is connected with the access port of the entire car controller 3.
Electric mechanical brake booster, is also known as deceleration of electrons master cylinder, deceleration of electrons booster, integrated form braking master
Cylinder, integrated form brake booster etc., a set of electromechanical device and its controller are added compared to traditional master cylinder, are received
Master cylinder inner piston rod can be promoted after braking instruction automatically, applies target braking pressure to braking system, realizes brake-by-wire.
In the specific implementation, vacuum pump, vacuum tank and vacuum booster group substituted for using electric mechanical brake booster
Into force aid system for braking, it is possible to achieve the brake boost and active brake of electric automobile, can also realize hydraulic braking and motor
The decoupling control of regenerative braking.
As can be seen from the above description, the control system of a kind of electric car uphill starting provided in an embodiment of the present invention, utilizes biography
Sensor perceives the state of vehicle, identification driver intention, coordinates control hydraulic braking force and motor driving torque, existing to solve
Slip to start after vehicle present in technology and prevent that slipping by slope function and electric machine controller has the defects of burning risk, can avoid
Car slipping backward during electric commercial vehicle uphill starting, can also prevent low attached road surface slope driving wheel from skidding to influence grade climbing performance, so that auxiliary
Driver is helped easily to realize ramp gentle start.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed, or further include as this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there are other identical element in process, method, article or equipment including the key element.Term " on ", " under " etc. refers to
The orientation or position relationship shown is based on orientation shown in the drawings or position relationship, is for only for ease of the description present invention and simplifies
Description, rather than the device or element of instruction or hint meaning must have specific orientation, with specific azimuth configuration and behaviour
Make, therefore be not considered as limiting the invention.Unless otherwise clearly defined and limited, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can be
Mechanically connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be two
Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
In the specification of the present invention, numerous specific details are set forth.Although it is understood that the embodiment of the present invention can
To be put into practice in the case of these no details.In some instances, known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this description.Similarly, it will be appreciated that disclose in order to simplify the present invention and helps to understand respectively
One or more of a inventive aspect, in the description to the exemplary embodiment of the present invention above, each spy of the invention
Sign is grouped together into single embodiment, figure or descriptions thereof sometimes.However, should not be by the method solution of the disclosure
Release and be intended in reflection is following：I.e. the present invention for required protection requirement is than the feature that is expressly recited in each claim more
More features.More precisely, as the following claims reflect, inventive aspect is to be less than single reality disclosed above
Apply all features of example.Therefore, it then follows thus claims of embodiment are expressly incorporated in the embodiment,
Wherein each claim is in itself as separate embodiments of the invention.It should be noted that in the case where there is no conflict, this
The feature in embodiment and embodiment in application can be mutually combined.The invention is not limited in any single aspect,
Any single embodiment is not limited to, is also not limited to any combination and/or the displacement of these aspects and/or embodiment.And
And can be used alone the present invention each aspect and/or embodiment or with other one or more aspects and/or its implementation
Example is used in combination.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe is described in detail the present invention with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its according to
Can so modify to the technical solution described in foregoing embodiments, either to which part or all technical characteristic into
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it should all cover among the claim of the present invention and the scope of specification.
Claims (10)
1. a kind of control method of electric car uphill starting, it is characterised in that the control method includes：
When electric car is in uphill starting state, detect that brake pedal is unclamped with electric car after parking brake releasing in preset time
Inside continue to keep on-position；
After the preset time, if detecting, accelerator pedal is stepped on and the driver of electric car wheel motor output drives and turns round
When square is more than the first driving torque, then the master cylinder pressure force value of electric mechanical brake booster of brake of electric vehicle state is kept with pre-
If decompression step-length gradually reduces, so that electric car realizes uphill starting.
2. control method according to claim 1, it is characterised in that the control method further includes：
Driver's driving torque of electric car wheel motor output is adjusted, so that the moment of torsion of wheel motor output reaches target drives
After moment of torsion, electric car carries out uphill starting；
When electric car travel speed exceedes uphill starting preset value, target drives moment of torsion is adjusted to driver's driving torque；
Wherein, driver's driving torque is more than the target drives moment of torsion, and the target drives moment of torsion is more than described first
Driving torque.
3. control method according to claim 2, it is characterised in that the target drives moment of torsion includes：Left target drives
Torque TLWith right target drives torque TR；
TL=T2-TD_c-TD_L,
TR=T2-TD_c-TD_R,
Wherein, TD_LSubtract torsion value, T for left motorD_RSubtract torsion value, T for right motorD_cSubtract torsion value, T jointly for left and right motor2To drive
Member's driving torque.
