CN107985119A - A kind of flywheel mixes bi-motor four-wheeled electric vehicle drive control method - Google Patents
A kind of flywheel mixes bi-motor four-wheeled electric vehicle drive control method Download PDFInfo
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- CN107985119A CN107985119A CN201710998552.XA CN201710998552A CN107985119A CN 107985119 A CN107985119 A CN 107985119A CN 201710998552 A CN201710998552 A CN 201710998552A CN 107985119 A CN107985119 A CN 107985119A
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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
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/26—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, of type of freewheel device
-
- 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
- B60L15/2045—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 optimising the use of energy
-
- 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
- B60L15/2054—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 by controlling transmissions or clutches
-
- 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
- B60L2240/50—Drive Train control parameters related to clutches
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
A kind of flywheel mixes bi-motor four-wheeled electric vehicle drive control method and belongs to electric automobile drive control field, it is characterized in that rational operating mode can be run on according to driving operating mode, unit status, operator demand's driving torque etc., control motor 1, motor 2, flywheel and secondary power battery.Under low driving torque demand operating mode, control method control vehicle runs on single 2 drive pattern of motor, and motor load rate is driven with optimization, improves driving economy；Under middle and high driving torque demand operating mode, control method control vehicle runs on " motor 1+ motors 2 ", " motor 2+ flywheels " or " motor 1+ motor 2+ flywheels " operating mode, advantage is exported by flywheel momentary high power, reduce torque-demand of the vehicle to motor driven systems, while vehicle dynamic property is ensured, vehicle driving economy can be effectively lifted；By twin shaft four-wheel drive advantage, it is ensured that vehicle has dynamic property and cross-country sexual clorminance.
Description
Technical field
The present invention relates to electric automobile drive control method, a kind of particularly flywheel mixes bi-motor four-wheeled electric vehicle
Drive control method.
Background technology
Electric automobile is dirty with air for solving petroleum-based energy crisis due to the technical advantage with no pollution, zero-emission
Dye has important practical significance, and has been subject to the extensive concern of motor-dom.Wherein, bi-motor four-wheeled electric vehicle is due to tool
There are the advantages such as good dynamic property, economy and cross-country ability, be subject to the extensive pass of major automobile vendor of the world and research institution
Note.Especially a kind of flywheel mixes bi-motor four-wheeled electric vehicle, since advantage can be exported by flywheel momentary high power,
Power demand of the vehicle to motor driven systems can be reduced, while vehicle dynamic property is ensured, lifting vehicle driving is economical
Property, is just being subject to the extensive concern of motor-dom.But, there is its unique texture since flywheel mixes bi-motor four-wheeled electric vehicle
Feature, existing drive control method designed by for conventional bi-motor four-wheeled electric vehicle, can not be suitable for this kind and fly
The mixed dynamic bi-motor four-wheeled electric vehicle of wheel.
The content of the invention
According to the above-mentioned deficiencies in the prior art, the present invention, which provides a kind of flywheel, mixes bi-motor four-wheeled electric vehicle
Drive control method, advantage is exported using flywheel momentary high power, and it is low to solve conventional bi-motor four-wheel drive vehicle drive efficiency
The problem of.
The technical scheme is that:A kind of flywheel is provided and mixes bi-motor four-wheeled electric vehicle drive control method,
Realize that the communication that above-mentioned control method is relied on includes with control unit：CAN bus, entire car controller, active force battery management
System, secondary power battery management system, 1 controller of motor, 2 controller of 2 controller of motor, 1 controller of clutch and clutch.
Wherein：
CAN bus is designed for realizing the signal transmission between each control unit；
Entire car controller, designed for gathering the status signal of battery management system, electric machine controller, clutch controller, and
According to built-in control strategy, to above-mentioned each sub-control unit output correlation control instruction；
Active force battery management system, sends active force battery operation state designed for monitoring and to entire car controller, receives
And perform the safety protection control instruction of entire car controller output；
Secondary power battery management system, sends active force battery operation state designed for monitoring and to entire car controller, receives
And perform powering on for entire car controller output and instructed with lower electric control；
1 controller of motor, sends 1 operating status of motor designed for monitoring and to entire car controller, receives and perform vehicle control
The torque of device output processed, rotating speed control instruction；
2 controller of motor, sends 2 operating status of motor designed for monitoring and to entire car controller, receives and perform vehicle control
The direct torque instruction of device output processed；
1 controller of clutch, sends clutch 1 and flywheel operating status designed for monitoring and to entire car controller, receives simultaneously
Clutch combination, the separates control instructions of entire car controller output are performed, to realize the storage of flywheel energy and release；
2 controller of clutch, sends 2 operating status of clutch designed for monitoring and to entire car controller, receives and perform whole
The clutch combination of vehicle controller output, separates control instructions, with the driving of real time motor 1, speed regulating control.