4. control method according to claim 1 or 2, it is characterised in that first driving torque is：
<mrow>
<mi>T</mi>
<mo>=</mo>
<mfrac>
<msub>
<mi>T</mi>
<mn>1</mn>
</msub>
<mrow>
<mn>2</mn>
<mo>&CenterDot;</mo>
<mi>r</mi>
<mo>&CenterDot;</mo>
<mi>k</mi>
<mo>&CenterDot;</mo>
<mi>&eta;</mi>
</mrow>
</mfrac>
</mrow>
Wherein, T1For the grade resistance of car ramp starting, r is vehicle wheel roll radius, and k is the speed reducing ratio of hub reduction gear, and η is
Total transmission efficiency.
5. control method according to claim 1 or 2, it is characterised in that the preset time is 2 seconds.
6. a kind of control system of electric car uphill starting, it is characterised in that the control system includes：Electric mechanical brake helps
Power device (10) and entire car controller (3)；
The input terminal of the entire car controller (3) is connected with the output terminal of the electric mechanical brake booster (10)；
The entire car controller (3) is carried out using the control method control electric car any one of the claims 1-5
Uphill starting；
When entire car controller (3) control electric car carries out uphill starting, the entire car controller (3) controls the motor machine
Brake booster (10) is braked, so that electric car continues to keep on-position in preset time.
7. control system according to claim 6, it is characterised in that the control system further includes：
Wheel speed sensors (2), wheel motor (4), electric machine controller (5), inertia measurement sensor (6), gearshift controller (7),
Accelerator pedal position sensor (8) and brake pedal position sensor (9)；
The input terminal of the entire car controller (3) respectively with the wheel speed sensors (2), the inertia measurement sensor (6), institute
State the output terminal of gearshift controller (7), the accelerator pedal position sensor (8) and the brake pedal position sensor (9)
It is connected；The output terminal of the entire car controller (3) is connected with the input terminal of the electric machine controller (5)；The motor control
The input terminal for the wheel motor (4) that the output terminal of device (5) processed is rotated with driving wheel (1) is connected.
8. control system according to claim 7, it is characterised in that the inertia measurement sensor (6), for collecting
Acceleration of gravity is along the component on the direction of road surface；The inertia measurement sensor (6) is arranged on the barycenter on the chassis of electric car
Position.
9. control system according to claim 7, it is characterised in that the wheel speed sensors (2) are arranged on electric car
On wheel shaft, for gathering the wheel wheel speed of electric car；Brake actuator on the wheel shaft uses disk brake.
10. according to claim 6-9 any one of them control systems, it is characterised in that electric mechanical brake booster (10)
Including：Detect the pressure sensor of master cylinder pressure, the discrepancy of the output terminal of the pressure sensor and the entire car controller (3)
End is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710919680.0A CN107901908A (en) | 2017-09-30 | 2017-09-30 | The control method and control system of electric car uphill starting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710919680.0A CN107901908A (en) | 2017-09-30 | 2017-09-30 | The control method and control system of electric car uphill starting |
Publications (1)
| Publication Number | Publication Date |
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| CN107901908A true CN107901908A (en) | 2018-04-13 |
Family
ID=61841316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710919680.0A Pending CN107901908A (en) | 2017-09-30 | 2017-09-30 | The control method and control system of electric car uphill starting |
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| CN (1) | CN107901908A (en) |
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| CN109552068A (en) * | 2018-12-10 | 2019-04-02 | 山东国金汽车制造有限公司 | A kind of electric car uphill starting anti-skid control method |
| CN110843760A (en) * | 2018-07-24 | 2020-02-28 | 现代自动车株式会社 | Vehicle compressor control system and method thereof |
| CN112389389A (en) * | 2019-08-13 | 2021-02-23 | 罗伯特·博世有限公司 | Single-pedal brake control system and single-pedal brake control method |
| CN112776808A (en) * | 2021-01-07 | 2021-05-11 | 东风柳州汽车有限公司 | Automobile starting antiskid control method, device, equipment and storage medium |
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| CN112810613B (en) * | 2021-01-07 | 2023-06-20 | 东风柳州汽车有限公司 | Starting energy consumption optimization method, starting energy consumption optimization device, starting energy consumption optimization equipment and storage medium |
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| CN112918275A (en) * | 2021-03-25 | 2021-06-08 | 北京车和家信息技术有限公司 | Vehicle control method and device, equipment and vehicle |
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| CN113119751B (en) * | 2021-05-12 | 2022-11-01 | 湖南三一智能控制设备有限公司 | Vehicle slope starting method and device, vehicle, electronic equipment and storage medium |
| CN113715635A (en) * | 2021-09-03 | 2021-11-30 | 中铁工程装备集团隧道设备制造有限公司 | Traction locomotive and traction locomotive ramp auxiliary starting control method |
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| CN114248773B (en) * | 2021-11-24 | 2024-03-01 | 山推工程机械股份有限公司 | Wheel type engineering machinery retarding control system and control method |
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