The advantage of the invention is that：
1st, the present invention is by time controlling the release of flywheel power, by flywheel can with the advantage of instantaneous relase relatively high power,
Power requirement of the vehicle to driving motor can be reduced, under the premise of power performance is ensured, can effectively lift vehicle driving
Efficiency, is conducive to improve vehicle economy, extends vehicle continual mileage；
2nd, the release of the invention by time controlling flywheel and secondary power battery power, can reduce vehicle and discharge main battery
The requirement of power, is conducive to extend main battery service life.
Brief description of the drawings
Fig. 1 mixes bi-motor four-wheeled electric vehicle floor map for flywheel；
Fig. 2 is the control main program figure of the present invention；
Fig. 3 is 1 figure of control subprogram of the present invention；
Fig. 4 is 2 figure of control subprogram of the present invention；
Fig. 5 is 3 figure of control subprogram of the present invention；
Fig. 6 is 4 figure of control subprogram of the present invention；
Fig. 7 is 5 figure of control subprogram of the present invention.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Fig. 1 mixes bi-motor four-wheeled electric vehicle planar structure schematic diagram, the power and control system bag for flywheel
Include：CAN bus, entire car controller, active force battery and its management system, secondary power battery and its management system, motor 1 and its
Controller, motor 2 and its controller, clutch 1 and its controller, clutch 2 and its controller, planetary gears, axis 1 subtract
Fast 2 deceleration box of tricks of box of tricks and axis.
Fig. 2 is the control main program of the present invention, which gathers first and whether detect driving pedal signal normal, if not
Normally, then output driving pedal fault-signal, and terminate drive control program, to ensure that vehicle safety is run；If normal, into
Whether one step detection driving pedal aperture is more than 0, if so, then call subroutine 1；Otherwise, persistently detection driving pedal aperture is
It is no to be more than 0.
Fig. 3 is the control subprogram 1 of the present invention, which is first depending on detected driving pedal aperture and calculates driving
The driving torque Td of member's demand；Then, active force battery status signal is read, and calculates the maximum allowable electric discharge of active force battery and turns
Square Tb1；Further, the size of Td and a times of Tb1 are contrasted, if Td≤a Tb1 are set up, illustrates that active force battery can meet vehicle
Driving requires, and at this time, lower electric control instruction, and call subroutine 3 need to be sent to secondary power battery management system；If Td≤a
Tb1 is invalid, illustrates that active force battery can not meet that vehicle driving requires, needs call subroutine 2 and subprogram 3 at this time.
Fig. 4 is the control subprogram 2 of the present invention, which reads secondary power battery status signal first, and is calculated secondary dynamic
The maximum allowable electric discharge torque Tb2 of power battery；Then, judge Td≤（aTb1+eTb2）Whether set up, wherein e is can calibration value；If
Td≤（aTb1+eTb2）Set up, illustrate that active force battery adds secondary power battery and can meet that vehicle drives demand, at this time, program
Then sent to secondary power battery management system and power on control instruction；If Td≤（aTb1+eTb2）It is invalid, illustrate current major and minor
Power battery can not meet that vehicle driving requires, and need further to read Speed of Reaction Wheels signal nf at this time；If nf≤nl（It can mark
It is fixed）Set up, illustrate that Speed of Reaction Wheels is relatively low, vehicle drive control can not be participated in, at this time, program revisions Td is（aTb1+eTb2）, and
Sent to secondary power battery management system and power on control instruction；If nf≤nl is invalid, illustrate that flywheel may participate in vehicle driving, this
When need to calculate the maximum allowable release torque Tf of flywheel；Further, judge Td≤（aTb1+eTb2+Tf）Whether set up, if so,
Program then sends to secondary power battery management system and powers on control instruction；If not, program revisions Td is（aTb1+eTb2+
Tf）, and sent to secondary power battery management system and power on control instruction.
Fig. 5 is the control subprogram 3 of the present invention, which reads 2 status signal of motor first, and it is maximum fair to calculate motor
Perhaps output driving torque Tm2；Further, Td and b times are judged（It can demarcate）The size of Tm2, if Td≤bTm2 is set up, illustrates motor
2 can meet that vehicle driving requires, and vehicle runs on single 2 drive pattern of motor at this time, and program sends Td torques to 2 controller of motor
Instruction, 0 control instruction of torque is sent to 1 controller of motor, and separation control is sent to clutch 1,2 controller of clutch and is referred to
Order；If Td≤bTm2 is invalid, instruction sheet motor 2 can not meet vehicle driving require, it is necessary to other power sources intervention driving, this
When, program reads Speed of Reaction Wheels signal nf, and judges nf and limit value nl sizes, if nf≤nl is set up, illustrates that flywheel can not join
Driven with vehicle, at this time, call subroutine 4；If nf≤nl is invalid, illustrates that flywheel can participate in vehicle driving, at this time, call
Subprogram 5.
Fig. 6 is the control subprogram 4 of the present invention, and program first reads 1 status signal of motor, and it is maximum fair to calculate motor 1
Perhaps output driving torque Tm1；Then, the 2 tach signal nc2 of clutch being connected with planetary gears end is read；Further, sentence
Disconnected Td≤（bTm2+cTm1）Whether set up, wherein c is can calibration value；If Td≤（bTm2+cTm1）Set up, illustrate that motor 2 adds
Motor 1 can meet that vehicle driving requires, and at this time, program sends bTm2 torque instructions to 2 controller of motor, is controlled to motor 1
Device is sent（Td- bTm2）Direct torque instructs and nc2 rotating speed control instructions, and sending separation control to 1 controller of clutch refers to
Order, sends to 2 controller of clutch and combines control instruction；If Td≤（bTm2+cTm1）It is invalid, illustrate that motor 2 adds motor 1
It is insufficient for vehicle driving to require, to ensure electrical machinery life, program sends bTm2 torque instructions to 2 controller of motor, to electricity
1 controller of machine sends the instruction of cTm1 direct torques and nc2 rotating speed control instructions, and sending separation control to 1 controller of clutch refers to
Order, sends to 2 controller of clutch and combines control instruction.
Fig. 7 is the control subprogram 5 of the present invention, which reads Speed of Reaction Wheels nf first, and calculates flywheel mechanism maximum
Allow to discharge driving torque Tf；Then, the 1 rotating speed nc1 of clutch being connected with planetary gears end is read, and combines flywheel
Rotating speed nf and planetary gears speed ratio, calculate 1 speed-regulating signal nx of motor；Further, judge Td≤（bTm2+Tf）Whether into
It is vertical, if so, illustrate that motor 2 can meet that vehicle driving requires plus flywheel mechanism, at this time, program is sent out to 2 controller of motor
BTm2 torque instructions are sent, the instruction of 0 direct torque and nx rotating speed control instructions are sent to 1 controller of motor, to 1 controller of clutch
Transmission combines control instruction, is sent to 2 controller of clutch and combines control instruction；If Td≤（bTm2+Tf）It is invalid, illustrate electricity
Machine 2 can not meet that vehicle driving requires plus flywheel mechanism, at this time, it may be necessary to which motor 1 intervenes drive control, for this reason, program is read
1 status signal of motor, and calculate the maximum allowable output torque Tm1 of motor 1；Determine whether Td≤（bTm2+Tf+cTm1）Whether
Set up, if so, illustrate that above three power source can meet that vehicle driving requires, at this time, program is sent to 2 controller of motor
BTm2 torque instructions, send to 1 controller of motor（Td- bTm2-Tf）Direct torque instruct and nx rotating speed control instructions, to from
1 controller of clutch sends and combines control instruction, is sent to 2 controller of clutch and combines control instruction；If Td≤（bTm2+Tf+
cTm1）It is invalid, illustrate that above three power source can not meet that vehicle driving requires, at this time, program needs limiting motor 1 and motor
2 output torques, to ensure dynamical system safety and service life, refer to for this reason, program sends bTm2 torques to 2 controller of motor
Order, sends the instruction of cTm1 direct torques and nx rotating speed control instructions to 1 controller of motor, sends and combine to 1 controller of clutch
Control instruction, sends to 2 controller of clutch and combines control instruction.
Claims (1)
1. a kind of flywheel mixes bi-motor four-wheeled electric vehicle drive control method, it is characterised in that can be according to driving work
Condition, unit status, operator demand's driving torque etc., control motor 1, motor 2, flywheel, secondary power battery are run on reasonably
Operating mode, economic sexual clorminance, and middle and high driving torque demand are driven to give full play to single motor under low driving torque demand
Under flywheel momentary high power output advantage, while vehicle dynamic property is ensured, can be lifted vehicle drive economy, specifically
Realize that step is：
（1）Main program rate-determining steps are：
Whether step S01 is normal for detecting driving pedal signal, is then, to perform step S04；Otherwise, execution step S02, it is defeated
Go out driving pedal fault-signal, and step S03, terminate drive control program；
Step S04 is used to detect whether driving pedal aperture is more than 0, is then, to perform step S06, call subroutine 1；Otherwise, hold
Row step S05, continues to detect whether driving pedal aperture is more than 0；
（2）1 step of subprogram is：
Step S11 performs the calculating operator demand's driving torque of the task；
Step S12 performs the reading active force battery status parameter of the task；
Step S13 performs the calculating the maximum allowable electric discharge torque of active force battery of the task；
Step S14 judges operator demand's driving torque and a times（It can demarcate）Maximum allowable the big of torque of discharging of active force battery
It is small, if operator demand's driving torque is not more than the maximum allowable electric discharge torque of a times of active force battery, step S15 is performed, it is dynamic to pair
Power battery sends lower electric control signal, and step S16；Otherwise, step S17 is performed；
Step S16 performs the task of call subroutine 3；
Step S17 performs the task of call subroutine 2；
Step S18 performs the task of call subroutine 3；
（3）2 step of subprogram is：
Step S21 performs the reading secondary power battery state parameter of the task；
Step S22 performs the calculating the maximum allowable output torque of secondary power battery of the task；
Step S23 judges that operator demand's driving torque adds e times with the maximum allowable electric discharge torque of a times of active force battery（It can mark
It is fixed）The size of the sum of the secondary maximum allowable electric discharge torque of power battery, if operator demand's driving torque is not more than a times of active force electricity
The maximum allowable electric discharge torque in pond is plus the sum of e times secondary maximum allowable electric discharge torque of power battery, execution step S24, and program is to pair
Power battery management system sends and powers on control instruction；Otherwise, step S25 is performed；
Step S25 performs the reading Speed of Reaction Wheels of the task；
Whether step S26 judges Speed of Reaction Wheels no more than given tachometer value（It can demarcate）, if so, perform step S27, program to
Secondary power battery management system sends and powers on control instruction, operator demand's driving torque is modified to a times of active force battery most
The big torque that allows to discharge is plus the sum of e times of secondary maximum allowable electric discharge torque of power battery；Otherwise, step S28 is performed；
Step S28 performs the calculating the maximum allowable driving torque of flywheel of the task；
Step S29 judges operator demand's driving torque with the maximum allowable electric discharge torque of a times of active force battery plus e times of secondary power
The maximum allowable electric discharge torque of battery is plus the maximum allowable size for discharging the sum of torque of flywheel, if operator demand's driving torque is not
The maximum allowable electric discharge torque of more than a times active force battery adds flywheel most plus the e times of secondary maximum allowable electric discharge torque of power battery
It is big to allow the sum of driving torque, then step S210 is performed, program sends to secondary power battery management system and powers on control instruction；It is no
Step S211 is then performed, program sends to secondary power battery management system and powers on control instruction, by operator demand's driving torque
It is modified to the maximum allowable electric discharge torque of a times of active force battery and adds flywheel plus the e times of secondary maximum allowable electric discharge torque of power battery
The sum of maximum allowable driving torque；
（4）3 step of subprogram is：
Step S31 performs the reading 2 state parameter of motor of the task；
Step S32 performs the calculating the maximum allowable output driving torque of motor 2 of the task；
Step S33 judges operator demand's driving torque and b times（It can demarcate）The maximum allowable output driving torque of motor 2 it is big
It is small, if operator demand's driving torque is not more than b times of 2 maximum allowable output torque of motor, perform step S34, program is to motor 2
Controller sends operator demand's driving torque control instruction, 0 control instruction of torque sent to 1 controller of motor, to clutch 1
Controller sends separates control instructions, sends separates control instructions to 2 controller of clutch；Otherwise, step S35 is performed；
Step S35 performs the reading Speed of Reaction Wheels of the task；
Whether step S36 judges Speed of Reaction Wheels no more than given tachometer value, if so, performing step S37, call subroutine 4；It is no
Then, step S38, call subroutine 5 are performed；
（5）4 step of subprogram is：
Step S41 performs the reading 1 state parameter of motor of the task；
Step S42 performs the calculating the maximum allowable output driving torque of motor 1 of the task；
Step S43 performs the reading 2 rotating speed of clutch being connected with planetary gears end of the task；
Step S44 judges operator demand's driving torque and b times（It can demarcate）The maximum allowable output driving torque of motor 2 adds c
Times（It can demarcate）The size of the sum of 1 maximum allowable output torque of motor, if operator demand's driving torque is not more than b times of motor 2
Maximum allowable output torque performs step S45, program is controlled to motor 2 plus the sum of c times of 1 maximum allowable output torque of motor
Device sends the maximum allowable output driving direct torque of b times of motor 2 and instructs, is maximum allowable to 1 controller of motor c times of motor 1 of transmission
Output torque, to 1 controller of motor send 2 tachometer value of clutch（The rotating speed being connected with planetary gears end）Size turns
Fast control instruction, to 1 controller of clutch send separates control instructions, to 2 controller of clutch send combine control instruction；It is no
Then, step S46 is performed, program sends the instruction of b times of motor 2 maximum allowable output driving direct torque, to electricity to 2 controller of motor
1 controller of machine sends operator demand's driving torque and the direct torque of the difference of the maximum allowable output driving torque of b times of motor 2 refers to
Make, send 2 tachometer value of clutch to 1 controller of motor（The rotating speed being connected with planetary gears end）The rotating speed control of size
Instruct, separates control instructions are sent to 1 controller of clutch, combine control instruction to the transmission of 2 controller of clutch；
（6）5 step of subprogram is：
Step S51 performs the reading Speed of Reaction Wheels of the task；
Step S52 performs the calculating the maximum allowable driving torque of flywheel of the task；
Step S53 performs the reading 1 rotating speed of clutch being connected with planetary gears end of the task；
Step S54 performs the calculating 1 speed governing rotating speed size of motor of the task；
Step S55 judges that operator demand's driving torque is released with b times of 2 maximum allowable output torque of motor plus flywheel is maximum allowable
The size of the sum of torque is put, if no more than b times 2 maximum allowable output torque of motor of operator demand's driving torque adds flywheel most
It is big to allow to discharge the sum of torque, step S56 is performed, program sends b times of 2 maximum allowable output driving of motor to 2 controller of motor
Direct torque instructs, 0 torque, speed governing rotating speed control instruction are sent to 1 controller of motor, sends combination to 1 controller of clutch
Control instruction, to 2 controller of clutch send combine control instruction；Otherwise, step S57 is performed；
Step S57 performs the reading 1 state parameter of motor of the task；
Step S58 performs the calculating 1 maximum allowable output torque of motor of the task；
Step S59 judges that operator demand's driving torque permits with b times of 2 maximum allowable output torque of motor plus c times of motor 1 is maximum
Perhaps output torque adds the size of the sum of the maximum allowable driving torque of flywheel, if no more than b times electricity of operator demand's driving torque
2 maximum allowable output torque of machine adds the sum of maximum allowable driving torque of flywheel plus c times of 1 maximum allowable output torque of motor,
Perform step S510, program sends the instruction of b times of motor 2 maximum allowable output driving direct torque, to motor to 2 controller of motor
1 controller sends c times of 1 maximum allowable output torque of motor, speed governing rotating speed control instruction, sends combination to 1 controller of clutch
Control instruction, to 2 controller of clutch send combine control instruction；Otherwise, step S511 is performed, program is to 2 controller of motor
Send the maximum allowable output driving direct torque instruction of b times of motor 2, send operator demand's driving torque to 1 controller of motor
Subtract direct torque instruction and speed governing that the maximum allowable output driving torque of b times of motor 2 subtracts the maximum allowable driving torque of flywheel
Rotating speed control instruction, to 1 controller of clutch send with reference to control instruction, to 2 controller of clutch send combine control instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710998552.XA CN107985119B (en) | 2017-10-24 | 2017-10-24 | Driving control method for flywheel hybrid double-motor four-wheel drive electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710998552.XA CN107985119B (en) | 2017-10-24 | 2017-10-24 | Driving control method for flywheel hybrid double-motor four-wheel drive electric vehicle |
Publications (2)
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| CN112078388A (en) * | 2020-09-28 | 2020-12-15 | 山东理工大学 | Composite system drive control strategy based on stepless speed change type flywheel and power battery |
| CN115107495A (en) * | 2022-08-26 | 2022-09-27 | 苏州亚太精睿传动科技股份有限公司 | Vehicle driving system and method and vehicle |
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